feat(hesai): multicast support

[mojomex]

PR Type

• New Feature

Related Links

• TIER IV INTERNAL LINK -- corresponding issue

Description

Hesai sensors do not officially mention multicast support in their datasheets, but it turns out that it works just fine. Tested sensors:

• OT128

This PR adds a multicast_ip parameter for all Hesai sensors. Nebula sets the destination IP of the sensor to that multicast IP when setup_sensor is enabled and multicast_ip is not an empty string.
If setup_sensor is enabled and multicast_ip is empty, the host_ip is set as the destination IP instead, in the same way it was being done up until now.

Review Procedure

• Set multicast_ip to an empty string. Nebula should behave as usual.
• Set multicast_ip to an address in the range 224.0.0.0/4 and enable setup_sensor. The sensor data should still arrive and the hardware monitor should still work.

Remarks

To confirm the sensor really supports multicast, check the destination MAC address of the arriving frames. The last three bytes should equal the last three bytes of the IP multicast address, and Wireshark should show IPv4mcast_xx:xx:xx as the L2 destination name:

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• 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

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• All open points are addressed and tracked via issues or tickets

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[knzo25]

@mojomex

FYI:

/home/kenzo/workspace/nebula_ws/src/nebula_ros/src/continental/continental_srr520_ros_wrapper.cpp:17: warning: ignoring ‘#pragma clang diagnostic’ [-Wunknown-pragmas]
   17 | #pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"
      | 
/home/kenzo/workspace/nebula_ws/src/nebula_ros/src/robosense/robosense_ros_wrapper.cpp:7: warning: ignoring ‘#pragma clang diagnostic’ [-Wunknown-pragmas]
    7 | #pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"
      | 
/home/kenzo/workspace/nebula_ws/src/nebula_ros/src/velodyne/velodyne_ros_wrapper.cpp:5: warning: ignoring ‘#pragma clang diagnostic’ [-Wunknown-pragmas]
    5 | #pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"
      | 
/home/kenzo/workspace/nebula_ws/src/nebula_ros/src/hesai/decoder_wrapper.cpp:5: warning: ignoring ‘#pragma clang diagnostic’ [-Wunknown-pragmas]
    5 | #pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"
      | 
/home/kenzo/workspace/nebula_ws/src/nebula_ros/src/continental/continental_ars548_ros_wrapper.cpp:17: warning: ignoring ‘#pragma clang diagnostic’ [-Wunknown-pragmas]
   17 | #pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"
      | 
/home/kenzo/workspace/nebula_ws/src/nebula_ros/src/hesai/hesai_ros_wrapper.cpp:9: warning: ignoring ‘#pragma clang diagnostic’ [-Wunknown-pragmas]
    9 | #pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"
      | 

[mojomex]

@mojomex

FYI:

/home/kenzo/workspace/nebula_ws/src/nebula_ros/src/continental/continental_srr520_ros_wrapper.cpp:17: warning: ignoring ‘#pragma clang diagnostic’ [-Wunknown-pragmas]
   17 | #pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"
      | 
[...]

Ah, indeed that's annoying. For now, as GCC is the standard, I will prioritize having no warnings when compiling with it instead of Clang.
Will address in a separate PR to develop.

[knzo25]

LGTM