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

PR Type

Improvement

Description

:warning: #231, #232, #233 have to be merged before this :warning:

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.

Review Procedure

Remarks

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[ ] Commits are properly organized and messages are according to the guideline
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[ ] All open points are addressed and tracked via issues or tickets

CI Checks

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

Additional details and impacted files

```diff @@ 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](https://app.codecov.io/gh/tier4/nebula/pull/234/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/234/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tier4) | `27.52% <50.83%> (?)` | | | [total](https://app.codecov.io/gh/tier4/nebula/pull/234/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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