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chore(hesai): enable PTP lock threshold setting for XT series sensors #265

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merged 1 commit into from
Feb 18, 2025
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chore(hesai): enable PTP lock threshold setting for XT series sensors #265

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27 changes: 17 additions & 10 deletions nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1080,17 +1080,24 @@
t.join();
logger_->debug("Thread finished");

if (
sensor_configuration_->sensor_model == SensorModel::HESAI_PANDAR128_E4X ||
sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARQT128) {
uint8_t sensor_ptp_lock_threshold = get_ptp_lock_offset();
if (sensor_ptp_lock_threshold != sensor_configuration_->ptp_lock_threshold) {
NEBULA_LOG_STREAM(
logger_->info, "changing sensor PTP lock offset from "
<< static_cast<int>(sensor_ptp_lock_threshold) << " to "
<< static_cast<int>(sensor_configuration_->ptp_lock_threshold));
set_ptp_lock_offset(sensor_configuration_->ptp_lock_threshold);
switch (sensor_configuration_->sensor_model) {
case SensorModel::HESAI_PANDAR128_E4X:

Check warning on line 1084 in nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp

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nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp#L1084 

Added line #L1084 was not covered by tests
case SensorModel::HESAI_PANDARQT128:
case SensorModel::HESAI_PANDARXT16:
case SensorModel::HESAI_PANDARXT32:
case SensorModel::HESAI_PANDARXT32M: {
uint8_t sensor_ptp_lock_threshold = get_ptp_lock_offset();
if (sensor_ptp_lock_threshold != sensor_configuration_->ptp_lock_threshold) {
NEBULA_LOG_STREAM(
logger_->info, "changing sensor PTP lock offset from "
<< static_cast<int>(sensor_ptp_lock_threshold) << " to "
<< static_cast<int>(sensor_configuration_->ptp_lock_threshold));
set_ptp_lock_offset(sensor_configuration_->ptp_lock_threshold);
}
break;
}
default:
break;
}

std::this_thread::sleep_for(wait_time);
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