Added XT16 to docs, modified max_scan_buffer_points, changed struct t…

…o use TailXT32
tier4 · Dec 2, 2024 · 17b8a39 · 17b8a39
1 parent 0a2c921
commit 17b8a39
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Showing 4 changed files with 6 additions and 10 deletions.
diff --git a/docs/supported_sensors.md b/docs/supported_sensors.md
@@ -17,6 +17,7 @@ The `sensor_model` parameter below decides which sensor driver is launched.
 | ------------ | -------------- | ----------------------- | ----------- |
 | Pandar64     | Pandar64       | Pandar64.param.yaml     | ⚠️          |
 | Pandar 40P   | Pandar40P      | Pandar40P.param.yaml    | ✅          |
+| Pandar XT16  | PandarXT16     | PandarXT16.param.yaml   | ⚠️          |
 | Pandar XT32  | PandarXT32     | PandarXT32.param.yaml   | ✅          |
 | Pandar XT32M | PandarXT32M    | PandarXT32M.param.yaml  | ⚠️          |
 | Pandar QT64  | PandarQT64     | PandarQT64.param.yaml   | ✅          |

diff --git a/mkdocs.yml b/mkdocs.yml
@@ -48,6 +48,7 @@ nav:
           - QT64: parameters/vendors/hesai/qt64.md
           - QT128: parameters/vendors/hesai/qt128.md
           - AT128: parameters/vendors/hesai/at128.md
+          - XT16: parameters/vendors/hesai/xt16.md
           - XT32: parameters/vendors/hesai/xt32.md
           - XT32M: parameters/vendors/hesai/xt32m.md
       - Velodyne:

diff --git a/nebula_common/include/nebula_common/hesai/hesai_common.hpp b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
@@ -433,6 +433,7 @@ inline ReturnMode return_mode_from_string_hesai(
   const std::string & return_mode, const SensorModel & sensor_model)
 {
   switch (sensor_model) {
+    case SensorModel::HESAI_PANDARXT16:
     case SensorModel::HESAI_PANDARXT32:
     case SensorModel::HESAI_PANDARXT32M:
     case SensorModel::HESAI_PANDAR128_E3X:
@@ -474,6 +475,7 @@ inline ReturnMode return_mode_from_int_hesai(
   const int return_mode, const SensorModel & sensor_model)
 {
   switch (sensor_model) {
+    case SensorModel::HESAI_PANDARXT16:
     case SensorModel::HESAI_PANDARXT32:
     case SensorModel::HESAI_PANDARXT32M:
     case SensorModel::HESAI_PANDAR128_E3X:

diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt16.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt16.hpp
@@ -27,15 +27,7 @@ namespace hesai_packet
 
 #pragma pack(push, 1)
 
-struct TailXT16
-{
-  uint8_t reserved1[10];
-  uint8_t return_mode;
-  uint16_t motor_speed;
-  DateTime<1900> date_time;
-  uint32_t timestamp;
-  uint8_t factory_information;
-};
+using TailXT16 = TailXT32;
 
 struct PacketXT16 : public PacketBase<8, 16, 2, 100>
 {
@@ -55,7 +47,7 @@ class PandarXT16 : public HesaiSensor<hesai_packet::PacketXT16>
 public:
   static constexpr float min_range = 0.05f;
   static constexpr float max_range = 120.0f;
-  static constexpr size_t max_scan_buffer_points = 256000;
+  static constexpr size_t max_scan_buffer_points = 128000;
 
   int get_packet_relative_point_time_offset(
     uint32_t block_id, uint32_t channel_id, const packet_t & packet) override