Namespace nebula::drivers

Namespace List > nebula > drivers

Namespaces

Type	Name
namespace	hesai_packet

Classes

Type	Name
struct	AdvancedFunctionalSafetyConfiguration
class	AngleCorrector <typename CorrectionDataT> Handles angle correction for given azimuth/channel combinations, as well as trigonometry lookup tables.
class	AngleCorrectorCalibrationBased <ChannelN, AngleUnit>
class	AngleCorrectorCorrectionBased <ChannelN, AngleUnit>
struct	CorrectedAngleData
class	FunctionalSafetyDecoder <typename PacketT> Interprets the functional safety part of Hesai pointcloud packets for supported sensor models.
class	FunctionalSafetyDecoderBase
class	FunctionalSafetyDecoderTypedBase <typename PacketT>
struct	HesaiCalibrationConfiguration struct for Hesai calibration configuration
struct	HesaiCalibrationConfigurationBase
struct	HesaiCorrection struct for Hesai correction configuration (for AT)
class	HesaiDecoder <typename SensorT>
class	HesaiDriver Hesai driver.
class	HesaiHwInterface Hardware interface of hesai driver.
class	HesaiScanDecoder Base class for Hesai LiDAR decoder.
class	HesaiSensor <typename PacketT, AngleCorrection> Base class for all sensor definitions.
struct	HesaiSensorConfiguration struct for Hesai sensor configuration
struct	PacketDecodeResult
class	PacketLossDetector <typename PacketT>
class	PacketLossDetectorBase
class	PacketLossDetectorTypedBase <typename PacketT>
struct	PacketMetadata Metadata for a decoded packet.
class	Pandar128E3X
class	Pandar128E4X
class	Pandar40
class	Pandar64
class	PandarAT128
class	PandarQT128
class	PandarQT64
class	PandarXT16
class	PandarXT32
class	PandarXT32M
struct	PerformanceCounters Performance information about decoding and callback timings.

Public Types

Type	Name
enum	AngleCorrectionType
enum uint8_t	DecodeError Errors that can occur during packet decoding.
typedef boost::container::static_vector< uint16_t, 16 >	FunctionalSafetyErrorCodes
enum uint8_t	FunctionalSafetySeverity

Public Attributes

Type	Name
const int	g_hesai_lidar_gps_clock_source = `0`
const int	g_hesai_lidar_ptp_clock_source = `1`
const uint16_t	g_mtu_size = `1500`
const int	g_pandar_tcp_command_port = `9347`
const uint8_t	g_ptc_command_dummy_byte = `0x00`
const uint8_t	g_ptc_command_get_config_info = `0x08`
const uint8_t	g_ptc_command_get_high_resolution_mode = `0x28`
const uint8_t	g_ptc_command_get_inventory_info = `0x07`
const uint8_t	g_ptc_command_get_lidar_calibration = `0x05`
const uint8_t	g_ptc_command_get_lidar_range = `0x23`
const uint8_t	g_ptc_command_get_lidar_status = `0x09`
const uint8_t	g_ptc_command_get_ptp_config = `0x26`
const uint8_t	g_ptc_command_get_up_close_blockage_detection = `0x59`
const uint8_t	g_ptc_command_header_high = `0x47`
const uint8_t	g_ptc_command_header_low = `0x74`
const uint8_t	g_ptc_command_lidar_monitor = `0x27`
const uint8_t	g_ptc_command_ptp_diagnostics = `0x06`
const uint8_t	g_ptc_command_ptp_grandmaster_settings_np = `0x04`
const uint8_t	g_ptc_command_ptp_port_data_set = `0x02`
const uint8_t	g_ptc_command_ptp_status = `0x01`
const uint8_t	g_ptc_command_ptp_time_status_np = `0x03`
const uint8_t	g_ptc_command_reset = `0x25`
const uint8_t	g_ptc_command_set_clock_source = `0x1f`
const uint8_t	g_ptc_command_set_control_port = `0x21`
const uint8_t	g_ptc_command_set_destination_ip = `0x20`
const uint8_t	g_ptc_command_set_high_resolution_mode = `0x29`
const uint8_t	g_ptc_command_set_lidar_range = `0x22`
const uint8_t	g_ptc_command_set_ptp_config = `0x24`
const uint8_t	g_ptc_command_set_return_mode = `0x1e`
const uint8_t	g_ptc_command_set_rotate_direction = `0x2a`
const uint8_t	g_ptc_command_set_spin_rate = `0x17`
const uint8_t	g_ptc_command_set_standby_mode = `0x1c`
const uint8_t	g_ptc_command_set_sync_angle = `0x18`
const uint8_t	g_ptc_command_set_trigger_method = `0x1b`
const uint8_t	g_ptc_command_set_up_close_blockage_detection = `0x58`
const uint8_t	g_ptc_error_code_fpga_comm_failed = `0x06`
const uint8_t	g_ptc_error_code_invalid_data = `0x03`
const uint8_t	g_ptc_error_code_invalid_input_param = `0x01`
const uint8_t	g_ptc_error_code_no_error = `0x00`
const uint8_t	g_ptc_error_code_other = `0x07`
const uint8_t	g_ptc_error_code_out_of_memory = `0x04`
const uint8_t	g_ptc_error_code_server_conn_failed = `0x02`
const uint8_t	g_ptc_error_code_unsupported_cmd = `0x05`
const uint8_t	g_ptp_command_get_ptp_lock_offset = `0x3a`
const uint8_t	g_ptp_command_set_ptp_lock_offset = `0x39`
const int	g_ptp_log_announce_interval = `1`
const int	g_ptp_log_min_delay_interval = `0`
const int	g_ptp_sync_interval = `1`
const uint8_t	g_tcp_error_incomplete_response = `8`
const uint8_t	g_tcp_error_timeout = `4`
const uint8_t	g_tcp_error_unexpected_payload = `2`
const uint8_t	g_tcp_error_unrelated_response = `1`

Public Functions

Type	Name
int	int_from_return_mode_hesai (const ReturnMode return_mode, const SensorModel & sensor_model) Convert ReturnMode enum to return mode number.
std::ostream &	operator<< (std::ostream & os, nebula::drivers::PtpProfile const & arg) Convert PtpProfile enum to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, nebula::drivers::PtpTransportType const & arg) Convert PtpTransportType enum to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, nebula::drivers::PtpSwitchType const & arg) Convert PtpSwitchType enum to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, HesaiSensorConfiguration const & arg) Convert HesaiSensorConfiguration to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, FunctionalSafetySeverity severity)
PtpProfile	ptp_profile_from_string (const std::string & ptp_profile) Converts String to PTP Profile.
PtpSwitchType	ptp_switch_type_from_string (const std::string & switch_type) Converts String to PTP SwitchType.
PtpTransportType	ptp_transport_type_from_string (const std::string & transport_type) Converts String to PTP TransportType.
ReturnMode	return_mode_from_int_hesai (const int return_mode, const SensorModel & sensor_model) Convert return mode number to ReturnMode enum.
ReturnMode	return_mode_from_string_hesai (const std::string & return_mode, const SensorModel & sensor_model) Convert return mode name to ReturnMode enum (Hesai-specific return_mode_from_string)
bool	supports_blockage_mask (const SensorModel & sensor_model) Whether the given sensor model supports blockage mask output.
bool	supports_functional_safety (const SensorModel & sensor_model) Whether the given sensor model supports functional safety.
bool	supports_lidar_monitor (const SensorModel & sensor_model) Whether the given sensor model supports lidar monitor requests.
bool	supports_packet_loss_detection (const SensorModel & sensor_model) Whether the given sensor model supports packet loss detection.

Public Types Documentation

enum AngleCorrectionType

enum nebula::drivers::AngleCorrectionType {
    CALIBRATION,
    CORRECTION
};

enum DecodeError

Errors that can occur during packet decoding.

enum nebula::drivers::DecodeError {
    PACKET_PARSE_FAILED,
    DRIVER_NOT_OK,
    INVALID_PACKET_SIZE
};

typedef FunctionalSafetyErrorCodes

using nebula::drivers::FunctionalSafetyErrorCodes = typedef boost::container::static_vector<uint16_t, 16>;

enum FunctionalSafetySeverity

enum nebula::drivers::FunctionalSafetySeverity {
    OK,
    WARNING,
    ERROR
};

Public Attributes Documentation

variable g_hesai_lidar_gps_clock_source

const int nebula::drivers::g_hesai_lidar_gps_clock_source;

variable g_hesai_lidar_ptp_clock_source

const int nebula::drivers::g_hesai_lidar_ptp_clock_source;

variable g_mtu_size

const uint16_t nebula::drivers::g_mtu_size;

variable g_pandar_tcp_command_port

const int nebula::drivers::g_pandar_tcp_command_port;

variable g_ptc_command_dummy_byte

const uint8_t nebula::drivers::g_ptc_command_dummy_byte;

variable g_ptc_command_get_config_info

const uint8_t nebula::drivers::g_ptc_command_get_config_info;

variable g_ptc_command_get_high_resolution_mode

const uint8_t nebula::drivers::g_ptc_command_get_high_resolution_mode;

variable g_ptc_command_get_inventory_info

const uint8_t nebula::drivers::g_ptc_command_get_inventory_info;

variable g_ptc_command_get_lidar_calibration

const uint8_t nebula::drivers::g_ptc_command_get_lidar_calibration;

variable g_ptc_command_get_lidar_range

const uint8_t nebula::drivers::g_ptc_command_get_lidar_range;

variable g_ptc_command_get_lidar_status

const uint8_t nebula::drivers::g_ptc_command_get_lidar_status;

variable g_ptc_command_get_ptp_config

const uint8_t nebula::drivers::g_ptc_command_get_ptp_config;

variable g_ptc_command_get_up_close_blockage_detection

const uint8_t nebula::drivers::g_ptc_command_get_up_close_blockage_detection;

variable g_ptc_command_header_high

const uint8_t nebula::drivers::g_ptc_command_header_high;

variable g_ptc_command_header_low

const uint8_t nebula::drivers::g_ptc_command_header_low;

variable g_ptc_command_lidar_monitor

const uint8_t nebula::drivers::g_ptc_command_lidar_monitor;

variable g_ptc_command_ptp_diagnostics

const uint8_t nebula::drivers::g_ptc_command_ptp_diagnostics;

variable g_ptc_command_ptp_grandmaster_settings_np

const uint8_t nebula::drivers::g_ptc_command_ptp_grandmaster_settings_np;

variable g_ptc_command_ptp_port_data_set

const uint8_t nebula::drivers::g_ptc_command_ptp_port_data_set;

variable g_ptc_command_ptp_status

const uint8_t nebula::drivers::g_ptc_command_ptp_status;

variable g_ptc_command_ptp_time_status_np

const uint8_t nebula::drivers::g_ptc_command_ptp_time_status_np;

variable g_ptc_command_reset

const uint8_t nebula::drivers::g_ptc_command_reset;

variable g_ptc_command_set_clock_source

const uint8_t nebula::drivers::g_ptc_command_set_clock_source;

variable g_ptc_command_set_control_port

const uint8_t nebula::drivers::g_ptc_command_set_control_port;

variable g_ptc_command_set_destination_ip

const uint8_t nebula::drivers::g_ptc_command_set_destination_ip;

variable g_ptc_command_set_high_resolution_mode

const uint8_t nebula::drivers::g_ptc_command_set_high_resolution_mode;

variable g_ptc_command_set_lidar_range

const uint8_t nebula::drivers::g_ptc_command_set_lidar_range;

variable g_ptc_command_set_ptp_config

const uint8_t nebula::drivers::g_ptc_command_set_ptp_config;

variable g_ptc_command_set_return_mode

const uint8_t nebula::drivers::g_ptc_command_set_return_mode;

variable g_ptc_command_set_rotate_direction

const uint8_t nebula::drivers::g_ptc_command_set_rotate_direction;

variable g_ptc_command_set_spin_rate

const uint8_t nebula::drivers::g_ptc_command_set_spin_rate;

variable g_ptc_command_set_standby_mode

const uint8_t nebula::drivers::g_ptc_command_set_standby_mode;

variable g_ptc_command_set_sync_angle

const uint8_t nebula::drivers::g_ptc_command_set_sync_angle;

variable g_ptc_command_set_trigger_method

const uint8_t nebula::drivers::g_ptc_command_set_trigger_method;

variable g_ptc_command_set_up_close_blockage_detection

const uint8_t nebula::drivers::g_ptc_command_set_up_close_blockage_detection;

variable g_ptc_error_code_fpga_comm_failed

const uint8_t nebula::drivers::g_ptc_error_code_fpga_comm_failed;

variable g_ptc_error_code_invalid_data

const uint8_t nebula::drivers::g_ptc_error_code_invalid_data;

variable g_ptc_error_code_invalid_input_param

const uint8_t nebula::drivers::g_ptc_error_code_invalid_input_param;

variable g_ptc_error_code_no_error

const uint8_t nebula::drivers::g_ptc_error_code_no_error;

variable g_ptc_error_code_other

const uint8_t nebula::drivers::g_ptc_error_code_other;

variable g_ptc_error_code_out_of_memory

const uint8_t nebula::drivers::g_ptc_error_code_out_of_memory;

variable g_ptc_error_code_server_conn_failed

const uint8_t nebula::drivers::g_ptc_error_code_server_conn_failed;

variable g_ptc_error_code_unsupported_cmd

const uint8_t nebula::drivers::g_ptc_error_code_unsupported_cmd;

variable g_ptp_command_get_ptp_lock_offset

const uint8_t nebula::drivers::g_ptp_command_get_ptp_lock_offset;

variable g_ptp_command_set_ptp_lock_offset

const uint8_t nebula::drivers::g_ptp_command_set_ptp_lock_offset;

variable g_ptp_log_announce_interval

const int nebula::drivers::g_ptp_log_announce_interval;

variable g_ptp_log_min_delay_interval

const int nebula::drivers::g_ptp_log_min_delay_interval;

variable g_ptp_sync_interval

const int nebula::drivers::g_ptp_sync_interval;

variable g_tcp_error_incomplete_response

const uint8_t nebula::drivers::g_tcp_error_incomplete_response;

variable g_tcp_error_timeout

const uint8_t nebula::drivers::g_tcp_error_timeout;

variable g_tcp_error_unexpected_payload

const uint8_t nebula::drivers::g_tcp_error_unexpected_payload;

variable g_tcp_error_unrelated_response

const uint8_t nebula::drivers::g_tcp_error_unrelated_response;

Public Functions Documentation

function int_from_return_mode_hesai

Convert ReturnMode enum to return mode number.

inline int nebula::drivers::int_from_return_mode_hesai (
    const ReturnMode return_mode,
    const SensorModel & sensor_model
)

Parameters:

return_mode target ReturnMode
sensor_model Model for correct conversion

Returns:

Corresponding return mode number for the hardware

function operator<<

Convert PtpProfile enum to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    nebula::drivers::PtpProfile const & arg
)

Parameters:

os
arg

Returns:

stream

function operator<<

Convert PtpTransportType enum to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    nebula::drivers::PtpTransportType const & arg
)

Parameters:

os
arg

Returns:

stream

function operator<<

Convert PtpSwitchType enum to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    nebula::drivers::PtpSwitchType const & arg
)

Parameters:

os
arg

Returns:

stream

function operator<<

Convert HesaiSensorConfiguration to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    HesaiSensorConfiguration const & arg
)

Parameters:

os
arg

Returns:

stream

function operator<<

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    FunctionalSafetySeverity severity
)

function ptp_profile_from_string

Converts String to PTP Profile.

inline PtpProfile nebula::drivers::ptp_profile_from_string (
    const std::string & ptp_profile
)

Parameters:

ptp_profile Profile as String

Returns:

Corresponding PtpProfile

function ptp_switch_type_from_string

Converts String to PTP SwitchType.

inline PtpSwitchType nebula::drivers::ptp_switch_type_from_string (
    const std::string & switch_type
)

Parameters:

switch_type Switch as String

Returns:

Corresponding PtpSwitchType

function ptp_transport_type_from_string

Converts String to PTP TransportType.

inline PtpTransportType nebula::drivers::ptp_transport_type_from_string (
    const std::string & transport_type
)

Parameters:

transport_type Transport as String

Returns:

Corresponding PtpTransportType

function return_mode_from_int_hesai

Convert return mode number to ReturnMode enum.

inline ReturnMode nebula::drivers::return_mode_from_int_hesai (
    const int return_mode,
    const SensorModel & sensor_model
)

Parameters:

return_mode Return mode number from the hardware response
sensor_model Model for correct conversion

Returns:

Corresponding ReturnMode

function return_mode_from_string_hesai

Convert return mode name to ReturnMode enum (Hesai-specific return_mode_from_string)

inline ReturnMode nebula::drivers::return_mode_from_string_hesai (
    const std::string & return_mode,
    const SensorModel & sensor_model
)

Parameters:

return_mode Return mode name (Upper and lower case letters must match)
sensor_model Model for correct conversion

Returns:

Corresponding ReturnMode

function supports_blockage_mask

Whether the given sensor model supports blockage mask output.

inline bool nebula::drivers::supports_blockage_mask (
    const SensorModel & sensor_model
)

Blockage mask output is only supported for OT128.

The QT128 datasheet mentions support for blockage detection, but its output does not distinguish between sky (no return) and blockage (too-close return). Thus, the output is not usable in the same way as OT128's.

Parameters:

sensor_model Sensor model

Returns:

True if the sensor model supports blockage mask output, false otherwise

function supports_functional_safety

Whether the given sensor model supports functional safety.

inline bool nebula::drivers::supports_functional_safety (
    const SensorModel & sensor_model
)

Parameters:

sensor_model Sensor model

Returns:

True if the sensor model supports functional safety, false otherwise

function supports_lidar_monitor

Whether the given sensor model supports lidar monitor requests.

inline bool nebula::drivers::supports_lidar_monitor (
    const SensorModel & sensor_model
)

Parameters:

sensor_model Sensor model

Returns:

True if the sensor model supports lidar monitor, false otherwise

function supports_packet_loss_detection

Whether the given sensor model supports packet loss detection.

inline bool nebula::drivers::supports_packet_loss_detection (
    const SensorModel & sensor_model
)

Parameters:

sensor_model Sensor model

Returns:

True if the sensor model supports packet loss detection, false otherwise

The documentation for this class was generated from the following file src/nebula_hesai/nebula_hesai_common/include/nebula_hesai_common/hesai_common.hpp