Namespace nebula::drivers::hesai_packet

Namespace List > nebula > drivers > hesai_packet

Namespaces

Type	Name
namespace	return_mode

Classes

Type	Name
struct	Block <typename UnitT, UnitN>
struct	Body <typename BlockT, BlockN>
struct	BodyWithCrc <typename BlockT, BlockN>
struct	ChannelHealth128E3X
struct	DateTime <YearOffset> DateTime struct for Hesai packets.
struct	FineAzimuthBlock <typename UnitT, UnitN>
struct	FunctionalSafety128E3X
struct	FunctionalSafetyQT128C2X
struct	HasCrcCheck <typename T, typename>
struct	HasCrcCheck< T, std::void_t< decltype(std::declval< T >().is_crc_valid())> > <typename T>
struct	HasFunctionalSafety <typename PacketT, typename>
struct	HasFunctionalSafety< PacketT, std::void_t< decltype(std::declval< PacketT >().fs)> > <typename PacketT>
struct	HasPacketLossDetection <typename PacketT, typename>
struct	HasPacketLossDetection< PacketT, std::void_t< decltype(std::declval< PacketT >().tail.udp_sequence)> > <typename PacketT>
struct	Header12B
struct	Header8B
struct	Packet128E3X
struct	Packet40P
struct	Packet64
struct	PacketAT128E2X
struct	PacketBase <nBlocks, nChannels, maxReturns, degreeSubdivisions> Base struct for all Hesai packets. This struct is not allowed to have any non-static members, otherwise memory layout is not guaranteed for the derived structs.
struct	PacketQT128C2X
struct	PacketQT64
struct	PacketXT16
struct	PacketXT32
struct	PacketXT32M2X
struct	SOBBlock <typename UnitT, UnitN>
struct	SecondsSinceEpoch
struct	Tail128E3X
struct	Tail40P
struct	TailAT128E2X
struct	TailQT128C2X
struct	TailQT64
struct	TailXT32
struct	Unit3B
struct	Unit4B

Public Types

Type	Name
typedef Packet128E3X	Packet128E4X
typedef Tail40P	Tail64
typedef TailXT32	TailXT16
typedef TailXT32	TailXT32M2X

Public Functions

Type	Name
double	get_dis_unit (const PacketT & packet) Get the distance unit of the given packet type in meters. Distance values in the packet, multiplied by this value, yield the distance in meters.
double	get_dis_unit< Packet40P > (const Packet40P &) Get the distance unit of the given Packet40P packet in meters. This is the only packet type without a header.
int	get_n_returns (uint8_t return_mode) Get the number of returns for a given return mode.
uint64_t	get_timestamp_ns (const PacketT & packet) Get timestamp from packet in nanoseconds.
std::enable_if_t< HasCrcCheck< PayloadT >::value, bool >	is_crc_valid (const PayloadT & payload) Invoke payload.is_crc_valid() and return its result.
std::enable_if_t<< PayloadT >::value, bool >	is_crc_valid (const PayloadT &) Provide a dummy CRC check for types that do not provide a is_crc_valid() function.

Public Types Documentation

typedef Packet128E4X

using nebula::drivers::hesai_packet::Packet128E4X = typedef Packet128E3X;

---

typedef Tail64

using nebula::drivers::hesai_packet::Tail64 = typedef Tail40P;

---

typedef TailXT16

using nebula::drivers::hesai_packet::TailXT16 = typedef TailXT32;

---

typedef TailXT32M2X

using nebula::drivers::hesai_packet::TailXT32M2X = typedef TailXT32;

---

Public Functions Documentation

function get_dis_unit

Get the distance unit of the given packet type in meters. Distance values in the packet, multiplied by this value, yield the distance in meters.

template<typename PacketT>
double nebula::drivers::hesai_packet::get_dis_unit (
    const  PacketT & packet
) 

Template parameters:

• PacketT The packet type

Parameters:

• packet The packet to get the distance unit from

Returns:

The distance unit in meters

---

function get_dis_unit< Packet40P >

Get the distance unit of the given Packet40P packet in meters. This is the only packet type without a header.

template<>
inline double nebula::drivers::hesai_packet::get_dis_unit< Packet40P > (
    const  Packet40P &
) 

Returns:

0.004 (4mm)

---

function get_n_returns

Get the number of returns for a given return mode.

inline int nebula::drivers::hesai_packet::get_n_returns (
    uint8_t return_mode
) 

Parameters:

• return_mode The return mode

Returns:

The number of returns

---

function get_timestamp_ns

Get timestamp from packet in nanoseconds.

template<typename PacketT>
uint64_t nebula::drivers::hesai_packet::get_timestamp_ns (
    const  PacketT & packet
) 

Template parameters:

• PacketT The packet type

Parameters:

• packet The packet to get the timestamp from

Returns:

The timestamp in nanoseconds

---

function is_crc_valid

Invoke payload.is_crc_valid() and return its result.

template<typename PayloadT>
std::enable_if_t< HasCrcCheck < PayloadT >::value, bool > nebula::drivers::hesai_packet::is_crc_valid (
    const  PayloadT & payload
) 

Template parameters:

• PayloadT Any type that has a bool is_crc_valid() member function

Parameters:

• payload The instance to check the CRC of

Returns:

std::enable_if_t<HasCrcCheck<PayloadT>::value, bool> true if the CRC is valid, false otherwise

---

function is_crc_valid

Provide a dummy CRC check for types that do not provide a is_crc_valid() function.

template<typename PayloadT>
std::enable_if_t<! HasCrcCheck < PayloadT >::value, bool > nebula::drivers::hesai_packet::is_crc_valid (
    const  PayloadT &
) 

Template parameters:

• PayloadT A type that has no member function is_crc_valid()

Returns:

std::enable_if_t<!HasCrcCheck<PayloadT>::value, bool> Always returns true

---

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