test(hesai): dependency-injectable TCP socket, HW interface testability

[mojomex]

PR Type

• Improvement

Related Links

• feat: add a logging interface, dependency injectable loggers #233 -- has to be merged before this
• feat(hesai_hw_interface): use dependency-injected logger, get rid of RCLCPP dependency #232 -- has to be merged before this
• feat(nebula_hw_interfaces): better UDP socket #231 -- has to be merged before this

Description

⚠️ #231, #232, #233 have to be merged before this ⚠️

Previously, testing Nebula's HW interfaces has been difficult because all hardware drivers were hard-coded. This meant that during test time, a real network connection would have to be used, or, that LD_PRELOAD or macro trickery had to be used.

This PR adds a dependency-injectable TCP socket implementation (currently just a wrapper around transport_drivers), which allows mocking the TCP socket at test time.

Since the TCP socket is still very Hesai-specific, I have added the new socket and refactored it into nebula_ros and nebula_hw_interfaces_hesai already.

Basic unit tests to prove testability have been added. More will be added in a future PR.

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[codecov]

Codecov Report

Attention: Patch coverage is 50.83333% with 177 lines in your changes missing coverage. Please review.

Project coverage is 27.52%. Comparing base (47efeed) to head (81ad961).

Files with missing lines	Patch %	Lines
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	13.79%	50 Missing ⚠️
...es/nebula_hw_interfaces_common/connections/udp.hpp	60.83%	24 Missing and 23 partials ⚠️
nebula_hw_interfaces/test/common/test_udp.cpp	63.51%	7 Missing and 20 partials ⚠️
...ces/nebula_hw_interfaces_hesai/connections/tcp.hpp	0.00%	20 Missing ⚠️
...la_ros/include/nebula_ros/common/rclcpp_logger.hpp	0.00%	16 Missing ⚠️
...n/include/nebula_common/loggers/console_logger.hpp	0.00%	8 Missing ⚠️
...ebula_hw_interfaces/test/common/test_udp/utils.hpp	84.00%	0 Missing and 4 partials ⚠️
nebula_ros/src/hesai/hw_interface_wrapper.cpp	0.00%	3 Missing ⚠️
...ula_hw_interfaces/test/hesai/test_ptc/ptc_test.hpp	87.50%	1 Missing ⚠️
...ula_hw_interfaces/test/hesai/test_ptc/tcp_mock.hpp	75.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #234      +/-   ##
==========================================
+ Coverage   26.10%   27.52%   +1.42%     
==========================================
  Files         100      109       +9     
  Lines        9218     9481     +263     
  Branches     2215     2770     +555     
==========================================
+ Hits         2406     2610     +204     
- Misses       6423     6433      +10     
- Partials      389      438      +49     

Flag	Coverage Δ
differential	27.52% <50.83%> (?)
total	?

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