diff --git a/.cspell.json b/.cspell.json
index 4c14cb9f..f305225f 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -32,6 +32,7 @@
     "nproc",
     "nsec",
     "ntoa",
+    "OVFL",
     "pandar",
     "PANDAR",
     "PANDARAT",
diff --git a/nebula_common/include/nebula_common/util/expected.hpp b/nebula_common/include/nebula_common/util/expected.hpp
index 1d433344..45ed0b59 100644
--- a/nebula_common/include/nebula_common/util/expected.hpp
+++ b/nebula_common/include/nebula_common/util/expected.hpp
@@ -15,6 +15,7 @@
 #pragma once
 
 #include <exception>
+#include <stdexcept>
 #include <string>
 #include <variant>
 
diff --git a/nebula_hw_interfaces/CMakeLists.txt b/nebula_hw_interfaces/CMakeLists.txt
index 2577ea9a..42b19639 100644
--- a/nebula_hw_interfaces/CMakeLists.txt
+++ b/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
     ${boost_udp_driver_INCLUDE_DIRS}
@@ -100,6 +98,39 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     ament_lint_auto_find_test_dependencies()
+
+    find_package(ament_cmake_gtest REQUIRED)
+    find_package(ament_cmake_gmock REQUIRED)
+    find_package(nlohmann_json)
+
+    add_definitions(-D_TEST_RESOURCES_PATH="${PROJECT_SOURCE_DIR}/test_resources/")
+
+    ament_add_gtest(test_udp
+        test/common/test_udp.cpp
+    )
+
+    target_include_directories(test_udp PUBLIC
+        ${nebula_common_INCLUDE_DIRS}
+        include
+        test)
+
+    ament_add_gmock(hesai_test_ptc
+        test/hesai/test_ptc.cpp
+    )
+
+    target_include_directories(hesai_test_ptc PUBLIC
+        ${nebula_common_INCLUDE_DIRS}
+        ${nebula_hw_interfaces_hesai_INCLUDE_DIRS}
+        ${boost_tcp_driver_INCLUDE_DIRS}
+        ${boost_udp_driver_INCLUDE_DIRS}
+        ${nlohmann_json_INCLUDE_DIRS}
+        include
+        test)
+
+    target_link_libraries(hesai_test_ptc
+        ${nlohmann_json_LIBRARIES}
+        nebula_hw_interfaces_hesai
+    )
 endif()
 
 ament_export_include_directories("include/${PROJECT_NAME}")
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_common/connections/udp.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_common/connections/udp.hpp
new file mode 100644
index 00000000..23cb4b92
--- /dev/null
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_common/connections/udp.hpp
@@ -0,0 +1,383 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <nebula_common/util/expected.hpp>
+
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/poll.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <algorithm>
+#include <atomic>
+#include <cassert>
+#include <cerrno>
+#include <cstddef>
+#include <cstdint>
+#include <cstring>
+#include <exception>
+#include <functional>
+#include <optional>
+#include <stdexcept>
+#include <string>
+#include <thread>
+#include <utility>
+#include <vector>
+
+namespace nebula::drivers::connections
+{
+
+class SocketError : public std::exception
+{
+public:
+  explicit SocketError(int err_no) : what_(strerror(err_no)) {}
+
+  explicit SocketError(const char * msg) : what_(msg) {}
+
+  const char * what() const noexcept override { return what_.c_str(); }
+
+private:
+  std::string what_;
+};
+
+class UsageError : public std::runtime_error
+{
+public:
+  explicit UsageError(const std::string & msg) : std::runtime_error(msg) {}
+};
+
+class UdpSocket
+{
+private:
+  struct Endpoint
+  {
+    std::string ip;
+    uint16_t port;
+  };
+
+  struct MsgBuffers
+  {
+    msghdr msg{};
+    iovec iov{};
+    std::array<std::byte, 1024> control;
+    sockaddr_in sender_addr;
+  };
+
+  class DropMonitor
+  {
+    uint32_t last_drop_counter_{0};
+
+  public:
+    uint32_t get_drops_since_last_receive(uint32_t current_drop_counter)
+    {
+      uint32_t last = last_drop_counter_;
+      last_drop_counter_ = current_drop_counter;
+
+      bool counter_did_wrap = current_drop_counter < last;
+      if (counter_did_wrap) {
+        return (UINT32_MAX - last) + current_drop_counter;
+      }
+
+      return current_drop_counter - last;
+    }
+  };
+
+  enum class State { UNINITIALIZED, INITIALIZED, BOUND, ACTIVE };
+
+  static const int g_poll_timeout_ms = 10;
+
+public:
+  struct ReceiveMetadata
+  {
+    std::optional<uint64_t> timestamp_ns;
+    uint64_t drops_since_last_receive{0};
+    bool truncated;
+  };
+
+  using callback_t = std::function<void(const std::vector<uint8_t> &, const ReceiveMetadata &)>;
+
+  /**
+   * @brief Construct a UDP socket with timestamp measuring enabled. The minimal way to start
+   * receiving on the socket is `UdpSocket().init(...).bind().subscribe(...);`.
+   */
+  UdpSocket()
+  {
+    int sock_fd = socket(AF_INET, SOCK_DGRAM, 0);
+    if (sock_fd == -1) throw SocketError(errno);
+
+    int enable = 1;
+    int result = setsockopt(sock_fd, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
+    if (result < 0) throw SocketError(errno);
+
+    // Enable kernel-space receive time measurement
+    result = setsockopt(sock_fd, SOL_SOCKET, SO_TIMESTAMP, &enable, sizeof(enable));
+    if (result < 0) throw SocketError(errno);
+
+    // Enable reporting on packets dropped due to full UDP receive buffer
+    result = setsockopt(sock_fd, SOL_SOCKET, SO_RXQ_OVFL, &enable, sizeof(enable));
+    if (result < 0) throw SocketError(errno);
+
+    poll_fd_ = {sock_fd, POLLIN, 0};
+    sock_fd_ = sock_fd;
+  }
+
+  /**
+   * @brief Specify the host address and port for this socket to be bound to. To bind the socket,
+   * call the `bind()` function.
+   *
+   * @param host_ip The address to bind to.
+   * @param host_port The port to bind to.
+   */
+  UdpSocket & init(const std::string & host_ip, uint16_t host_port)
+  {
+    if (state_ > State::INITIALIZED) throw UsageError("Socket must be initialized before binding");
+
+    host_ = {host_ip, host_port};
+    state_ = State::INITIALIZED;
+    return *this;
+  }
+
+  /**
+   * @brief Set the socket to drop all packets not coming from `sender_ip` and `sender_port`.
+   *
+   * @param sender_ip The only allowed sender IP. Cannot be a multicast or broadcast address.
+   * @param sender_port The only allowed sender port.
+   */
+  UdpSocket & limit_to_sender(const std::string & sender_ip, uint16_t sender_port)
+  {
+    if (state_ >= State::ACTIVE) throw UsageError("Sender has to be set before subscribing");
+
+    sender_.emplace(Endpoint{sender_ip, sender_port});
+    return *this;
+  }
+
+  /**
+   * @brief Set the MTU this socket supports. While this can be set arbitrarily, it is best set to
+   * the MTU of the network interface, or to the maximum expected packet length.
+   *
+   * @param bytes The MTU size. The default value is 1500.
+   */
+  UdpSocket & set_mtu(size_t bytes)
+  {
+    if (state_ >= State::ACTIVE) throw UsageError("MTU size has to be set before subscribing");
+
+    buffer_size_ = bytes;
+    return *this;
+  }
+
+  UdpSocket & set_socket_buffer_size(size_t bytes)
+  {
+    if (state_ > State::INITIALIZED) throw UsageError("Buffer size has to be set before binding");
+    if (bytes > static_cast<size_t>(INT32_MAX))
+      throw UsageError("The maximum value supported (0x7FFFFFF) has been exceeded");
+
+    auto buf_size = static_cast<int>(bytes);
+    int result = setsockopt(sock_fd_, SOL_SOCKET, SO_RCVBUF, &buf_size, sizeof(buf_size));
+    if (result < 0) throw SocketError(errno);
+    return *this;
+  }
+
+  /**
+   * @brief Join an IP multicast group. Only one group can be joined by the socket.
+   *
+   * @param group_ip The multicast IP. It has to be in the multicast range `224.0.0.0/4` (between
+   * `224.0.0.0` and `239.255.255.255`).
+   */
+  UdpSocket & join_multicast_group(const std::string & group_ip)
+  {
+    if (state_ < State::INITIALIZED) throw UsageError("Socket has to be initialized first");
+    if (state_ >= State::BOUND)
+      throw UsageError("Multicast groups have to be joined before binding");
+
+    ip_mreq mreq;
+    mreq.imr_multiaddr.s_addr = inet_addr(group_ip.c_str());  // Multicast group address
+    mreq.imr_interface.s_addr = inet_addr(host_.ip.c_str());
+
+    int result = setsockopt(sock_fd_, IPPROTO_IP, IP_ADD_MEMBERSHIP, &mreq, sizeof(mreq));
+    if (result < 0) throw SocketError(errno);
+
+    multicast_ip_.emplace(group_ip);
+    return *this;
+  }
+
+  /**
+   * @brief Bind the socket to host IP and port given in `init()`. If `join_multicast_group()` was
+   * called before this function, the socket will be bound to `group_ip` instead. At least `init()`
+   * has to have been called before.
+   */
+  UdpSocket & bind()
+  {
+    if (state_ < State::INITIALIZED) throw UsageError("Socket has to be initialized first");
+    if (state_ >= State::BOUND) throw UsageError("Re-binding already bound socket");
+
+    sockaddr_in addr{};
+    addr.sin_family = AF_INET;
+    addr.sin_port = htons(host_.port);
+    addr.sin_addr.s_addr = multicast_ip_ ? inet_addr(multicast_ip_->c_str()) : INADDR_ANY;
+
+    int result = ::bind(sock_fd_, (struct sockaddr *)&addr, sizeof(addr));
+    if (result == -1) throw SocketError(errno);
+
+    state_ = State::BOUND;
+    return *this;
+  }
+
+  /**
+   * @brief Register a callback for processing received packets and start the receiver thread. The
+   * callback will be called for each received packet, and will be executed in the receive thread.
+   * Has to be called on a bound socket (`bind()` has to have been called before).
+   *
+   * @param callback The function to be executed for each received packet.
+   */
+  UdpSocket & subscribe(callback_t && callback)
+  {
+    if (state_ < State::BOUND) throw UsageError("Socket has to be bound first");
+    if (state_ > State::BOUND) throw UsageError("Cannot re-subscribe to socket");
+
+    callback_ = std::move(callback);
+    launch_receiver();
+    return *this;
+  }
+
+  /**
+   * @brief Gracefully stops the active receiver thread (if any) but keeps the socket alive. The
+   * same socket can later be subscribed again.
+   */
+  UdpSocket & unsubscribe()
+  {
+    if (state_ == State::ACTIVE) state_ = State::BOUND;
+    if (receive_thread_.joinable()) receive_thread_.join();
+    return *this;
+  }
+
+  ~UdpSocket()
+  {
+    unsubscribe();
+    close(sock_fd_);
+  }
+
+private:
+  void launch_receiver()
+  {
+    assert(state_ == State::BOUND);
+    assert(callback_);
+
+    state_ = State::ACTIVE;
+    receive_thread_ = std::thread([this]() {
+      std::vector<uint8_t> buffer;
+      while (state_ == State::ACTIVE) {
+        auto data_available = is_data_available();
+        if (!data_available.has_value()) throw SocketError(data_available.error());
+        if (!data_available.value()) continue;
+
+        buffer.resize(buffer_size_);
+        auto msg_header = make_msg_header(buffer);
+
+        ssize_t recv_result = recvmsg(sock_fd_, &msg_header.msg, MSG_TRUNC);
+        if (recv_result < 0) throw SocketError(errno);
+        size_t untruncated_packet_length = recv_result;
+
+        if (!is_accepted_sender(msg_header.sender_addr)) continue;
+
+        ReceiveMetadata metadata;
+        get_receive_metadata(msg_header.msg, metadata);
+        metadata.truncated = untruncated_packet_length > buffer_size_;
+
+        buffer.resize(std::min(buffer_size_, untruncated_packet_length));
+        callback_(buffer, metadata);
+      }
+    });
+  }
+
+  void get_receive_metadata(msghdr & msg, ReceiveMetadata & inout_metadata)
+  {
+    for (cmsghdr * cmsg = CMSG_FIRSTHDR(&msg); cmsg != nullptr; cmsg = CMSG_NXTHDR(&msg, cmsg)) {
+      if (cmsg->cmsg_level != SOL_SOCKET) continue;
+
+      switch (cmsg->cmsg_type) {
+        case SO_TIMESTAMP: {
+          auto tv = (timeval const *)CMSG_DATA(cmsg);
+          uint64_t timestamp_ns = tv->tv_sec * 1'000'000'000 + tv->tv_usec * 1000;
+          inout_metadata.timestamp_ns.emplace(timestamp_ns);
+          break;
+        }
+        case SO_RXQ_OVFL: {
+          auto drops = (uint32_t const *)CMSG_DATA(cmsg);
+          inout_metadata.drops_since_last_receive =
+            drop_monitor_.get_drops_since_last_receive(*drops);
+          break;
+        }
+        default:
+          continue;
+      }
+    }
+  }
+
+  util::expected<bool, int> is_data_available()
+  {
+    int status = poll(&poll_fd_, 1, g_poll_timeout_ms);
+    if (status < 0) return errno;
+    return (poll_fd_.revents & POLLIN) && (status > 0);
+  }
+
+  bool is_accepted_sender(const sockaddr_in & sender_addr)
+  {
+    if (!sender_) return true;
+
+    std::array<char, INET_ADDRSTRLEN> sender_name;
+    inet_ntop(AF_INET, &sender_addr.sin_addr, sender_name.data(), INET_ADDRSTRLEN);
+    return std::strncmp(sender_->ip.c_str(), sender_name.data(), INET_ADDRSTRLEN) == 0;
+  }
+
+  MsgBuffers make_msg_header(std::vector<uint8_t> & receive_buffer) const
+  {
+    msghdr msg{};
+    iovec iov{};
+    std::array<std::byte, 1024> control;
+
+    sockaddr_in sender_addr;
+    socklen_t sender_addr_len = sizeof(sender_addr);
+
+    iov.iov_base = receive_buffer.data();
+    iov.iov_len = receive_buffer.size();
+
+    msg.msg_iov = &iov;
+    msg.msg_iovlen = 1;
+    msg.msg_control = control.data();
+    msg.msg_controllen = control.size();
+    msg.msg_name = &sender_addr;
+    msg.msg_namelen = sender_addr_len;
+
+    return MsgBuffers{msg, iov, control, sender_addr};
+  }
+
+  std::atomic<State> state_{State::UNINITIALIZED};
+
+  int sock_fd_;
+  pollfd poll_fd_;
+
+  size_t buffer_size_ = 1500;
+  Endpoint host_;
+  std::optional<std::string> multicast_ip_;
+  std::optional<Endpoint> sender_;
+  std::thread receive_thread_;
+  callback_t callback_;
+
+  DropMonitor drop_monitor_;
+};
+
+}  // namespace nebula::drivers::connections
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/connections/tcp.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/connections/tcp.hpp
new file mode 100644
index 00000000..aa5f4598
--- /dev/null
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/connections/tcp.hpp
@@ -0,0 +1,103 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <boost_tcp_driver/tcp_driver.hpp>
+
+#include <boost/asio/io_context.hpp>
+
+#include <cstdint>
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+namespace nebula::drivers::connections
+{
+
+class TcpError : public std::runtime_error
+{
+public:
+  explicit TcpError(const std::string & msg) : std::runtime_error(msg) {}
+};
+
+class AbstractTcpSocket
+{
+public:
+  using header_callback_t = std::function<void(const std::vector<uint8_t> &)>;
+  using payload_callback_t = std::function<void(const std::vector<uint8_t> &)>;
+  using completion_callback_t = std::function<void()>;
+
+  virtual ~AbstractTcpSocket() = default;
+
+  virtual void init(
+    const std::string & host_ip, uint16_t host_port, const std::string & remote_ip,
+    uint16_t remote_port) = 0;
+
+  virtual void bind() = 0;
+
+  virtual void close() = 0;
+
+  virtual void async_ptc_request(
+    std::vector<uint8_t> & ptc_packet, header_callback_t cb_header, payload_callback_t cb_payload,
+    completion_callback_t cb_completion) = 0;
+};
+
+class TcpSocket : public AbstractTcpSocket
+{
+public:
+  using callback_t = std::function<void(const std::vector<uint8_t> &)>;
+
+  void init(
+    const std::string & host_ip, uint16_t host_port, const std::string & remote_ip,
+    uint16_t remote_port) override
+  {
+    tcp_driver_.init_socket(remote_ip, remote_port, host_ip, host_port);
+  }
+
+  void bind() override
+  {
+    if (!tcp_driver_.isOpen() && !tcp_driver_.open()) {
+      throw TcpError("could not open TCP socket for an unknown reason");
+    }
+  }
+
+  void close() override
+  {
+    if (tcp_driver_.isOpen()) {
+      tcp_driver_.close();
+    }
+  }
+
+  void async_ptc_request(
+    std::vector<uint8_t> & ptc_packet, header_callback_t cb_header, payload_callback_t cb_payload,
+    completion_callback_t cb_completion) override
+  {
+    if (tcp_driver_.GetIOContext()->stopped()) {
+      tcp_driver_.GetIOContext()->restart();
+    }
+    bool success =
+      tcp_driver_.asyncSendReceiveHeaderPayload(ptc_packet, cb_header, cb_payload, cb_completion);
+    if (!success) {
+      throw TcpError("sending the PTC command failed for an unknown reason");
+    }
+    tcp_driver_.GetIOContext()->run();
+  }
+
+private:
+  ::drivers::tcp_driver::TcpDriver tcp_driver_{std::make_shared<boost::asio::io_context>(1)};
+};
+
+}  // namespace nebula::drivers::connections
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
index dc5103ab..f1d7a75b 100644
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp
@@ -17,6 +17,8 @@
 // Have to define macros to silence warnings about deprecated headers being used by
 // boost/property_tree/ in some versions of boost.
 // See: https://github.com/boostorg/property_tree/issues/51
+#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/connections/tcp.hpp"
+
 #include <nebula_common/nebula_status.hpp>
 
 #include <boost/version.hpp>
@@ -31,7 +33,6 @@
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp"
 
 #include <boost_tcp_driver/http_client_driver.hpp>
-#include <boost_tcp_driver/tcp_driver.hpp>
 #include <boost_udp_driver/udp_driver.hpp>
 #include <nebula_common/hesai/hesai_common.hpp>
 #include <nebula_common/hesai/hesai_status.hpp>
@@ -138,9 +139,8 @@ class HesaiHwInterface
 
   std::shared_ptr<loggers::Logger> logger_;
   std::unique_ptr<::drivers::common::IoContext> cloud_io_context_;
-  std::shared_ptr<boost::asio::io_context> m_owned_ctx;
   std::unique_ptr<::drivers::udp_driver::UdpDriver> cloud_udp_driver_;
-  std::shared_ptr<::drivers::tcp_driver::TcpDriver> tcp_driver_;
+  std::shared_ptr<connections::AbstractTcpSocket> tcp_socket_;
   std::shared_ptr<const HesaiSensorConfiguration> sensor_configuration_;
   std::function<void(std::vector<uint8_t> & buffer)>
     cloud_packet_callback_; /**This function pointer is called when the scan is complete*/
@@ -189,7 +189,9 @@ class HesaiHwInterface
 
 public:
   /// @brief Constructor
-  explicit HesaiHwInterface(const std::shared_ptr<loggers::Logger> & logger);
+  HesaiHwInterface(
+    std::shared_ptr<loggers::Logger> logger,
+    std::shared_ptr<connections::AbstractTcpSocket> tcp_socket);
   /// @brief Destructor
   ~HesaiHwInterface();
   /// @brief Initializing tcp_driver for TCP communication
@@ -362,12 +364,6 @@ class HesaiHwInterface
   /// @return Resulting status
   HesaiLidarMonitor GetLidarMonitor();
 
-  /// @brief Call run() of IO Context
-  void IOContextRun();
-  /// @brief GetIO Context
-  /// @return IO Context
-  std::shared_ptr<boost::asio::io_context> GetIOContext();
-
   /// @brief Setting spin_speed via HTTP API
   /// @param ctx IO Context used
   /// @param rpm spin_speed (300, 600, 1200)
diff --git a/nebula_hw_interfaces/package.xml b/nebula_hw_interfaces/package.xml
index f77e8876..48a7413f 100644
--- a/nebula_hw_interfaces/package.xml
+++ b/nebula_hw_interfaces/package.xml
@@ -20,8 +20,10 @@
   <depend>ros2_socketcan</depend>
   <depend>velodyne_msgs</depend>
 
+  <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>nlohmann-json-dev</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
index 29302bbc..19d3ff74 100644
--- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -36,12 +36,13 @@ namespace nebula::drivers
 using std::string_literals::operator""s;
 using nlohmann::json;
 
-HesaiHwInterface::HesaiHwInterface(const std::shared_ptr<loggers::Logger> & logger)
-: logger_(logger),
+HesaiHwInterface::HesaiHwInterface(
+  std::shared_ptr<loggers::Logger> logger,
+  std::shared_ptr<connections::AbstractTcpSocket> tcp_socket)
+: logger_(std::move(logger)),
   cloud_io_context_{new ::drivers::common::IoContext(1)},
-  m_owned_ctx{new boost::asio::io_context(1)},
   cloud_udp_driver_{new ::drivers::udp_driver::UdpDriver(*cloud_io_context_)},
-  tcp_driver_{new ::drivers::tcp_driver::TcpDriver(m_owned_ctx)},
+  tcp_socket_{std::move(tcp_socket)},
   target_model_no(NebulaModelToHesaiModelNo(SensorModel::UNKNOWN))
 {
 }
@@ -86,13 +87,8 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
   std::timed_mutex tm;
   tm.lock();
 
-  if (tcp_driver_->GetIOContext()->stopped()) {
-    logger_->debug(log_tag + "IOContext was stopped");
-    tcp_driver_->GetIOContext()->restart();
-  }
-
   logger_->debug(log_tag + "Sending payload");
-  tcp_driver_->asyncSendReceiveHeaderPayload(
+  tcp_socket_->async_ptc_request(
     send_buf,
     [this, log_tag, command_id, response_complete,
      error_code](const std::vector<uint8_t> & header_bytes) {
@@ -118,7 +114,7 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
 
       // Header had payload length 0 (thus, header callback processed request successfully already),
       // but we still received a payload: invalid state
-      if (*response_complete == true) {
+      if (*response_complete) {
         error_code->error_flags |= TCP_ERROR_UNEXPECTED_PAYLOAD;
         return;
       }
@@ -132,7 +128,6 @@ HesaiHwInterface::ptc_cmd_result_t HesaiHwInterface::SendReceive(
       tm.unlock();
       logger_->debug(log_tag + "Unlocked mutex");
     });
-  this->IOContextRun();
   if (!tm.try_lock_for(std::chrono::seconds(1))) {
     logger_->error(log_tag + "Request did not finish within 1s");
     error_code->error_flags |= TCP_ERROR_TIMEOUT;
@@ -244,40 +239,16 @@ Status HesaiHwInterface::GetCalibrationConfiguration(
 
 Status HesaiHwInterface::InitializeTcpDriver()
 {
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-  std::cout << "HesaiHwInterface::InitializeTcpDriver" << std::endl;
-  std::cout << "st: tcp_driver_->init_socket" << std::endl;
-  std::cout << "sensor_configuration_->sensor_ip=" << sensor_configuration_->sensor_ip << std::endl;
-  std::cout << "sensor_configuration_->host_ip=" << sensor_configuration_->host_ip << std::endl;
-  std::cout << "PandarTcpCommandPort=" << PandarTcpCommandPort << std::endl;
-#endif
-  tcp_driver_->init_socket(
-    sensor_configuration_->sensor_ip, PandarTcpCommandPort, sensor_configuration_->host_ip,
+  tcp_socket_->init(
+    sensor_configuration_->host_ip, PandarTcpCommandPort, sensor_configuration_->sensor_ip,
     PandarTcpCommandPort);
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-  std::cout << "ed: tcp_driver_->init_socket" << std::endl;
-#endif
-  if (!tcp_driver_->open()) {
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-    std::cout << "!tcp_driver_->open()" << std::endl;
-#endif
-    //    tcp_driver_->close();
-    tcp_driver_->closeSync();
-    return Status::ERROR_1;
-  }
+  tcp_socket_->bind();
   return Status::OK;
 }
 
 Status HesaiHwInterface::FinalizeTcpDriver()
 {
-  try {
-    if (tcp_driver_) {
-      tcp_driver_->close();
-    }
-  } catch (std::exception & e) {
-    logger_->error("Error while finalizing the TcpDriver");
-    return Status::UDP_CONNECTION_ERROR;
-  }
+  tcp_socket_->close();
   return Status::OK;
 }
 
@@ -717,16 +688,6 @@ HesaiLidarMonitor HesaiHwInterface::GetLidarMonitor()
   return CheckSizeAndParse<HesaiLidarMonitor>(response);
 }
 
-void HesaiHwInterface::IOContextRun()
-{
-  m_owned_ctx->run();
-}
-
-std::shared_ptr<boost::asio::io_context> HesaiHwInterface::GetIOContext()
-{
-  return m_owned_ctx;
-}
-
 HesaiStatus HesaiHwInterface::GetHttpClientDriverOnce(
   std::shared_ptr<boost::asio::io_context> ctx,
   std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> & hcd)
diff --git a/nebula_hw_interfaces/test/common/test_udp.cpp b/nebula_hw_interfaces/test/common/test_udp.cpp
new file mode 100644
index 00000000..67407724
--- /dev/null
+++ b/nebula_hw_interfaces/test/common/test_udp.cpp
@@ -0,0 +1,198 @@
+// Copyright 2024 TIER IV, Inc.
+
+#include "common/test_udp/utils.hpp"
+#include "nebula_common/util/expected.hpp"
+#include "nebula_hw_interfaces/nebula_hw_interfaces_common/connections/udp.hpp"
+
+#include <gtest/gtest.h>
+#include <gtest/internal/gtest-internal.h>
+
+#include <algorithm>
+#include <chrono>
+#include <cstddef>
+#include <cstdint>
+#include <cstdio>
+#include <cstring>
+#include <fstream>
+#include <optional>
+#include <string>
+#include <vector>
+
+namespace nebula::drivers::connections
+{
+
+using std::chrono_literals::operator""ms;
+
+static const char localhost_ip[] = "127.0.0.1";
+static const char broadcast_ip[] = "255.255.255.255";
+static const char any_ip[] = "0.0.0.0";
+static const char multicast_group[] = "230.1.2.3";
+
+static const char sender_ip[] = "192.168.201";
+static const uint16_t sender_port = 7373;
+static const uint16_t host_port = 6262;
+
+static const std::chrono::duration send_receive_timeout = 100ms;
+
+UdpSocket::callback_t empty_cb()
+{
+  return [](const auto &, const auto &) {};
+}
+
+util::expected<uint64_t, std::string> read_sys_param(const std::string & param_fqn)
+{
+  std::string path = "/proc/sys/" + param_fqn;
+  std::replace(path.begin(), path.end(), '.', '/');
+  std::ifstream ifs{path};
+  if (!ifs) return "could not read " + param_fqn;
+
+  size_t param{};
+  if (!(ifs >> param)) return param_fqn + " has unrecognized format";
+  return param;
+}
+
+TEST(test_udp, test_basic_lifecycle)
+{
+  ASSERT_NO_THROW(
+    UdpSocket().init(localhost_ip, host_port).bind().subscribe(empty_cb()).unsubscribe());
+}
+
+TEST(test_udp, test_special_addresses_bind)
+{
+  ASSERT_NO_THROW(UdpSocket().init(broadcast_ip, host_port).bind());
+  ASSERT_NO_THROW(UdpSocket().init(any_ip, host_port).bind());
+}
+
+TEST(test_udp, test_wildcard_multicast_join_error)
+{
+  ASSERT_THROW(
+    UdpSocket().init(broadcast_ip, host_port).join_multicast_group(multicast_group).bind(),
+    SocketError);
+}
+
+TEST(test_udp, test_buffer_resize)
+{
+  auto rmem_max_maybe = read_sys_param("net.core.rmem_max");
+  if (!rmem_max_maybe.has_value()) GTEST_SKIP() << rmem_max_maybe.error();
+  size_t rmem_max = rmem_max_maybe.value();
+
+  // Setting buffer sizes up to and including rmem_max shall succeed
+  ASSERT_NO_THROW(
+    UdpSocket().init(localhost_ip, host_port).set_socket_buffer_size(rmem_max).bind());
+
+  // Linux only supports sizes up to INT32_MAX
+  ASSERT_THROW(
+    UdpSocket()
+      .init(localhost_ip, host_port)
+      .set_socket_buffer_size(static_cast<size_t>(INT32_MAX) + 1)
+      .bind(),
+    UsageError);
+}
+
+TEST(test_udp, test_correct_usage_is_enforced)
+{
+  // These functions require other functions (e.g. `init()`) to be called beforehand
+  ASSERT_THROW(UdpSocket().bind(), UsageError);
+  ASSERT_THROW(UdpSocket().join_multicast_group(multicast_group), UsageError);
+  ASSERT_THROW(UdpSocket().subscribe(empty_cb()), UsageError);
+
+  // The following functions can be called in any order, any number of times
+  ASSERT_NO_THROW(UdpSocket().limit_to_sender(sender_ip, sender_port));
+  ASSERT_NO_THROW(UdpSocket().init(localhost_ip, host_port));
+  ASSERT_NO_THROW(UdpSocket()
+                    .limit_to_sender(sender_ip, sender_port)
+                    .init(localhost_ip, host_port)
+                    .limit_to_sender(sender_ip, sender_port)
+                    .init(localhost_ip, host_port)
+                    .bind());
+
+  // Sockets cannot be re-bound
+  ASSERT_THROW(UdpSocket().init(localhost_ip, host_port).bind().bind(), UsageError);
+
+  ASSERT_THROW(
+    UdpSocket().init(localhost_ip, host_port).bind().init(localhost_ip, host_port), UsageError);
+  ASSERT_NO_THROW(
+    UdpSocket().init(localhost_ip, host_port).bind().limit_to_sender(sender_ip, sender_port));
+
+  // Only bound sockets can be subscribed
+  ASSERT_THROW(UdpSocket().init(localhost_ip, host_port).subscribe(empty_cb()), UsageError);
+  ASSERT_NO_THROW(UdpSocket().init(localhost_ip, host_port).bind().subscribe(empty_cb()));
+
+  // Only one callback can exist
+  ASSERT_THROW(
+    UdpSocket().init(localhost_ip, host_port).bind().subscribe(empty_cb()).subscribe(empty_cb()),
+    UsageError);
+
+  // But un- and re-subscribing shall be supported
+  ASSERT_NO_THROW(UdpSocket()
+                    .init(localhost_ip, host_port)
+                    .bind()
+                    .subscribe(empty_cb())
+                    .unsubscribe()
+                    .subscribe(empty_cb()));
+
+  // Unsubscribing on a non-subscribed socket shall also be supported
+  ASSERT_NO_THROW(UdpSocket().unsubscribe());
+}
+
+TEST(test_udp, test_receiving)
+{
+  const std::vector<uint8_t> payload{1, 2, 3};
+  UdpSocket sock{};
+  sock.init(localhost_ip, host_port).bind();
+
+  auto err_no_opt = udp_send(localhost_ip, host_port, payload);
+  if (err_no_opt.has_value()) GTEST_SKIP() << strerror(err_no_opt.value());
+
+  auto result_opt = receive_once(sock, send_receive_timeout);
+
+  ASSERT_TRUE(result_opt.has_value());
+  auto const & [recv_payload, metadata] = result_opt.value();
+  ASSERT_EQ(recv_payload, payload);
+  ASSERT_FALSE(metadata.truncated);
+  ASSERT_EQ(metadata.drops_since_last_receive, 0);
+
+  // TODO(mojomex): currently cannot test timestamping on loopback interface (no timestamp produced)
+}
+
+TEST(test_udp, test_receiving_oversized)
+{
+  const size_t mtu = 1500;
+  std::vector<uint8_t> payload;
+  payload.resize(mtu + 1, 0x42);
+  UdpSocket sock{};
+  sock.init(localhost_ip, host_port).set_mtu(mtu).bind();
+
+  auto err_no_opt = udp_send(localhost_ip, host_port, payload);
+  if (err_no_opt.has_value()) GTEST_SKIP() << strerror(err_no_opt.value());
+
+  auto result_opt = receive_once(sock, send_receive_timeout);
+
+  ASSERT_TRUE(result_opt.has_value());
+  auto const & [recv_payload, metadata] = result_opt.value();
+  ASSERT_EQ(recv_payload.size(), mtu);
+  ASSERT_TRUE(std::equal(recv_payload.begin(), recv_payload.end(), payload.begin()));
+  ASSERT_TRUE(metadata.truncated);
+  ASSERT_EQ(metadata.drops_since_last_receive, 0);
+}
+
+TEST(test_udp, test_filtering_sender)
+{
+  std::vector<uint8_t> payload{1, 2, 3};
+  UdpSocket sock{};
+  sock.init(localhost_ip, host_port).bind().limit_to_sender(sender_ip, sender_port);
+
+  auto err_no_opt = udp_send(localhost_ip, host_port, payload);
+  if (err_no_opt.has_value()) GTEST_SKIP() << strerror(err_no_opt.value());
+
+  auto result_opt = receive_once(sock, send_receive_timeout);
+  ASSERT_FALSE(result_opt.has_value());
+}
+
+}  // namespace nebula::drivers::connections
+
+int main(int argc, char * argv[])
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+};
diff --git a/nebula_hw_interfaces/test/common/test_udp/utils.hpp b/nebula_hw_interfaces/test/common/test_udp/utils.hpp
new file mode 100644
index 00000000..dc9a08c0
--- /dev/null
+++ b/nebula_hw_interfaces/test/common/test_udp/utils.hpp
@@ -0,0 +1,78 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include "nebula_hw_interfaces/nebula_hw_interfaces_common/connections/udp.hpp"
+
+#include <arpa/inet.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <cerrno>
+#include <chrono>
+#include <condition_variable>
+#include <cstdint>
+#include <cstring>
+#include <optional>
+#include <utility>
+#include <vector>
+
+std::optional<int> udp_send(
+  const char * to_ip, uint16_t to_port, const std::vector<uint8_t> & bytes)
+{
+  int sock_fd = socket(AF_INET, SOCK_DGRAM, 0);
+  if (sock_fd < 0) return errno;
+
+  int enable = 1;
+  int result = setsockopt(sock_fd, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
+  if (result < 0) return errno;
+
+  sockaddr_in receiver_addr{};
+  memset(&receiver_addr, 0, sizeof(receiver_addr));
+  receiver_addr.sin_family = AF_INET;
+  receiver_addr.sin_port = htons(to_port);
+  receiver_addr.sin_addr.s_addr = inet_addr(to_ip);
+
+  result = sendto(
+    sock_fd, bytes.data(), bytes.size(), 0, reinterpret_cast<const sockaddr *>(&receiver_addr),
+    sizeof(receiver_addr));
+  if (result < 0) return errno;
+  result = close(sock_fd);
+  if (result < 0) return errno;
+  return {};
+}
+
+template <typename _T, typename _R>
+std::optional<
+  std::pair<std::vector<uint8_t>, nebula::drivers::connections::UdpSocket::ReceiveMetadata>>
+receive_once(nebula::drivers::connections::UdpSocket & sock, std::chrono::duration<_T, _R> timeout)
+{
+  std::condition_variable cv_received_result;
+  std::mutex mtx_result;
+  std::optional<
+    std::pair<std::vector<uint8_t>, nebula::drivers::connections::UdpSocket::ReceiveMetadata>>
+    result;
+
+  sock.subscribe([&](const auto & data, const auto & metadata) {
+    std::lock_guard lock(mtx_result);
+    result.emplace(data, metadata);
+    cv_received_result.notify_one();
+  });
+
+  std::unique_lock lock(mtx_result);
+  cv_received_result.wait_for(lock, timeout, [&result]() { return result.has_value(); });
+  sock.unsubscribe();
+  return result;
+}
diff --git a/nebula_hw_interfaces/test/hesai/test_ptc.cpp b/nebula_hw_interfaces/test/hesai/test_ptc.cpp
new file mode 100644
index 00000000..b4fcf316
--- /dev/null
+++ b/nebula_hw_interfaces/test/hesai/test_ptc.cpp
@@ -0,0 +1,295 @@
+// Copyright 2024 TIER IV, Inc.
+
+#include "hesai/test_ptc/ptc_test.hpp"
+#include "hesai/test_ptc/tcp_socket_mock.hpp"
+#include "hesai/test_ptc/tcp_socket_replay.hpp"
+#include "nebula_common/hesai/hesai_common.hpp"
+#include "nebula_common/nebula_common.hpp"
+#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/connections/tcp.hpp"
+#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp"
+
+#include <gmock/gmock-cardinalities.h>
+#include <gmock/gmock-spec-builders.h>
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <exception>
+#include <filesystem>
+#include <iomanip>
+#include <memory>
+#include <sstream>
+#include <regex>
+#include <nlohmann/json.hpp> 
+
+#ifndef _TEST_RESOURCES_PATH
+static_assert(false, "No test resources path defined");
+#endif
+
+#define GTEST_SKIP_PRINT(x) \
+  do {                      \
+    std::cout << x << '\n'; \
+    GTEST_SKIP() << x;      \
+  } while (0)
+
+#define ASSERT_NO_THROW_PRINT(expr)      \
+  do {                                   \
+    try {                                \
+      expr;                              \
+    } catch (const std::exception & e) { \
+      std::cout << e.what() << '\n';     \
+      ASSERT_NO_THROW(throw e);          \
+    }                                    \
+  } while (0)
+
+namespace nebula::drivers
+{
+
+using testing::_;
+using testing::AtLeast;
+using testing::Exactly;
+using testing::InSequence;
+using nlohmann::json;
+
+const SensorModel g_models_under_test[] = {
+  SensorModel::HESAI_PANDAR64,      SensorModel::HESAI_PANDAR40P,  SensorModel::HESAI_PANDARQT64,
+  SensorModel::HESAI_PANDARQT128,   SensorModel::HESAI_PANDARXT32, SensorModel::HESAI_PANDARAT128,
+  SensorModel::HESAI_PANDAR128_E4X,
+};
+
+const uint16_t g_u16_invalid = 0x4242;
+const uint16_t g_ptc_port = 9347;
+const size_t g_ptc_header_size = 8;
+const char g_host_ip[] = "192.168.42.42";
+const char g_sensor_ip[] = "192.168.84.84";
+const int rpm_min = 0;
+const int rpm_max = 1200;
+const int temperature_min = -100;
+const int temperature_max = 200;
+const int electricity_min = 0;
+const int electricity_max = 100;
+
+auto make_sensor_config(SensorModel model)
+{
+  uint16_t rotation_speed = 600;
+  uint16_t sync_angle = 0;
+  double cut_angle = 0.0;
+  uint16_t cloud_min_angle = 0;
+  uint16_t cloud_max_angle = 360;
+
+  if (model == SensorModel::HESAI_PANDARAT128) {
+    rotation_speed = 200;
+    sync_angle = 30;
+    cut_angle = 150.0;
+    cloud_min_angle = 30;
+    cloud_max_angle = 150;
+  }
+
+  HesaiSensorConfiguration config{
+    LidarConfigurationBase{
+      EthernetSensorConfigurationBase{
+        SensorConfigurationBase{model, "test"}, g_host_ip, g_sensor_ip, g_u16_invalid},
+      ReturnMode::UNKNOWN,
+      g_u16_invalid,
+      g_u16_invalid,
+      CoordinateMode::UNKNOWN,
+      NAN,
+      NAN,
+      false,
+      {},
+      false},
+    "",
+    g_u16_invalid,
+    sync_angle,
+    cut_angle,
+    0.1,
+    "",
+    rotation_speed,
+    cloud_min_angle,
+    cloud_max_angle,
+    PtpProfile::IEEE_802_1AS_AUTO,
+    0,
+    PtpTransportType::L2,
+    PtpSwitchType::NON_TSN};
+
+  return std::make_shared<HesaiSensorConfiguration>(config);
+}
+
+void check_value_range(float value, std::string key)
+{
+  if (key == "motor_speed" || key == "spin_rate"){
+    EXPECT_TRUE(0 <= value and value <= 1200);
+  }else if (key == "temperature"){
+    EXPECT_TRUE(-100 <= value and value <= 200);
+  }else if (key == "input_current" || key == "input_voltage" || key == "input_power"){
+    EXPECT_TRUE(0 <= value and value <= 100);
+  }
+}
+
+void check_struct_value(const std::string& key, const json& value) {
+    if (value.is_string()) {
+        std::string str_value = value.get<std::string>();
+        const std::regex struct_regex("[a-zA-Z0-9._%+\\-\\s:]*");
+        EXPECT_TRUE(std::regex_match(str_value, struct_regex)) << key << " chars are invalid. Value: " << str_value;
+
+        const std::regex number_regex("([-+]?[0-9]*\\.?[0-9]+([eE][-+]?[0-9]+)?)");
+        std::smatch struct_match_string_float;
+
+        if (std::regex_match(str_value, struct_match_string_float, number_regex)) {
+            float number_value = std::stof(struct_match_string_float[0].str());
+            check_value_range(number_value, key);
+        }
+    } else if (value.is_number()) {
+        float number_value = value.is_number_float() ? static_cast<float>(value.get<double>()) : static_cast<float>(value.get<int>());
+        check_value_range(number_value, key);
+    } else if (value.is_object()) {
+        for (const auto& [sub_key, sub_value] : value.items()) {
+            check_struct_value(sub_key, sub_value);
+        }
+    } else {
+        EXPECT_TRUE(false) << key << " contains unsupported value type.";
+    }
+}
+
+template <typename T>
+void check_hesai_struct(const std::shared_ptr<T>& hesai_struct) {
+    const json hesai_struct_json_data = hesai_struct->to_json();
+    for (const auto& [key, value] : hesai_struct_json_data.items()) {
+        check_struct_value(key, value);
+    }
+}
+
+TEST_P(PtcTest, ConnectionLifecycle)
+{
+  /* Constructor does not immediately connect, destructor closes socket */ {
+    auto tcp_sock_ptr = std::make_shared<connections::MockTcpSocket>();
+    auto & tcp_sock = *tcp_sock_ptr;
+
+    EXPECT_CALL(tcp_sock, close()).Times(AtLeast(1));
+    auto hw_interface = make_hw_interface(tcp_sock_ptr);
+  }
+
+  /* Full lifecycle without sending/receiving */ {
+    auto tcp_sock_ptr = std::make_shared<connections::MockTcpSocket>();
+    auto & tcp_sock = *tcp_sock_ptr;
+
+    InSequence seq;
+    EXPECT_CALL(tcp_sock, init(g_host_ip, _, g_sensor_ip, g_ptc_port)).Times(Exactly(1));
+    EXPECT_CALL(tcp_sock, bind()).Times(Exactly(1));
+    EXPECT_CALL(tcp_sock, close()).Times(AtLeast(1));
+
+    auto cfg = make_sensor_config(GetParam());
+
+    auto hw_interface = make_hw_interface(tcp_sock_ptr);
+    hw_interface->SetSensorConfiguration(cfg);
+    hw_interface->InitializeTcpDriver();
+    hw_interface->FinalizeTcpDriver();
+  }
+}
+
+TEST_P(PtcTest, PtcCommunication)
+{
+  const auto & model = GetParam();
+
+  // ////////////////////////////////////////
+  // Set up database-based replay TCP socket
+  // ////////////////////////////////////////
+
+  using ptc_handler_t = connections::ReplayTcpSocket::ptc_handler_t;
+  using header_callback_t = connections::ReplayTcpSocket::header_callback_t;
+  using payload_callback_t = connections::ReplayTcpSocket::payload_callback_t;
+  using completion_callback_t = connections::ReplayTcpSocket::completion_callback_t;
+  using connections::message_t;
+
+  auto conversation_db_path = std::filesystem::path(_TEST_RESOURCES_PATH) / "hesai" /
+                              (sensor_model_to_string(model) + ".json");
+  if (!std::filesystem::exists(conversation_db_path)) {
+    GTEST_SKIP_PRINT("conversation DB " << conversation_db_path << " does not exist");
+  }
+
+  auto conversation_db_exp = connections::parse_conversation_db(conversation_db_path);
+  if (!conversation_db_exp.has_value()) {
+    std::cout << "ParseError: " << conversation_db_exp.error().what() << '\n';
+    GTEST_SKIP_PRINT(
+      "conversation DB for model "
+      << model << " could not be parsed due to ParseError: " << conversation_db_exp.error().what());
+  }
+
+  connections::conversation_db_t conversation_db = conversation_db_exp.value();
+
+  ptc_handler_t cb = [&conversation_db](
+                       const message_t & request, const header_callback_t & cb_header,
+                       const payload_callback_t & cb_payload,
+                       const completion_callback_t & cb_completion) {
+    if (conversation_db.find(request) == conversation_db.end()) {
+      std::stringstream ss;
+      ss << "0x";
+      for (const uint8_t & byte : request) {
+        ss << std::hex << std::setfill('0') << std::setw(2) << static_cast<int>(byte);
+      }
+      GTEST_SKIP_PRINT("request " << ss.str() << " not found in conversation DB");
+    }
+
+    const auto & responses = conversation_db[request];
+
+    message_t complete_response;
+
+    for (const message_t & response : responses) {
+      complete_response.insert(complete_response.end(), response.cbegin(), response.cend());
+    }
+
+    auto header = message_t(
+      complete_response.cbegin(), std::next(complete_response.cbegin(), g_ptc_header_size));
+    cb_header(header);
+    cb_payload(complete_response);
+    cb_completion();
+  };
+
+  auto tcp_sock_ptr = std::make_shared<connections::ReplayTcpSocket>(std::move(cb));
+
+  // ////////////////////////////////////////
+  // Test HW interface
+  // ////////////////////////////////////////
+
+  auto hw_interface = make_hw_interface(tcp_sock_ptr);
+
+  auto cfg = make_sensor_config(GetParam());
+  hw_interface->SetSensorConfiguration(cfg);
+  hw_interface->InitializeTcpDriver();
+
+  // ////////////////////////////////////////
+  // Applicable to all models
+  // ////////////////////////////////////////
+
+  std::shared_ptr<HesaiConfigBase> config;
+  ASSERT_NO_THROW_PRINT(config = hw_interface->GetConfig());
+  ASSERT_NE(config, nullptr);
+
+  std::shared_ptr<HesaiInventoryBase> inventory;
+  ASSERT_NO_THROW_PRINT(inventory = hw_interface->GetInventory());
+  ASSERT_NE(inventory, nullptr);
+
+  std::vector<uint8_t> calibration;
+  ASSERT_NO_THROW_PRINT(calibration = hw_interface->GetLidarCalibrationBytes());
+  ASSERT_FALSE(calibration.empty());
+
+  std::shared_ptr<HesaiLidarStatusBase> status;
+  ASSERT_NO_THROW_PRINT(status = hw_interface->GetLidarStatus());
+  ASSERT_NE(status, nullptr);
+
+  // check that all fields are valid
+  check_hesai_struct<HesaiConfigBase>(config);
+  check_hesai_struct<HesaiInventoryBase>(inventory);
+  check_hesai_struct<HesaiLidarStatusBase>(status);
+
+}
+
+INSTANTIATE_TEST_SUITE_P(TestMain, PtcTest, testing::ValuesIn(g_models_under_test));
+
+}  // namespace nebula::drivers
+
+int main(int argc, char * argv[])
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+};
diff --git a/nebula_hw_interfaces/test/hesai/test_ptc/ptc_test.hpp b/nebula_hw_interfaces/test/hesai/test_ptc/ptc_test.hpp
new file mode 100644
index 00000000..3076712f
--- /dev/null
+++ b/nebula_hw_interfaces/test/hesai/test_ptc/ptc_test.hpp
@@ -0,0 +1,48 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include "nebula_common/loggers/console_logger.hpp"
+#include "nebula_common/nebula_common.hpp"
+#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/connections/tcp.hpp"
+#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp"
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <utility>
+
+namespace nebula::drivers
+{
+class PtcTest : public ::testing::TestWithParam<SensorModel>
+{
+protected:
+  void SetUp() override { std::cout << "GetParam() = " << GetParam() << '\n'; }
+
+  void TearDown() override {}
+
+  static auto make_hw_interface(std::shared_ptr<connections::AbstractTcpSocket> tcp_socket)
+  {
+    auto model = GetParam();
+
+    auto logger = std::make_shared<loggers::ConsoleLogger>("HwInterface");
+
+    auto hw_interface = std::make_unique<HesaiHwInterface>(logger, std::move(tcp_socket));
+    hw_interface->SetTargetModel(hw_interface->NebulaModelToHesaiModelNo(model));
+    return hw_interface;
+  }
+};
+
+}  // namespace nebula::drivers
diff --git a/nebula_hw_interfaces/test/hesai/test_ptc/tcp_socket_mock.hpp b/nebula_hw_interfaces/test/hesai/test_ptc/tcp_socket_mock.hpp
new file mode 100644
index 00000000..3916c13f
--- /dev/null
+++ b/nebula_hw_interfaces/test/hesai/test_ptc/tcp_socket_mock.hpp
@@ -0,0 +1,47 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/connections/tcp.hpp"
+
+#include <gmock/gmock.h>
+
+#include <string>
+#include <vector>
+
+namespace nebula::drivers::connections
+{
+
+class MockTcpSocket : public AbstractTcpSocket
+{
+public:
+  MOCK_METHOD(
+    void, init,
+    (const std::string & host_ip, uint16_t host_port, const std::string & remote_ip,
+     uint16_t remote_port),
+    (override));
+
+  MOCK_METHOD(void, bind, (), (override));
+
+  MOCK_METHOD(void, close, (), (override));
+
+  MOCK_METHOD(
+    void, async_ptc_request,
+    (std::vector<uint8_t> & ptc_packet, header_callback_t cb_header, payload_callback_t cb_payload,
+     completion_callback_t cb_completion),
+    (override));
+};
+
+}  // namespace nebula::drivers::connections
diff --git a/nebula_hw_interfaces/test/hesai/test_ptc/tcp_socket_replay.hpp b/nebula_hw_interfaces/test/hesai/test_ptc/tcp_socket_replay.hpp
new file mode 100644
index 00000000..bbd6f07a
--- /dev/null
+++ b/nebula_hw_interfaces/test/hesai/test_ptc/tcp_socket_replay.hpp
@@ -0,0 +1,154 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include "nebula_common/util/expected.hpp"
+#include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/connections/tcp.hpp"
+
+#include <nlohmann/json.hpp>
+
+#include <algorithm>
+#include <cerrno>
+#include <cstddef>
+#include <cstdlib>
+#include <cstring>
+#include <fstream>
+#include <functional>
+#include <map>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <utility>
+#include <vector>
+
+namespace nebula::drivers::connections
+{
+
+using nlohmann::json;
+using std::string_literals::operator""s;
+
+using message_t = std::vector<uint8_t>;
+using conversation_db_t = std::map<message_t, std::vector<message_t>>;
+
+class ParseError : public std::runtime_error
+{
+public:
+  explicit ParseError(const std::string & msg) : std::runtime_error(msg) {}
+};
+
+namespace impl
+{
+const std::string_view g_hex_prefix = "0x";
+
+inline util::expected<message_t, ParseError> parse_message(const std::string & json_str)
+{
+  if (std::string_view json_view = json_str;
+      !std::equal(g_hex_prefix.cbegin(), g_hex_prefix.cend(), json_view.cbegin())) {
+    return ParseError{"hex string not starting with expected "s + std::string(g_hex_prefix)};
+  }
+
+  message_t result;
+  for (size_t i = g_hex_prefix.length(); i < json_str.length(); i += 2) {
+    std::string hex_pair = json_str.substr(i, 2);
+    char * endptr = nullptr;
+    uint8_t byte = strtoul(hex_pair.c_str(), &endptr, 16);
+    if (endptr != hex_pair.c_str() + 2) {
+      return ParseError{"String '" + hex_pair + "' is not a valid hex pair"};
+    }
+    result.emplace_back(byte);
+  }
+
+  return result;
+}
+};  // namespace impl
+
+inline util::expected<conversation_db_t, ParseError> parse_conversation_db(
+  const std::string & json_filename)
+{
+  std::ifstream ifs(json_filename);
+  if (!ifs.is_open()) {
+    return ParseError{"failed to open file: " + json_filename};
+  }
+
+  json raw_db = json::parse(ifs);
+  if (!raw_db.contains("rules") || !raw_db["rules"].is_array()) {
+    return ParseError{"key rules not found or not an array"};
+  }
+
+  conversation_db_t result;
+  for (const auto & obj : raw_db["rules"]) {
+    if (!obj.contains("request") || !obj["request"].is_string()) {
+      return ParseError{"key request not found or not a string"};
+    }
+
+    if (!obj.contains("responses") || !obj["responses"].is_array()) {
+      return ParseError{"key responses not found or not an array"};
+    }
+
+    auto request_exp = impl::parse_message(obj["request"]);
+    if (!request_exp.has_value()) {
+      return request_exp.error();
+    }
+
+    std::vector<message_t> responses;
+    for (const auto & response : obj["responses"]) {
+      if (!response.is_string()) {
+        return ParseError{"response is not a string"};
+      }
+
+      auto parsed_message_exp = impl::parse_message(response.template get<std::string>());
+      if (!parsed_message_exp.has_value()) {
+        return parsed_message_exp.error();
+      }
+      responses.emplace_back(parsed_message_exp.value());
+    }
+
+    result.insert({request_exp.value(), responses});
+  }
+
+  return result;
+}
+
+class ReplayTcpSocket : public AbstractTcpSocket
+{
+public:
+  using ptc_handler_t = std::function<void(
+    const message_t & request, const header_callback_t & cb_header,
+    const payload_callback_t & cb_payload, const completion_callback_t & cb_completion)>;
+
+  explicit ReplayTcpSocket(ptc_handler_t ptc_handler) : ptc_handler_(std::move(ptc_handler)) {}
+
+  void init(
+    const std::string & /* host_ip */, uint16_t /* host_port */,
+    const std::string & /* remote_ip */, uint16_t /* remote_port */) override
+  {
+  }
+
+  void bind() override {}
+
+  void close() override {}
+
+  void async_ptc_request(
+    message_t & ptc_packet, header_callback_t cb_header, payload_callback_t cb_payload,
+    completion_callback_t cb_completion) override
+  {
+    ptc_handler_(ptc_packet, cb_header, cb_payload, cb_completion);
+  }
+
+private:
+  ptc_handler_t ptc_handler_;
+};
+
+}  // namespace nebula::drivers::connections
diff --git a/nebula_hw_interfaces/test_resources/hesai/Pandar128E4X.json b/nebula_hw_interfaces/test_resources/hesai/Pandar128E4X.json
new file mode 100644
index 00000000..d96b87d9
--- /dev/null
+++ b/nebula_hw_interfaces/test_resources/hesai/Pandar128E4X.json
@@ -0,0 +1,61 @@
+{
+  "rules": [
+    {
+      "request": "0x4774070000000000",
+      "responses": [
+        "0x47740700000000e44f5433344336353739353334433635370000323032332d30332d3238000000000000ec9f0d017299312e332e31390000000000000000000000000000000000000000000000000000312e332e313000000000000000000000312e332e313300000000000000000000b7692a01804f543132382d423031000000000000000000000000000000000000000000000001383635303633313800000000000000000000000035343434303734313738302e30312e30362e31302e303256312e302e3000000000000000000000313033363733300038363530363332303836353036333139000000"
+      ]
+    },
+    {
+      "request": "0x4774080000000000",
+      "responses": [
+        "0x477408000000002fc0a801c9ffffff00c0a80101ffffffff0940277e025801000000000000010100020010000000000000000000000000"
+      ]
+    },
+    {
+      "request": "0x4774180000000003010000",
+      "responses": [
+        "0x4774180000000000"
+      ]
+    },
+    {
+      "request": "0x477424000000000403000101",
+      "responses": [
+        "0x4774240000000000"
+      ]
+    },
+    {
+      "request": "0x4774230000000000",
+      "responses": [
+        "0x47742300000000050000000e10"
+      ]
+    },
+    {
+      "request": "0x4774050000000000",
+      "responses": [
+        "0x4774050000000a3e",
+        "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",
+        "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",
+        "0x360a3130322c2d31302e373139382c312e33383830320a3130332c2d31312e303933342c312e33363432350a3130342c2d31312e343638382c312e33343036330a3130352c2d31312e383236332c302e3137303432380a3130362c2d31322e322c302e3135313430350a3130372c2d31322e353730372c302e3133303733360a3130382c2d31322e393332372c302e3130363336370a3130392c2d31332e323936362c302e3138363730320a3131302c2d31332e363631342c302e3136323034320a3131312c2d31342e303232322c302e3134313332380a3131322c2d31342e333833392c302e3131353431330a3131332c2d31342e373430332c312e34323536310a3131342c2d31352e313032352c312e34303731360a3131352c2d31352e343533322c312e333832370a3131362c2d31352e3831362c312e33363037340a3131372c2d31362e313637312c312e34323932350a3131382c2d31362e353132362c312e34303532310a3131392c2d31362e383637362c312e333831370a3132302c2d31372e323136362c312e33363032330a3132312c2d31372e3535382c302e3139323539340a3132322c2d31382e323437342c302e3137343236390a3132332c2d31382e393230362c302e3135343333360a3132342c2d31392e353932392c302e3133333033350a3132352c2d32302e323339312c312e343338320a3132362c2d32312e353238362c312e34303630360a3132372c2d32322e393130322c302e3134353432310a3132382c2d32342e363336372c302e31363234390a"
+      ]
+    },
+    {
+      "request": "0x47742200000000050000000e10",
+      "responses": [
+        "0x4774220000000000"
+      ]
+    },
+    {
+      "request": "0x4774090000000000",
+      "responses": [
+        "0x47740900000000360000004c025700000b3800000b0400000b3600000adc00000afa00000b4a00000a9600000b7200000000010f001b00cf02000000ab00"
+      ]
+    },
+    {
+      "request": "0x4774270000000000",
+      "responses": [
+        "0x47742700000000400002d1ca000004590000080800000009000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000"
+      ]
+    }
+  ]
+}
diff --git a/nebula_hw_interfaces/test_resources/hesai/Pandar40P.json b/nebula_hw_interfaces/test_resources/hesai/Pandar40P.json
new file mode 100644
index 00000000..247883ea
--- /dev/null
+++ b/nebula_hw_interfaces/test_resources/hesai/Pandar40P.json
@@ -0,0 +1,63 @@
+{
+  "rules": [
+    {
+      "request": "0x4774070000000000",
+      "responses": [
+        "0x4774070000000078",
+        "0x504134303333434335373938333343443534323032302d31312d3236000000000000ec9f0d006062322e31302e3400000000000000000000312e302e300000000000000000000000342e3531000000000000000000000000342e332e3430612000000000000000008c800000280000000000000000000000"
+      ]
+    },
+    {
+      "request": "0x4774080000000000",
+      "responses": [
+        "0x477408000000002f",
+        "0xc0a801c9ffffff00c0a80101ffffffff0940277e025801000000000e10010001020000000001000000000000000000"
+      ]
+    },
+    {
+      "request": "0x4774180000000003010000",
+      "responses": [
+        "0x4774180000000000"
+      ]
+    },
+    {
+      "request": "0x47741f000000000101",
+      "responses": [
+        "0x47741f0000000000"
+      ]
+    },
+    {
+      "request": "0x4774240000000006000000010100",
+      "responses": [
+        "0x4774240000000000"
+      ]
+    },
+    {
+      "request": "0x4774230000000000",
+      "responses": [
+        "0x4774230000000005",
+        "0x0000000e10"
+      ]
+    },
+    {
+      "request": "0x4774050000000000",
+      "responses": [
+        "0x47740500000002ae",
+        "0x4c617365722069642c456c65766174696f6e2c417a696d7574680a312c31342e3734362c2d312e3034320a322c31302e3839362c2d312e3034320a332c372e3932332c2d312e3034320a342c342e3932312c2d312e3034320a352c322e3930342c2d312e3034320a362c312e3839322c2d312e3034320a372c312e3535322c332e3132350a382c312e3231352c2d352e3230380a392c302e3837372c2d312e3034320a31302c302e3533392c332e3132350a31312c302e3230312c2d352e3230380a31322c2d302e3133362c2d312e3034320a31332c2d302e3437332c332e3132350a31342c2d302e3831312c2d352e3230380a31352c2d312e3134392c2d312e3034320a31362c2d312e3438372c332e3132350a31372c2d312e3832342c2d352e3230380a31382c2d322e3136342c2d312e3034320a31392c2d322e3530312c332e3132350a32302c2d322e3833362c2d352e3230380a32312c2d332e3137362c2d312e3034320a32322c2d332e3531312c332e3132350a32332c2d332e3834382c2d352e3230380a32342c2d342e3138362c2d312e3034320a32352c2d342e3532312c332e3132350a32362c2d342e3835362c2d352e3230380a32372c2d352e3139332c2d312e3034320a32382c2d352e3532372c332e3132350a32392c2d352e3836322c2d352e3230380a33302c2d362e3139372c2d312e3034320a33312c2d372e3139392c2d312e3034320a33322c2d382e3139352c2d312e3034320a33332c2d392e3139362c2d312e3034320a33342c2d31302e3138312c2d312e3034320a33352c2d31312e3136382c2d312e3034320a33362c2d31322e3134322c2d312e3034320a33372c2d31332e31312c2d312e3034320a33382c2d31342e3036362c2d312e3034320a33392c2d31392e3032352c2d312e3034320a34302c2d32352e3033332c2d312e303432"
+      ]
+    },
+    {
+      "request": "0x47742200000000050000000e10",
+      "responses": [
+        "0x4774220000000000"
+      ]
+    },
+    {
+      "request": "0x4774090000000000",
+      "responses": [
+        "0x4774090000000036",
+        "0x00000044025800000b8400000ba700000a7d00000a6100000a7200000b4200000ca500000c4600000000008b00003fba020000000000"
+      ]
+    }
+  ]
+}
diff --git a/nebula_hw_interfaces/test_resources/hesai/Pandar64.json b/nebula_hw_interfaces/test_resources/hesai/Pandar64.json
new file mode 100644
index 00000000..9bcb76d4
--- /dev/null
+++ b/nebula_hw_interfaces/test_resources/hesai/Pandar64.json
@@ -0,0 +1,56 @@
+{
+  "rules": [
+    {
+      "request": "0x4774070000000000",
+      "responses": [
+        "0x4774070000000079",
+        "0x504136343346434135373932334643413533323031392d30342d31300a0000000000ec9f0d0034e8322e372e370000000000000000000000312e302e300000000000000000000000352e313000000000000000000000000076342e332e31356200000000000000008c7d020000000000000000000000000000"
+      ]
+    },
+    {
+      "request": "0x4774080000000000",
+      "responses": [
+        "0x477408000000002f",
+        "0xc0a801c9ffffff00c0a80101ffffffff0940277e025801232800008ca0010000000000000000000000000000000000"
+      ]
+    },
+    {
+      "request": "0x47741e000000000102",
+      "responses": [
+        "0x47741e0000000000"
+      ]
+    },
+    {
+      "request": "0x4774180000000003010000",
+      "responses": [
+        "0x4774180000000000"
+      ]
+    },
+    {
+      "request": "0x47741f000000000101",
+      "responses": [
+        "0x47741f0000000000"
+      ]
+    },
+    {
+      "request": "0x4774240000000006000000010100",
+      "responses": [
+        "0x4774240000000000"
+      ]
+    },
+    {
+      "request": "0x4774050000000000",
+      "responses": [
+        "0x4774050000000428",
+        "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"
+      ]
+    },
+    {
+      "request": "0x4774090000000000",
+      "responses": [
+        "0x4774090000000036",
+        "0x000000f1025800000fac00000fd600000f3300000faf00000f3600000fdb000011910000111900000000000000000000000000000000"
+      ]
+    }
+  ]
+}
diff --git a/nebula_hw_interfaces/test_resources/hesai/PandarAT128.json b/nebula_hw_interfaces/test_resources/hesai/PandarAT128.json
new file mode 100644
index 00000000..d15e3d9c
--- /dev/null
+++ b/nebula_hw_interfaces/test_resources/hesai/PandarAT128.json
@@ -0,0 +1,46 @@
+{
+  "rules": [
+    {
+      "request": "0x4774070000000000",
+      "responses": [
+        "0x47740700000000b8",
+        "0x415433384331353639463342433035310000323032332d31302d323400000000000002000000ce77332e35302e313500000000000000000042320000000000000000000000000000332e313062383330000000000000000078787878780000000000000000000000302e30302e3033340000000000000000332e30362e30333200000000000000006131393138306466000000000000000039646231396236390000000000000000ffff2800800101000000000000000000"
+      ]
+    },
+    {
+      "request": "0x4774080000000000",
+      "responses": [
+        "0x477408000000002f",
+        "0xc0a801c9ffffff00c0a80101ffffffff0940277e00c8010bb800000e10010100020000000001000000094200000000"
+      ]
+    },
+    {
+      "request": "0x4774050000000000",
+      "responses": [
+        "0x477405000000b848",
+        "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",
+        "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",
+        "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",
+        "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",
+        "0x00000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf000000000000000000000000000000000000000000000000001818181513100e0d0b090807060504020100fffdfcfbfaf8f6f3f1eeeae6e2ddd8d8d8000000000000000000000000000000000000000000000000001818181512100e0c0a090807060504020100fffefdfcfbf9f8f5f3f0ede9e5e0dcdcdc000000000000000000000000000000000000000000000000001111110f0c0b090807050404030202010100fffffefdfcfbf9f7f5f2efece8e3dfdfdf00000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000",
+        "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",
+        "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",
+        "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",
+        "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",
+        "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",
+        "0x0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e1012131313000000000000000000000000000000000000000000000000000707070605050404030303030303040404050506060708090a0b0c0d0e0f1113141414000000000000000000000000000000000000000000000000000707070606050504040303030304040404050506070809090a0b0c0d0e10111314141400000000000000000000000000000000000000000000000000070707060504040303030202020303030304040505060708090a0b0c0d0e10121313130000000000000000",
+        "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",
+        "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",
+        "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",
+        "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"
+      ]
+    },
+    {
+      "request": "0x4774090000000000",
+      "responses": [
+        "0x477409000000003a",
+        "0x0000003e00c800000c4c00000cda00000c5000000c9300000bb100000cb100000b3100000b98fffff06001010000005300003f37020000000000"
+      ]
+    }
+  ]
+}
diff --git a/nebula_hw_interfaces/test_resources/hesai/PandarQT128.json b/nebula_hw_interfaces/test_resources/hesai/PandarQT128.json
new file mode 100644
index 00000000..0bf0cca2
--- /dev/null
+++ b/nebula_hw_interfaces/test_resources/hesai/PandarQT128.json
@@ -0,0 +1,63 @@
+{
+  "rules": [
+    {
+      "request": "0x4774070000000000",
+      "responses": [
+        "0x4774070000000090",
+        "0x515433454344353639353345434635340000323032332d30382d3231000000000000ec9f0d016ab8332e312e363600000000000000000000312e302e300000000000000000000000332e312e333600000000000000000000332e312e3430000000000000000000000f1d7bda20018051543132384332582d453031000000000000000000000000000000000000000000"
+      ]
+    },
+    {
+      "request": "0x4774080000000000",
+      "responses": [
+        "0x477408000000002f",
+        "0xc0a801c9ffffff00c0a80101ffffffff0940277e025800000000000e10010000010010000001000000000000000000"
+      ]
+    },
+    {
+      "request": "0x47741e000000000102",
+      "responses": [
+        "0x47741e0000000000"
+      ]
+    },
+    {
+      "request": "0x4774180000000003010000",
+      "responses": [
+        "0x4774180000000000"
+      ]
+    },
+    {
+      "request": "0x4774240000000006000000010100",
+      "responses": [
+        "0x4774240000000000"
+      ]
+    },
+    {
+      "request": "0x4774230000000000",
+      "responses": [
+        "0x4774230000000005",
+        "0x0000000e10"
+      ]
+    },
+    {
+      "request": "0x4774050000000000",
+      "responses": [
+        "0x47740500000008d7",
+        "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"
+      ]
+    },
+    {
+      "request": "0x47742200000000050000000e10",
+      "responses": [
+        "0x4774220000000000"
+      ]
+    },
+    {
+      "request": "0x4774090000000000",
+      "responses": [
+        "0x477409000000003a",
+        "0x000005af025800000dec00000d8300000f0200000eff00000f0500000e2900000e7700000f0500000f0e00000000000400000026020000000000"
+      ]
+    }
+  ]
+}
diff --git a/nebula_hw_interfaces/test_resources/hesai/PandarXT32.json b/nebula_hw_interfaces/test_resources/hesai/PandarXT32.json
new file mode 100644
index 00000000..3311e375
--- /dev/null
+++ b/nebula_hw_interfaces/test_resources/hesai/PandarXT32.json
@@ -0,0 +1,70 @@
+{
+  "rules": [
+    {
+      "request": "0x4774070000000000",
+      "responses": [
+        "0x4774070000000090",
+        "0x585433304346353039463330434535350000323032322d31312d3238000000000000ec9f0d012d2a312e302e313000000000000000000000312e302e300000000000000000000000312e322e370000000000000000000000202020312e352e37000000000000000023191900200000000000000000000000000000000000000000000000000000000000000000000000"
+      ]
+    },
+    {
+      "request": "0x4774080000000000",
+      "responses": [
+        "0x477408000000002f",
+        "0xc0a801c9ffffff00c0a80101ffffffff0940277e025801000000000e10010100020000000000020000000000000000"
+      ]
+    },
+    {
+      "request": "0x4774180000000003010000",
+      "responses": [
+        "0x4774180000000000"
+      ]
+    },
+    {
+      "request": "0x47741f000000000101",
+      "responses": [
+        "0x47741f0000000000"
+      ]
+    },
+    {
+      "request": "0x4774240000000006000000010100",
+      "responses": [
+        "0x4774240000000000"
+      ]
+    },
+    {
+      "request": "0x4774230000000000",
+      "responses": [
+        "0x4774230000000005",
+        "0x0000000e10"
+      ]
+    },
+    {
+      "request": "0x4774050000000000",
+      "responses": [
+        "0x477405000000020f",
+        "0x4c617365722069642c456c65766174696f6e2c417a696d7574680a312c31342e3937342c302e3638320a322c31332e3935362c302e3638330a332c31322e3934342c302e3638330a342c31312e3933392c302e3637360a352c31302e3933302c302e3637360a362c392e3932352c302e3637340a372c382e3932312c302e3637330a382c372e3932352c302e3637330a392c362e3932342c302e3637310a31302c352e3932362c302e3637300a31312c342e3932352c302e3636370a31322c332e3933312c302e3636350a31332c322e3933322c302e3636310a31342c312e3934312c302e3636310a31352c302e3934362c302e3635390a31362c2d302e3034362c302e3635360a31372c2d312e3034342c302e3635330a31382c2d322e3034302c302e3634390a31392c2d332e3034312c302e3634360a32302c2d342e3033362c302e3634320a32312c2d352e3033322c302e3633370a32322c2d362e3033312c302e3633310a32332c2d372e3033302c302e3632360a32342c2d382e3032392c302e3632310a32352c2d392e3032392c302e3631350a32362c2d31302e3033302c302e3630370a32372c2d31312e3033322c302e3630310a32382c2d31322e3033362c302e3539330a32392c2d31332e3034322c302e3538350a33302c2d31342e3035302c302e3537340a33312c2d31352e3036352c302e3536370a33322c2d31362e3038362c302e3535370a"
+      ]
+    },
+    {
+      "request": "0x47742200000000050000000e10",
+      "responses": [
+        "0x4774220000000000"
+      ]
+    },
+    {
+      "request": "0x4774090000000000",
+      "responses": [
+        "0x4774090000000036",
+        "0x000001e3025700000cc600000d6600000cbc00000d0200000d2a00000d5200000d2a000000000000000000bf000077c7020000000000"
+      ]
+    },
+    {
+      "request": "0x4774270000000000",
+      "responses": [
+        "0x4774270000000040",
+        "0x000002ae00000424b6fa4ae000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000"
+      ]
+    }
+  ]
+}
diff --git a/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
index 4b2572b1..399d92f4 100644
--- a/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/hesai/hw_interface_wrapper.hpp
@@ -15,6 +15,7 @@
 #pragma once
 
 #include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/connections/tcp.hpp>
 #include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/nebula_ros/src/hesai/hw_interface_wrapper.cpp b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
index 22765bf7..9e4ce884 100644
--- a/nebula_ros/src/hesai/hw_interface_wrapper.cpp
+++ b/nebula_ros/src/hesai/hw_interface_wrapper.cpp
@@ -16,7 +16,8 @@ HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(
   rclcpp::Node * const parent_node,
   std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config, bool use_udp_only)
 : hw_interface_(std::make_shared<drivers::HesaiHwInterface>(
-    drivers::loggers::RclcppLogger(parent_node->get_logger()).child("HwInterface"))),
+    drivers::loggers::RclcppLogger(parent_node->get_logger()).child("HwInterface"),
+    std::move(std::make_unique<drivers::connections::TcpSocket>()))),
   logger_(parent_node->get_logger().get_child("HwInterfaceWrapper")),
   status_(Status::NOT_INITIALIZED),
   use_udp_only_(use_udp_only)
diff --git a/src/ros2_socketcan b/src/ros2_socketcan
new file mode 160000
index 00000000..4ced5284
--- /dev/null
+++ b/src/ros2_socketcan
@@ -0,0 +1 @@
+Subproject commit 4ced5284fdd080274b04530406d887e8330a0cdb
diff --git a/src/transport_drivers b/src/transport_drivers
new file mode 160000
index 00000000..86b9aae8
--- /dev/null
+++ b/src/transport_drivers
@@ -0,0 +1 @@
+Subproject commit 86b9aae8555dbb4a3103c21475d7f5e2d49981ab