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Class nebula::drivers::HesaiDriver

ClassList > nebula > drivers > HesaiDriver

Hesai driver.

  • #include <hesai_driver.hpp>

Public Functions

Type Name
HesaiDriver () = delete
HesaiDriver (const std::shared_ptr< const drivers::HesaiSensorConfiguration > & sensor_configuration, const std::shared_ptr< const drivers::HesaiCalibrationConfigurationBase > & calibration_configuration, const std::shared_ptr< loggers::Logger > & logger, HesaiScanDecoder::pointcloud_callback_t pointcloud_cb, FunctionalSafetyDecoderBase::alive_cb_t alive_cb=nullptr, FunctionalSafetyDecoderBase::stuck_cb_t stuck_cb=nullptr, FunctionalSafetyDecoderBase::status_cb_t status_cb=nullptr, PacketLossDetectorBase::lost_cb_t lost_cb=nullptr, std::shared_ptr< point_filters::BlockageMaskPlugin > blockage_mask_plugin=nullptr)
Constructor.
Status get_status ()
Get current status of this driver.
void parse_cloud_packet (const std::vector< uint8_t > & packet)
Decode a pointcloud packet. If a pointcloud is produced, pointcloud_cb is called.
Status set_calibration_configuration (const HesaiCalibrationConfigurationBase & calibration_configuration)
Setting CalibrationConfiguration (not used)
void set_pointcloud_callback (HesaiScanDecoder::pointcloud_callback_t pointcloud_cb)

Public Functions Documentation

function HesaiDriver [1/2]

nebula::drivers::HesaiDriver::HesaiDriver () = delete

function HesaiDriver [2/2]

Constructor. 

nebula::drivers::HesaiDriver::HesaiDriver (
    const std::shared_ptr< const  drivers::HesaiSensorConfiguration > & sensor_configuration,
    const std::shared_ptr< const  drivers::HesaiCalibrationConfigurationBase > & calibration_configuration,
    const std::shared_ptr< loggers::Logger > & logger,
    HesaiScanDecoder::pointcloud_callback_t pointcloud_cb,
    FunctionalSafetyDecoderBase::alive_cb_t alive_cb=nullptr,
    FunctionalSafetyDecoderBase::stuck_cb_t stuck_cb=nullptr,
    FunctionalSafetyDecoderBase::status_cb_t status_cb=nullptr,
    PacketLossDetectorBase::lost_cb_t lost_cb=nullptr,
    std::shared_ptr< point_filters::BlockageMaskPlugin > blockage_mask_plugin=nullptr
)

Parameters:

  • sensor_configuration SensorConfiguration for this driver
  • calibration_configuration CalibrationConfiguration for this driver (either HesaiCalibrationConfiguration for sensors other than AT128 or HesaiCorrection for AT128)

function get_status

Get current status of this driver. 

Status nebula::drivers::HesaiDriver::get_status ()

Returns:

Current status

function parse_cloud_packet

Decode a pointcloud packet. If a pointcloud is produced, pointcloud_cb is called. 

void nebula::drivers::HesaiDriver::parse_cloud_packet (
    const std::vector< uint8_t > & packet
)

Parameters:

  • packet Packet to decode

function set_calibration_configuration

Setting CalibrationConfiguration (not used) 

Status nebula::drivers::HesaiDriver::set_calibration_configuration (
    const  HesaiCalibrationConfigurationBase & calibration_configuration
)

Parameters:

  • calibration_configuration

Returns:

Resulting status

function set_pointcloud_callback

void nebula::drivers::HesaiDriver::set_pointcloud_callback (
    HesaiScanDecoder::pointcloud_callback_t pointcloud_cb
)

The documentation for this class was generated from the following file nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp