Add sensor integration knowledge base#1
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Agent-Logs-Url: https://github.com/YYCB/sensor_repository/sessions/9e4c25f0-f328-4484-b1be-26ba054a09bb Co-authored-by: YYCB <23326150+YYCB@users.noreply.github.com>
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[WIP] Establish sensor access knowledge repository
Add sensor integration knowledge base
Apr 25, 2026
…ace headers Agent-Logs-Url: https://github.com/YYCB/sensor_repository/sessions/00fcf984-0057-4dfc-b716-dfaf085e1a09 Co-authored-by: YYCB <23326150+YYCB@users.noreply.github.com>
…s of Sensor HAL Agent-Logs-Url: https://github.com/YYCB/sensor_repository/sessions/0ca1bf20-dbe2-4aff-bb55-726e16c8154f Co-authored-by: YYCB <23326150+YYCB@users.noreply.github.com>
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Critical: - C-1: errorCodeToString / bytesPerPixel / pixelEncodingToString made inline - C-2: health_status comment fixed (std::string is NOT atomic) - C-3: partialMatch() BGR8 wildcard bug fixed via explicit match_any_format flag High: - H-1: angle_resolution int (0.01° units) -> float angle_resolution_deg (degrees) - H-2: DeviceInfo::connection string -> enum class ConnectionType - H-3: AudioConfig::device_type string -> enum class AudioDeviceType - H-4: getIntrinsics/getExtrinsics/getIMUCalibration unified to StreamIndex param - H-5: FrameSet::ir split into ir_left + ir_right for stereo IR support - H-6: error_circle fully documented - H-7: polling API getColorFrame/getDepthFrame/getIRFrame/getPointCloud add timeout_ms Medium: - M-1: CameraConfig::usb_port renamed to gmsl_port - M-3: ImuDeviceInfo gains model/serial_number/firmware_version - M-4: Lidar3DConfig::defaultsFor(LidarModel) factory method added - M-5: PointCloudXYZI::valid_count semantics documented - M-6: IMUCalibration::scale_bias formula clarified with corrected_SI = R*raw + b - M-7: DOAResult::elevation_deg documents 2D-array always-zero behaviour - M-8: std::hash<StreamIndex> specialisation added - M-9: ISyncManager::isSynced() behaviour documented for all SyncModes Low: - L-1: SensorTimestamp gains >, <=, >= operators and deltaNs() - L-5: ring_buffer_depth valid range [2,32] documented - L-6: DepthMetadata gains valid flag - L-8: enumerateDevices() snapshot-copies enumerator map before calling (deadlock fix) - L-9: audio_hal.hpp lifecycle comment startCapture -> startStreaming All 20 headers pass g++ -std=c++17 -Wall -Wextra -Wpedantic -fsyntax-only Agent-Logs-Url: https://github.com/YYCB/sensor_repository/sessions/7630daeb-0200-4ca2-b765-2680eaeb25af Co-authored-by: YYCB <23326150+YYCB@users.noreply.github.com>
- lidar_2d_types: clarify mask 32-bit limitation in comment - sync_manager: document SoftwareTrigger temporal behaviour of isSynced() - health_status: rephrase thread-safety comment (writer needs mutex, caller copy is safe) - calibration_types: add concrete scale_bias row-0 example in comment - camera_types: add MIN_RING_BUFFER_DEPTH constexpr - hal_factory: document O(N) snapshot overhead in enumerateDevices comment - lidar_3d_types: explain why valid_count is retained alongside points.size() Agent-Logs-Url: https://github.com/YYCB/sensor_repository/sessions/7630daeb-0200-4ca2-b765-2680eaeb25af Co-authored-by: YYCB <23326150+YYCB@users.noreply.github.com>
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…missions; expand tests to 26 groups Agent-Logs-Url: https://github.com/YYCB/sensor_repository/sessions/c97005c9-a948-47e6-806b-e2fbe3a02a6e Co-authored-by: YYCB <23326150+YYCB@users.noreply.github.com>
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CMakeLists.txt、cmake/CompilerWarnings.cmakeD_hal_design/CMakeLists.txt（INTERFACE 库 + 安装规则）D_hal_design/tests/（test_compile.cpp、test_types.cpp）.gitignore、.github/workflows/ci.yml、scripts/build.sh代码审查 & 修复：
sensor_timestamp.hpp—operator<只比较ns，operator==比较ns+domain，违反严格弱序；fix: operator< 增加domain作为 tie-breakerhal_factory.hppREGISTER_HAL 宏 — 静态变量名_hal_reg_##Impl不含 Factory 信息；fix: 改为_hal_reg_##Factory##_##Impl##_##__LINE__.github/workflows/ci.yml缺少显式permissions: contents: read；已补充测试扩展（13 组新增，共 26 组）：
test_sensor_timestamp_ordered_set：验证 Bug Add sensor integration knowledge base #1 修复（std::set 存储跨域时间戳）test_hal_factory_register_create：注册/创建/重注册/未知 key 返回 nullptrtest_hal_factory_enumerate：enumerator 注册与 enumerateDevices()test_calibration_defaults：CameraIntrinsics / CameraExtrinsics / IMUCalibration / DepthMetadata 默认值test_camera_config_defaults：CameraConfig 全字段默认值test_sync_config_defaults：SyncConfig 全字段默认值test_image_frame_defaults：ImageFrame / FrameSet 默认值test_lidar2d_defaults：Lidar2DConfig / LaserScanData 默认值test_imu_defaults：ImuConfig / ImuData 默认值（含四元数 identity）test_error_info_defaults：ErrorInfo 默认值test_device_info_defaults：DeviceInfo / ConnectionType 默认值test_pointcloud_defaults：PointXYZI / PointCloudXYZI 默认值test_audio_config_defaults：AudioConfig 默认值Original prompt