fix(hesai_hw_interface): change to synchronous requests to prevent undefined sensor behavior

[mojomex]

PR Type

• Bug Fix

Related Links

TIER IV INTERNAL LINK -- Issue
TIER IV INTERNAL LINK -- Investigation

Description

OT128 had 2s of packets dropped per minute, which was caused by multiple TCP streams being executed concurrently.
Fixing this issue required to

• remove tcp_driver_s_ and local TCP drivers in hesai_hw_interface.cpp
• change from asynchronous requests and nested callbacks to blocking/synchronous-style communication

In the wake of this big refactoring, I made the following other changes:

• remove superfluous function overloads in HW interface
• move PTC header handling and TCP send/receive logic to its own function in HW interface, accessed by all Get/Set functions

Review Procedure

Refer to the investigation above.
Things I checked (on 40P, QT128, OT128):

• TCP streams not concurrent
• No UDP packet drops
• Pointclouds are correct and at 10Hz without drops
• PTP works as expected

Remarks

Functionality in #ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE etc. has not been tested.

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• 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

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[codecov-commenter]

Codecov Report

Attention: Patch coverage is 0% with 51 lines in your changes are missing coverage. Please review.

Project coverage is 8.94%. Comparing base (490069e) to head (adf43fe).

Files	Patch %	Lines
nebula_ros/src/hesai/hesai_decoder_ros_wrapper.cpp	0.00%	26 Missing ⚠️
...ula_ros/src/hesai/hesai_hw_monitor_ros_wrapper.cpp	0.00%	19 Missing ⚠️
...a_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp	0.00%	6 Missing ⚠️

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Additional details and impacted files

@@           Coverage Diff            @@
##            main    #126      +/-   ##
========================================
+ Coverage   6.53%   8.94%   +2.40%     
========================================
  Files        136      64      -72     
  Lines      11073    7253    -3820     
  Branches     869     814      -55     
========================================
- Hits         724     649      -75     
+ Misses      9763    6040    -3723     
+ Partials     586     564      -22     

Flag	Coverage Δ
differential	8.94% <0.00%> (?)
total	?

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[drwnz]

LGTM!