feat(hesai_hw_interface): use new UDP socket implementation

.cspell.json

@@ -32,6 +32,7 @@
     "nproc",
     "nsec",
     "ntoa",
+    "OVFL",
     "pandar",
     "PANDAR",
     "PANDARAT",

nebula_common/include/nebula_common/util/expected.hpp

@@ -15,6 +15,7 @@
 #pragma once
 
 #include <exception>
+#include <stdexcept>
 #include <string>
 #include <variant>
 

nebula_hw_interfaces/CMakeLists.txt

@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.14)
 project(nebula_hw_interfaces)
 
 # Default to C++17
-if (NOT CMAKE_CXX_STANDARD)
+if(NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)
-endif ()
+endif()
 
-if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
-endif ()
+endif()
 
 find_package(ament_cmake_auto REQUIRED)
 find_package(boost_tcp_driver)
@@ -53,7 +53,6 @@ target_link_libraries(nebula_hw_interfaces_velodyne PUBLIC
     ${boost_tcp_driver_LIBRARIES}
     ${boost_udp_driver_LIBRARIES}
     ${velodyne_msgs_TARGETS}
-
 )
 target_include_directories(nebula_hw_interfaces_velodyne PUBLIC
     ${boost_udp_driver_INCLUDE_DIRS}
@@ -68,7 +67,6 @@ target_link_libraries(nebula_hw_interfaces_robosense PUBLIC
     ${boost_tcp_driver_LIBRARIES}
     ${boost_udp_driver_LIBRARIES}
     ${robosense_msgs_TARGETS}
-
 )
 target_include_directories(nebula_hw_interfaces_robosense PUBLIC
     ${boost_udp_driver_INCLUDE_DIRS}
@@ -100,6 +98,17 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     ament_lint_auto_find_test_dependencies()
+
+    find_package(ament_cmake_gtest REQUIRED)
+
+    ament_add_gtest(test_udp
+        test/common/test_udp.cpp
+    )
+
+    target_include_directories(test_udp PUBLIC
+        ${nebula_common_INCLUDE_DIRS}
+        include
+        test)
 endif()
 
 ament_export_include_directories("include/${PROJECT_NAME}")