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.

Review Procedure

Remarks

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• [x] Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• [ ] Commits are properly organized and messages are according to the guideline
• [ ] (Optional) Unit tests have been written for new behavior
• [ ] PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• [ ] All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.

[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?	:green_circle:	:red_circle:	:red_circle:	:green_circle:	:green_circle:	:red_circle:
All diagnostics correct?	:green_circle:	:red_circle:	:red_circle:	:green_circle:	:green_circle:	:green_circle:
PTP diagnostics correct?	:green_circle:	:red_circle:	:green_circle:	:green_circle:	:green_circle:	:green_circle:
Nebula running without errors?	:green_circle:	:green_circle:	:green_circle:	:green_circle:	:green_circle:	:green_circle:

• 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[bot]]

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 :warning:
nebula_ros/src/hesai/hw_monitor_wrapper.cpp	0.00%	63 Missing :warning:
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	0.00%	54 Missing :warning:
nebula_ros/src/hesai/hesai_ros_wrapper.cpp	0.00%	2 Missing :warning:
.../include/nebula_common/util/string_conversions.hpp	0.00%	1 Missing :warning:
nebula_ros/src/hesai/hw_interface_wrapper.cpp	0.00%	1 Missing :warning:

Additional details and impacted files

```diff @@ 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](https://app.codecov.io/gh/tier4/nebula/pull/208/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | Coverage Δ | | |---|---|---| | [differential](https://app.codecov.io/gh/tier4/nebula/pull/208/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `26.12% <0.00%> (?)` | | | [total](https://app.codecov.io/gh/tier4/nebula/pull/208/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `?` | | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4#carryforward-flags-in-the-pull-request-comment) to find out more.

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