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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<**HasCrcCheck**< 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:

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

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