refactor: generic hesai unit tests

[mojomex]

PR Type

• Improvement
• Refactoring

Related Links

Description

This PR refactors the Hesai unit tests to a generic form.
This is motivated by another PR I will open shortly, which implements a new unit test for each sensor, which I did not want to implement over and over again for each sensor model.

Previously, for each sensor model, a hesai_ros_decoder_test_XYZ.cpp containing a full implementation of the HesaiRosDecoderTest node and a hesai_ros_decoder_test_main_XYZ.cpp handling the launch of said node were implemented.
Looking at the diff between the implementations for e.g. Pandar40P and Pandar64, the only differences are the ROS parameter values (such as model_name, bag_path, etc.):

$ diff hesai_ros_decoder_test_40p.cpp hesai_ros_decoder_test_64.cpp 
1c1
< #include "hesai_ros_decoder_test_40p.hpp"
---
> #include "hesai_ros_decoder_test_64.hpp"
84c84,87
< Status HesaiRosDecoderTest::GetStatus() { return wrapper_status_; }
---
> Status HesaiRosDecoderTest::GetStatus()
> {
>   return wrapper_status_;
> }
103c106
<     this->declare_parameter<std::string>("sensor_model", "Pandar40P");
---
>     this->declare_parameter<std::string>("sensor_model", "Pandar64");
145c148
<       "calibration_file", (calib_dir / "Pandar40P.csv").string(), descriptor);
---
>       "calibration_file", (calib_dir / "Pandar64.csv").string(), descriptor);
166c169
<       "bag_path", (bag_root_dir / "40p" / "1673400149412331409").string(), descriptor);
---
>       "bag_path", (bag_root_dir / "64" / "1673403880599376836").string(), descriptor);
274,275d276
< 
< 

This makes for a very straight-forward refactoring, where the parameters are passed into HesaiRosDecoderTest as a parameter struct, and the test cases being replaced by a parametrized one.

Further, to accomodate for future test cases, the HesaiRosDecoderTest::ReadBag() function has been modified to take a callback function as a parameter which is called on each decoded pointcloud and which can then perform functions specific to a given unit test.

Review Procedure

Compile and run unit tests

Remarks

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[codecov-commenter]

Codecov Report

Attention: 88 lines in your changes are missing coverage. Please review.

Comparison is base (74cdda4) 9.93% compared to head (d8b1ad6) 31.99%.

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Additional details and impacted files

@@            Coverage Diff             @@
##            main      #80       +/-   ##
==========================================
+ Coverage   9.93%   31.99%   +22.06%     
==========================================
  Files        118        7      -111     
  Lines      10149      722     -9427     
  Branches    1533      448     -1085     
==========================================
- Hits        1008      231      -777     
+ Misses      8036       94     -7942     
+ Partials    1105      397      -708     

Flag	Coverage Δ
differential	31.99% <24.78%> (?)
total	?

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

Files	Coverage Δ
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)

... and 101 files with indirect coverage changes

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