perf(hw_interface): write packet data directly into the message

[xmfcx]

PR Type

• Improvement

Related Links

None.

Description

Before this change, in the driver, every time a UDP packet is received, it is first written to a std::array object, then copied into the message.
With this change, the UDP packets are directly read into the message, avoiding the overhead.

Their types are the same so it won't cause an issue.

Small note: also made the buffer size variable const since it doesn't change over time.

Review Procedure

You could:

• double check the types.
• test on pcap data.

Remarks

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• Commits are properly organized and messages are according to the guideline
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[codecov-commenter]

Codecov Report

Attention: 2 lines in your changes are missing coverage. Please review.

Comparison is base (a89c0a9) 8.28% compared to head (22811ea) 3.96%.

Files	Patch %	Lines
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	0.00%	1 Missing ⚠️
...a_velodyne_hw_interfaces/velodyne_hw_interface.cpp	0.00%	1 Missing ⚠️

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Additional details and impacted files

@@           Coverage Diff            @@
##            main    #102      +/-   ##
========================================
- Coverage   8.28%   3.96%   -4.32%     
========================================
  Files         87      27      -60     
  Lines       8454    5946    -2508     
  Branches     853     463     -390     
========================================
- Hits         700     236     -464     
+ Misses      7178    5298    -1880     
+ Partials     576     412     -164     

Flag	Coverage Δ
differential	3.96% <0.00%> (?)
total	?

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[mojomex]

Confirmed working on VLP32 and Pandar40P

[drwnz]

Thanks @xmfcx, looks good!