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pre-commit-ci[bot] committed Nov 26, 2024
1 parent 8275762 commit cc8d563
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Showing 2 changed files with 30 additions and 15 deletions.
9 changes: 6 additions & 3 deletions ...interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,8 @@ class HesaiHwInterface
/// @param command_id PTC command number.
/// @param payload Payload bytes of the PTC command. Not including the 8-byte PTC header.
/// @return The returned payload, if successful, or nullptr.
ptc_cmd_result_t send_receive(const uint8_t command_id, const std::vector<uint8_t> & payload = {});
ptc_cmd_result_t send_receive(
const uint8_t command_id, const std::vector<uint8_t> & payload = {});

static std::pair<HesaiStatus, std::string> unwrap_http_response(const std::string & response);

Expand Down Expand Up @@ -318,7 +319,8 @@ class HesaiHwInterface
* @param calibration The calibration file of the sensor
* @return Status Resulting status of setting the FoV
*/
[[nodiscard]] Status check_and_set_lidar_range(const HesaiCalibrationConfigurationBase & calibration);
[[nodiscard]] Status check_and_set_lidar_range(
const HesaiCalibrationConfigurationBase & calibration);

Status set_clock_source(int clock_source);

Expand Down Expand Up @@ -387,7 +389,8 @@ class HesaiHwInterface
/// @brief Getting lidar_monitor via HTTP API
/// @param str_callback Callback function for received string
/// @return Resulting status
HesaiStatus get_lidar_monitor_async_http(std::function<void(const std::string & str)> str_callback);
HesaiStatus get_lidar_monitor_async_http(
std::function<void(const std::string & str)> str_callback);

/// @brief Checking the current settings and changing the difference point
/// @param sensor_configuration Current SensorConfiguration
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36 changes: 24 additions & 12 deletions nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
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Expand Up @@ -312,23 +312,28 @@ std::string HesaiHwInterface::get_lidar_calibration_string()
HesaiPtpDiagStatus HesaiHwInterface::get_ptp_diag_status()

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{
auto response_or_err = send_receive(g_ptc_command_ptp_diagnostics, {g_ptc_command_ptp_status});

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auto response = response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto response =
response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto diag_status = check_size_and_parse<HesaiPtpDiagStatus>(response);

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return diag_status;
}

HesaiPtpDiagPort HesaiHwInterface::get_ptp_diag_port()

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{
auto response_or_err = send_receive(g_ptc_command_ptp_diagnostics, {g_ptc_command_ptp_port_data_set});
auto response = response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto response_or_err =
send_receive(g_ptc_command_ptp_diagnostics, {g_ptc_command_ptp_port_data_set});

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auto response =
response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto diag_port = check_size_and_parse<HesaiPtpDiagPort>(response);

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return diag_port;
}

HesaiPtpDiagTime HesaiHwInterface::get_ptp_diag_time()

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{
auto response_or_err = send_receive(g_ptc_command_ptp_diagnostics, {g_ptc_command_ptp_time_status_np});
auto response = response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto response_or_err =
send_receive(g_ptc_command_ptp_diagnostics, {g_ptc_command_ptp_time_status_np});

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auto response =
response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto diag_time = check_size_and_parse<HesaiPtpDiagTime>(response);

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return diag_time;
}
Expand All @@ -337,15 +342,17 @@ HesaiPtpDiagGrandmaster HesaiHwInterface::get_ptp_diag_grandmaster()
{
auto response_or_err =
send_receive(g_ptc_command_ptp_diagnostics, {g_ptc_command_ptp_grandmaster_settings_np});

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auto response = response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto response =
response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto diag_grandmaster = check_size_and_parse<HesaiPtpDiagGrandmaster>(response);

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return diag_grandmaster;
}

std::shared_ptr<HesaiInventoryBase> HesaiHwInterface::get_inventory()

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{
auto response_or_err = send_receive(g_ptc_command_get_inventory_info);

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auto response = response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto response =
response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));

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switch (sensor_configuration_->sensor_model) {
default:
Expand All @@ -372,7 +379,8 @@ std::shared_ptr<HesaiInventoryBase> HesaiHwInterface::get_inventory()
std::shared_ptr<HesaiConfigBase> HesaiHwInterface::get_config()

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{
auto response_or_err = send_receive(g_ptc_command_get_config_info);

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auto response = response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto response =
response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));

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switch (sensor_configuration_->sensor_model) {
default:
Expand All @@ -394,7 +402,8 @@ std::shared_ptr<HesaiConfigBase> HesaiHwInterface::get_config()
std::shared_ptr<HesaiLidarStatusBase> HesaiHwInterface::get_lidar_status()

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{
auto response_or_err = send_receive(g_ptc_command_get_lidar_status);

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auto response = response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto response =
response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));

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switch (sensor_configuration_->sensor_model) {
default:
Expand Down Expand Up @@ -571,7 +580,8 @@ HesaiLidarRangeAll HesaiHwInterface::get_lidar_range()
}

auto response_or_err = send_receive(g_ptc_command_get_lidar_range);

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auto response = response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto response =
response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));

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if (response.size() < 1) {
throw std::runtime_error("Response payload too short");
Expand Down Expand Up @@ -672,7 +682,8 @@ Status HesaiHwInterface::set_ptp_config(
HesaiPtpConfig HesaiHwInterface::get_ptp_config()

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{
auto response_or_err = send_receive(g_ptc_command_get_ptp_config);

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auto response = response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto response =
response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));

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if (response.size() < sizeof(HesaiPtpConfig)) {
throw std::runtime_error("HesaiPtpConfig has unexpected payload size");
Expand Down Expand Up @@ -713,7 +724,8 @@ HesaiLidarMonitor HesaiHwInterface::get_lidar_monitor()
}

auto response_or_err = send_receive(g_ptc_command_lidar_monitor);

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auto response = response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
auto response =
response_or_err.value_or_throw(pretty_print_ptc_error(response_or_err.error_or({})));
return check_size_and_parse<HesaiLidarMonitor>(response);

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}

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