fix(hesai_hw_interface): hesai interface

[amc-nu]

PR Type

• Improvement

Related Links

https://tier4.atlassian.net/browse/RT1-3200
https://tier4.atlassian.net/browse/RT1-3111

Description

Improves reliability of Hesai HW Interface.:

• Allows sensor_setup:=False
• Removes crashing when sensor not available or timeout.

Includes the following features:

• Gets LidarCalibration from sensor
• Skips GetInventory if unable to connect.
• Fixes Hesai monitor.
• Check calibration file format AT128.
• Saves calibration data from sensor.
• Fallback to offline mode AT128
• Checks Return Mode AT128

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.

[codecov-commenter]

Codecov Report

Attention: 339 lines in your changes are missing coverage. Please review.

Comparison is base (74cdda4) 9.93% compared to head (a6879f7) 9.52%.
Report is 1 commits behind head on main.

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Additional details and impacted files

@@           Coverage Diff            @@
##            main     #72      +/-   ##
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- Coverage   9.93%   9.52%   -0.41%     
========================================
  Files        118      51      -67     
  Lines      10149    6938    -3211     
  Branches    1533     828     -705     
========================================
- Hits        1008     661     -347     
+ Misses      8036    5719    -2317     
+ Partials    1105     558     -547     

Flag	Coverage Δ
differential	9.52% <7.88%> (?)
total	?

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
.../nebula_hw_interfaces_hesai/hesai_cmd_response.hpp	0.00% <ø> (ø)
...ebula_ros/hesai/hesai_hw_interface_ros_wrapper.hpp	0.00% <ø> (ø)
.../nebula_ros/hesai/hesai_hw_monitor_ros_wrapper.hpp	0.00% <ø> (ø)
...ula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp	0.00% <0.00%> (ø)
nebula_tests/hesai/hesai_common.hpp	14.81% <0.00%> (-25.19%)	⬇️
nebula_tests/hesai/hesai_ros_decoder_test_main.cpp	34.09% <34.09%> (ø)
nebula_tests/hesai/hesai_ros_decoder_test.cpp	35.02% <25.00%> (ø)
...a_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp	0.00% <0.00%> (ø)
nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp	0.00% <0.00%> (ø)
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	0.00% <0.00%> (ø)

... and 57 files with indirect coverage changes

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[drwnz]

When restarting the driver multiple times with the device connected, after the 4th attempt I get this warning:
[component_container-1] [WARN] [1697789855.726097568] [hesai_hw_monitor_ros_wrapper_node]: diagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.

This is coming from diagnostic updater - I guess this is related to the TCP connection limitation we discussed? FYI this is on the AT128.
The device still works, and the configuration also seems to stick so not a major issue.

[amc-nu]

Yes, exactly. The sensor stops receiving commands.

[drwnz]

Yes, exactly. The sensor stops receiving commands.

It does seem to still correctly configure the sensor though?

[amc-nu]

It configures the sensor only during the first attempts. Afterwards the sensor rejects all the connections.

[drwnz]

I will merge this PR and we can work on the TCP rejection issue in a different PR.
Thank you for the great work, DAT file download works well.