fix(hesai_hw_interface): change to synchronous requests to prevent un…

…defined sensor behavior (#126) * add initial support for ot128/128e4x Signed-off-by: amc-nu <[email protected]> * Initial support for QT128 Signed-off-by: amc-nu <[email protected]> * hesai. automotive ptp support Signed-off-by: amc-nu <[email protected]> * nebula_decoder. hesai tokenize the calibration file to avoid errors at load Signed-off-by: amc-nu <[email protected]> * hesai_w. fix spellcheck Signed-off-by: amc-nu <[email protected]> * nebula_ros. add xml based component launcher Signed-off-by: amc-nu <[email protected]> * launch. launch typo Signed-off-by: amc-nu <[email protected]> * launch. match target container Signed-off-by: amc-nu <[email protected]> * hesai_hw. replace publisher with move operator Signed-off-by: amc-nu <[email protected]> * launch. add ptp support to all launch systems Signed-off-by: amc-nu <[email protected]> * launch. component_launch reset namespace Signed-off-by: amc-nu <[email protected]> * fix(ot128): update timing correction tables to latest datasheet version * testing * feat: add tsn settings for hesai (AT128 and OT128) Signed-off-by: David Wong <[email protected]> * fix(hesai_hw_interface): remove obsolete setup_sensor mutex * fix(hesai_hw_interface): validate and rewrite OT128's PTP mode in PTC request * refactor(hesai_hw_interface): remove local_tcp_driver-versions of functions * fix: special handling for OT128 needing a different definition for PTP profile Signed-off-by: David Wong <[email protected]> * fix: move defaults in ptp config functions to header files Signed-off-by: David Wong <[email protected]> * fix: correctly assign header size in PTP config Signed-off-by: David Wong <[email protected]> * fix: spelling miss Signed-off-by: David Wong <[email protected]> * fix: [reword later] somehow this works * fix(hesai_hw_interface): tcp communication works with dummy server now * fix(qt128): correctly send PTP switch_mode * fix(ot128): revert timing correction to old datasheet * chore(scripts): delete defunct debug script * fix(hesai_hw_interface): remove excessive debug logging * fix: rollback erroneous changes in velodyne launch * fix(hesai_hw_interface): remove unused params/variables * style: fix weird spacings * fix: spelling, whitespace --------- Signed-off-by: amc-nu <[email protected]> Signed-off-by: David Wong <[email protected]> Co-authored-by: amc-nu <[email protected]> Co-authored-by: Abraham Monrroy Cano <[email protected]> Co-authored-by: David Wong <[email protected]> Co-authored-by: Max SCHMELLER <[email protected]>
tier4 · Mar 14, 2024 · 99cb035 · 99cb035
1 parent 490069e
commit 99cb035
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Showing 8 changed files with 876 additions and 3,382 deletions.
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_128e3x.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_128e3x.hpp
@@ -68,7 +68,6 @@ struct Packet128E3X : public PacketBase<2, 128, 2, 100>
 
 }  // namespace hesai_packet
 
-// FIXME(mojomex) support high resolution mode
 class Pandar128E3X : public HesaiSensor<hesai_packet::Packet128E3X>
 {
 private:

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_128e4x.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_128e4x.hpp
@@ -20,11 +20,14 @@ typedef Packet128E3X Packet128E4X;
 
 }  // namespace hesai_packet
 
-// FIXME(mojomex) support high resolution mode
+// FIXME(mojomex):
+// The OT128 datasheet has entirely different numbers (and more azimuth states).
+// With the current sensor version, the numbers from the new datasheet are incorrect
+// (clouds do not sync to ToS but ToS+.052s) 
 class Pandar128E4X : public HesaiSensor<hesai_packet::Packet128E4X>
 {
 private:
-  enum OperationalState { HIGH_RESOLUTION = 0, STANDARD = 1 };
+enum OperationalState { HIGH_RESOLUTION = 0, STANDARD = 1 };
 
   static constexpr int firing_time_offset_static_ns_[128] = {
     49758, 43224, 36690, 30156, 21980, 15446, 8912,  2378,  49758, 43224, 36690, 30156, 2378,

diff --git a/...interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp b/...interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
@@ -235,40 +235,30 @@ struct HesaiInventory
     switch (model) {
       case 0:
         return "Pandar40P";
-        break;
       case 2:
         return "Pandar64";
-        break;
       case 3:
         return "Pandar128";
-        break;
       case 15:
         return "PandarQT";
-        break;
       case 17:
         return "Pandar40M";
-        break;
       case 20:
         return "PandarMind(PM64)";
-        break;
       case 25:
         return "PandarXT32";
-        break;
       case 26:
         return "PandarXT16";
-        break;
       case 32:
         return "QT128C2X";
-        break;
       case 38:
         return "PandarXT32M";
-        break;
+      case 42:
+        return "OT128";
       case 48:
         return "PandarAT128";
-        break;
       default:
         return "Unknown(" + std::to_string(model) + ")";
-        break;
     }
   }
 };

diff --git a/...interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/...interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp