Feat/udp lidar

.github/workflows/main.yml

@@ -1,32 +1,32 @@
-name: push_nuget
-
-# on push on main
-on:
-  push:
-    branches:
-      - main
-    paths-ignore:
-      - README.md
-
-jobs:
-  build:
-    runs-on: windows-latest
-    steps:
-    - name: Git Checkout
+name: push_nuget
+
+# on push on main
+on:
+  push:
+    branches:
+      - main
+    paths-ignore:
+      - README.md
+
+jobs:
+  build:
+    runs-on: windows-latest
+    steps:
+    - name: Git Checkout
       uses: actions/checkout@master
       with:
-        lfs: 'true'
-
-    - name: Setup MSBuild.exe
-      uses: microsoft/setup-msbuild@v2
-
-    - name: Setup Nuget.exe
-      uses: nuget/setup-nuget@v2.0.0
-
-    - name: Publish VL Nuget
-      uses: vvvv/PublishVLNuget@1.0.43
-      with:
-        nuspec: deployment\VL.Devices.RPLidar.nuspec
-        icon-src: https://raw.githubusercontent.com/vvvv/PublicContent/master/nugeticon.png
-        icon-dst: ./deployment/nugeticon.png
-        nuget-key: ${{ secrets.VVVV_ORG_NUGET_KEY }}
+        lfs: 'true'
+    
+    - name: Setup MSBuild.exe
+      uses: microsoft/setup-msbuild@v2
+
+    - name: Setup Nuget.exe
+      uses: nuget/setup-nuget@v2.0.0
+
+    - name: Publish VL Nuget
+      uses: vvvv/PublishVLNuget@1.0.43
+      with:
+        nuspec: deployment\VL.Devices.RPLidar.nuspec
+        icon-src: https://raw.githubusercontent.com/vvvv/PublicContent/master/nugeticon.png
+        icon-dst: ./deployment/nugeticon.png
+        nuget-key: ${{ secrets.VVVV_ORG_NUGET_KEY }}

Directory.Packages.props

@@ -0,0 +1,6 @@
+<Project>
+    <PropertyGroup>
+        <VLVersion>2025.7.1</VLVersion>
+        <RPLidar4NetVersion>0.5.0</RPLidar4NetVersion>
+    </PropertyGroup>
+</Project>

VL.Devices.RPLidar.slnx

@@ -0,0 +1,15 @@
+<Solution>
+  <Folder Name="/.workspace/">
+    <File Path=".gitattributes" />
+    <File Path=".gitignore" />
+    <File Path="Directory.Packages.props" />
+  </Folder>
+  <Folder Name="/.workspace/.github/" />
+  <Folder Name="/.workspace/.github/workflows/">
+    <File Path=".github/workflows/main.yml" />
+  </Folder>
+  <Folder Name="/.workspace/deployment/">
+    <File Path="deployment/VL.Devices.RPLidar.nuspec" />
+  </Folder>
+  <Project Path="src/VL.Devices.RPLidar.Advanced.csproj" />
+</Solution>

src/Properties/AsseblyInfo.cs

@@ -0,0 +1,3 @@
+using VL.Core.Import;
+
+[assembly: ImportAsIs(Namespace = "VL.Devices.RPLidar.Advanced", Category = "Devices.RPLidar.Advanced")]

src/Properties/launchSettings.json

@@ -0,0 +1,13 @@
+{
+  "profiles": {
+    "VL.Devices.RPLidar.Advanced": {
+      "commandName": "Project"
+    },
+    "dev/antokhio": {
+      "commandName": "Executable",
+      "executablePath": "C:\\Program Files\\vvvv\\vvvv_gamma_7.1-win-x64\\vvvv.exe",
+      "commandLineArgs": " --allow-multiple --package-repositories ..\\..\\; --editable-packages VL.Devices.RPLidar*;",
+      "workingDirectory": "$(ProjectDir)"
+    }
+  }
+}

src/RPLidarUDPSocketNode.cs

@@ -0,0 +1,178 @@
+using RPLidar4Net.Api.Data;
+using RPLidar4Net.Api.Helpers;
+using System.Net;
+using System.Net.Sockets;
+using VL.Core.Import;
+using VL.Lib.Basics.Resources;
+using VL.Lib.Collections;
+using NetSocket = System.Net.Sockets.Socket;
+
+namespace VL.Devices.RPLidar.Advanced
+{
+    public enum RPLidarUDPState
+    {
+        Idle,
+        ScanSimple,
+        ScanDense,
+        ScanHighQuality,
+        NextPacketIsInfo,
+    }
+
+    public enum RPLidarUDPWorkMode
+    {
+        Legacy = 0x0,
+        Unknown1 = 0x1,
+        Unknown2 = 0x2,
+    }
+
+    public static class RPLidarUDPSocketHelper
+    {
+        public static bool IPEndPointEquals(IPEndPoint? input, IPEndPoint? input2)
+        {
+            if (ReferenceEquals(input, input2))
+                return true;
+            if (ReferenceEquals(input, null))
+                return false;
+            return input.Equals(input2);
+        }
+
+        public static byte[] FormatCommand(Command command, byte[] payload, bool includePayloadSize)
+        {
+            byte commandByte = CommandHelper.GetByte(command);
+
+            var packetBytes = new List<byte>();
+            packetBytes.Add(Constants.SYNC_BYTE);
+            packetBytes.Add(commandByte);
+
+            //Add payload
+            if (payload != null)
+            {
+                if (includePayloadSize)
+                    packetBytes.Add((byte)payload.Length);
+                packetBytes.AddRange(payload);
+                byte checksum = 0;
+                foreach (var b in packetBytes)
+                    checksum ^= b;
+                packetBytes.Add(checksum);
+            }
+
+            var packet = packetBytes.ToArray();
+
+            return packet;
+        }
+
+        public static byte[] RESPONSE_DESCRIPTOR_GET_INFO = new byte[]
+        {
+            0xA5,
+            0x5A,
+            0x14,
+            0x0,
+            0x0,
+            0x0,
+            0x4,
+        };
+
+        public static bool IsGetInfoResponse(Spread<byte> bytes) =>
+            bytes.ToArray().SequenceEqual(RESPONSE_DESCRIPTOR_GET_INFO);
+
+        public static InfoDataResponse ReadInfoDataResponse(byte[] bytes) =>
+            InfoDataResponseHelper.ToInfoDataResponse(bytes);
+
+        public static byte[] RESPONSE_DESCRIPTOR_SCAN_SCAN = new byte[]
+        {
+            0xA5,
+            0x5A,
+            0x05,
+            0x0,
+            0x0,
+            0x40,
+            0x81,
+        };
+        public static byte[] RESPONSE_DESCRIPTOR_SCAN_DENSE = new byte[]
+        {
+            0xA5,
+            0x5A,
+            0x54,
+            0x00,
+            0x00,
+            0x40,
+            0x85,
+        };
+        public static byte[] RESPONSE_DESCRIPTOR_SCAN_HIGHQL = new byte[]
+        {
+            0xA5,
+            0x5A,
+            0x0D,
+            0x03,
+            0x0,
+            0x40,
+            0x83,
+        };
+
+        public static bool IsScanResponse(byte[] bytes) =>
+            bytes.SequenceEqual(RESPONSE_DESCRIPTOR_SCAN_SCAN);
+
+        public static bool IsScanDenseResponse(byte[] bytes) =>
+            bytes.SequenceEqual(RESPONSE_DESCRIPTOR_SCAN_DENSE);
+
+        public static bool IsScanHightQlResponse(byte[] bytes) =>
+            bytes.SequenceEqual(RESPONSE_DESCRIPTOR_SCAN_HIGHQL);
+
+        public static byte[] FormattedExpressScanCommand(
+            RPLidarUDPWorkMode wm = RPLidarUDPWorkMode.Legacy
+        ) =>
+            //FormatCommand(Command.ExpressScan, CommandHelper.GetExpressScanPayload((byte)wm), true);
+            RPLidarUDPSocketHelper.FormatCommand(
+                Command.ExpressScan,
+                new byte[] { (byte)wm, 0x0, 0x0, 0x0, 0x0 },
+                true
+            );
+    }
+
+    [ProcessNode(Name = "RPLidar", Category = "RPLidar.UDPSocket")]
+    public class RPLidarUDPSocketNode
+    {
+        ResourceProviderMonitor<NetSocket>? _provider;
+        private bool _connect = false;
+        private IPEndPoint? _remoteEndpoint;
+
+        public IResourceProvider<NetSocket> Update(
+            IPEndPoint remoteEndpoint,
+            bool connect,
+            bool enabled = true
+        )
+        {
+            if (
+                !RPLidarUDPSocketHelper.IPEndPointEquals(_remoteEndpoint, remoteEndpoint)
+                || _connect != connect
+            )
+            {
+                _connect = connect;
+                _remoteEndpoint = remoteEndpoint;
+
+                _provider = ResourceProvider
+                    .New(() =>
+                    {
+                        var socket = new NetSocket(SocketType.Dgram, ProtocolType.Udp);
+                        socket.ExclusiveAddressUse = false;
+                        socket.SetSocketOption(
+                            SocketOptionLevel.Socket,
+                            SocketOptionName.ReuseAddress,
+                            true
+                        );
+                        if (connect && remoteEndpoint != null)
+                            socket.Connect(remoteEndpoint);
+                        return socket;
+                    })
+                    .ShareInParallel()
+                    .Monitor();
+            }
+
+            if (enabled)
+                return _provider;
+            return null;
+        }
+
+        public bool IsOpen => _provider?.SinkCount > 0;
+    }
+}

src/VL.Devices.RPLidar.Advanced.csproj

@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+  <PropertyGroup>
+    <TargetFramework>net8.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+    <BaseOutputPath>..\lib\</BaseOutputPath>
+  </PropertyGroup>
+  <ItemGroup>
+    <PackageReference Include="VL.Core" Version="$(VLVersion)" />
+    <PackageReference Include="RPLidar4Net.Core" Version="0.3.0" />
+    <PackageReference Include="RPLidar4Net.IO" Version="0.5.0" />
+    <PackageReference Include="RPLidar4Net.Api" Version="0.5.0" />
+  </ItemGroup>
+</Project>

src/VL.Devices.RPLidar.Advanced.csproj.user

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|AnyCPU'">
+    <DebuggerFlavor>ProjectDebugger</DebuggerFlavor>
+  </PropertyGroup>
+  <PropertyGroup>
+    <ActiveDebugProfile>dev/antokhio</ActiveDebugProfile>
+  </PropertyGroup>
+</Project>