refactor(hesai): per-sensor diagnostic struct definitions

[ike-kazu]

PR Type

• Bug Fix

Related Links

Description

Hesai LiDAR TCP errors are occurred. To fix it, TCP Structs and other processes are fixed in this pr.

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[mojomex]

Hi @ike-kazu, thank you for your work!
There are a few changes, mainly for duplicated code, remaining debug statements, and code style. I will test the PR for functionality once the comments are addressed. Thank you :D

[mojomex]

Almost there!
I left a few small comments, please address them!

[mojomex]

@ike-kazu Thank you!
I'll test with real sensors this week, after which we can merge.

[mojomex]

Evaluation

I have reduced the remaining log spam to a minimum and implemented the missing QT128 support.
I also added sensor-specific parsing of HesaiInventory.
Due to the datasheets available to me not being quite up-to-date, some of the sensors still cannot be parsed correctly and some of the diagnostics (listed below the first table) are still incorrect.

The sensors we currently use in-house (Pandar40P, XT32, AT128, QT128, OT128) are all working as expected apart for some minor issues listed below.

No PandarQT64 was available for testing.

Summary

Criterion	Pandar40P	Pandar64	XT32	AT128	QT128	OT128
All structs parsed warning-free?	🟢	🔴	🔴	🟢	🟢	🔴
All diagnostics correct?	🟢	🔴	🔴	🟢	🟢	🟢
PTP diagnostics correct?	🟢	🔴	🟢	🟢	🟢	🟢
Nebula running without errors?	🟢	🟢	🟢	🟢	🟢	🟢

• Pandar64: startup_times, total_operation_time, ptp_status always 0
• XT32: input_current, input_power have wrong values
• OT128: inventory returned from sensor has many more bytes than what the datasheet says, but all parsed information is correct.

Diagnostics Output

Model	PTP off	PTP on
Pandar40P
Pandar64
XT32
AT128
QT128
OT128

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 305 lines in your changes missing coverage. Please review.

Project coverage is 26.12%. Comparing base (a908f61) to head (83a226a).
Report is 5 commits behind head on main.

Files with missing lines	Patch %	Lines
.../nebula_hw_interfaces_hesai/hesai_cmd_response.hpp	0.00%	184 Missing ⚠️
nebula_ros/src/hesai/hw_monitor_wrapper.cpp	0.00%	63 Missing ⚠️
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	0.00%	54 Missing ⚠️
nebula_ros/src/hesai/hesai_ros_wrapper.cpp	0.00%	2 Missing ⚠️
.../include/nebula_common/util/string_conversions.hpp	0.00%	1 Missing ⚠️
nebula_ros/src/hesai/hw_interface_wrapper.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #208      +/-   ##
==========================================
- Coverage   26.16%   26.12%   -0.04%     
==========================================
  Files          99      100       +1     
  Lines        9198     9212      +14     
  Branches     2215     2216       +1     
==========================================
  Hits         2407     2407              
- Misses       6401     6416      +15     
+ Partials      390      389       -1     

Flag	Coverage Δ
differential	26.12% <0.00%> (?)
total	?

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[mojomex]

As discussed with @drwnz in person, I will merge this myself.