Class nebula::drivers::HesaiHwInterface

ClassList > nebula > drivers > HesaiHwInterface

Hardware interface of hesai driver.

#include <hesai_hw_interface.hpp>

Public Functions

Type	Name
	HesaiHwInterface (const std::shared_ptr< loggers::Logger > & logger) Constructor.
HesaiStatus	check_and_set_config (std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration, std::shared_ptr< HesaiConfigBase > hesai_config) Checking the current settings and changing the difference point.
HesaiStatus	check_and_set_config (std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration, HesaiLidarRangeAll hesai_lidar_range_all) Checking the current settings and changing the difference point.
HesaiStatus	check_and_set_config () Checking the current settings and changing the difference point.
Status	check_and_set_lidar_range (const HesaiCalibrationConfigurationBase & calibration) Given the HW interface's sensor configuration and a given calibration, set the sensor FoV (min and max angles) with appropriate padding around the FoV set in the configuration. This compensates for the points lost due to the sensor filtering FoV by raw encoder angle.
Status	finalize_tcp_driver () Closes the TcpDriver and related resources.
Status	get_calibration_configuration (CalibrationConfigurationBase & calibration_configuration) Printing calibration configuration.
std::shared_ptr< HesaiConfigBase >	get_config () Getting data with PTC_COMMAND_GET_CONFIG_INFO.
std::shared_ptr< HesaiInventoryBase >	get_inventory () Getting data with PTC_COMMAND_GET_INVENTORY_INFO.
std::shared_ptr< boost::asio::io_context >	get_io_context () GetIO Context.
std::vector< uint8_t >	get_lidar_calibration_bytes () Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.
std::string	get_lidar_calibration_string () Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.
HesaiLidarMonitor	get_lidar_monitor () Getting data with PTC_COMMAND_LIDAR_MONITOR.
HesaiStatus	get_lidar_monitor_async_http (std::shared_ptr< boost::asio::io_context > ctx, std::function< void(const std::string &str)> str_callback) Getting lidar_monitor via HTTP API.
HesaiStatus	get_lidar_monitor_async_http (std::function< void(const std::string &str)> str_callback) Getting lidar_monitor via HTTP API.
HesaiLidarRangeAll	get_lidar_range () Getting values with PTC_COMMAND_GET_LIDAR_RANGE.
std::shared_ptr< HesaiLidarStatusBase >	get_lidar_status () Getting data with PTC_COMMAND_GET_LIDAR_STATUS.
HesaiPtpConfig	get_ptp_config () Getting data with PTC_COMMAND_GET_PTP_CONFIG.
HesaiPtpDiagGrandmaster	get_ptp_diag_grandmaster () Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV GRANDMASTER_SETTINGS_NP)
HesaiPtpDiagPort	get_ptp_diag_port () Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV PORT_DATA_SET)
HesaiPtpDiagStatus	get_ptp_diag_status () Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP STATUS)
HesaiPtpDiagTime	get_ptp_diag_time () Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV TIME_STATUS_NP)
uint8_t	get_ptp_lock_offset ()
Status	get_sensor_configuration (const SensorConfigurationBase & sensor_configuration) Printing sensor configuration.
Status	initialize_tcp_driver () Initializing tcp_driver for TCP communication.
void	io_context_run () Call run() of IO Context.
int	nebula_model_to_hesai_model_no (nebula::drivers::SensorModel model) Convert to model in Hesai protocol from nebula::drivers::SensorModel.
boost::property_tree::ptree	parse_json (const std::string & str) Parsing json string to property_tree.
void	receive_sensor_packet_callback (std::vector< uint8_t > & buffer) Callback function to receive the Cloud Packet data from the UDP Driver.
Status	register_scan_callback (std::function< void(std::vector< uint8_t > &)> scan_callback) Registering callback for PandarScan.
Status	send_reset () Sending command with PTC_COMMAND_RESET.
Status	sensor_interface_start () Starting the interface that handles UDP streams.
Status	sensor_interface_stop () Function for stopping the interface that handles UDP streams.
Status	set_clock_source (int clock_source)
Status	set_control_port (int ip_1, int ip_2, int ip_3, int ip_4, int mask_1, int mask_2, int mask_3, int mask_4, int gateway_1, int gateway_2, int gateway_3, int gateway_4, int vlan_flg, int vlan_id) Setting IP with PTC_COMMAND_SET_CONTROL_PORT.
Status	set_destination_ip (int dest_ip_1, int dest_ip_2, int dest_ip_3, int dest_ip_4, int port, int gps_port) Setting IP with PTC_COMMAND_SET_DESTINATION_IP.
Status	set_lidar_range (int method, std::vector< unsigned char > data) Setting values with PTC_COMMAND_SET_LIDAR_RANGE.
Status	set_lidar_range (int start, int end) Setting values with PTC_COMMAND_SET_LIDAR_RANGE.
Status	set_ptp_config (int profile, int domain, int network, int switch_type, int logAnnounceInterval=1, int logSyncInterval=1, int logMinDelayReqInterval=0) Setting values with PTC_COMMAND_SET_PTP_CONFIG.
HesaiStatus	set_ptp_config_sync_http (std::shared_ptr< boost::asio::io_context > ctx, int profile, int domain, int network, int logAnnounceInterval, int logSyncInterval, int logMinDelayReqInterval)
HesaiStatus	set_ptp_config_sync_http (int profile, int domain, int network, int logAnnounceInterval, int logSyncInterval, int logMinDelayReqInterval)
Status	set_ptp_lock_offset (uint8_t lock_offset)
Status	set_return_mode (int return_mode) Setting mode with PTC_COMMAND_SET_RETURN_MODE.
Status	set_rot_dir (int mode) Setting values with PTC_COMMAND_SET_ROTATE_DIRECTION.
Status	set_sensor_configuration (std::shared_ptr< const SensorConfigurationBase > sensor_configuration) Setting sensor configuration.
Status	set_spin_rate (uint16_t rpm) Setting value with PTC_COMMAND_SET_SPIN_RATE.
HesaiStatus	set_spin_speed_async_http (std::shared_ptr< boost::asio::io_context > ctx, uint16_t rpm) Setting spin_speed via HTTP API.
HesaiStatus	set_spin_speed_async_http (uint16_t rpm) Setting spin_speed via HTTP API.
Status	set_standby_mode (int standby_mode) Setting mode with PTC_COMMAND_SET_STANDBY_MODE.
Status	set_sync_angle (int sync_angle, int angle) Setting value with PTC_COMMAND_SET_SYNC_ANGLE.
HesaiStatus	set_sync_angle_sync_http (std::shared_ptr< boost::asio::io_context > ctx, int enable, int angle)
HesaiStatus	set_sync_angle_sync_http (int enable, int angle)
void	set_target_model (int model) Set target model number (for proper use of HTTP and TCP according to the support of the target model)
void	set_target_model (nebula::drivers::SensorModel model) Set target model number (for proper use of HTTP and TCP according to the support of the target model)
Status	set_trigger_method (int trigger_method) Setting mode with PTC_COMMAND_SET_TRIGGER_METHOD.
bool	use_http_get_lidar_monitor (int model) Whether to use HTTP for getting LidarMonitor.
bool	use_http_get_lidar_monitor () Whether to use HTTP for getting LidarMonitor.
bool	use_http_set_spin_rate (int model) Whether to use HTTP for setting SpinRate.
bool	use_http_set_spin_rate () Whether to use HTTP for setting SpinRate.
	~HesaiHwInterface () Destructor.

Public Functions Documentation

function HesaiHwInterface

Constructor.

explicit nebula::drivers::HesaiHwInterface::HesaiHwInterface (
    const std::shared_ptr< loggers::Logger > & logger
)

function check_and_set_config [1/3]

Checking the current settings and changing the difference point.

HesaiStatus nebula::drivers::HesaiHwInterface::check_and_set_config (
    std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration,
    std::shared_ptr< HesaiConfigBase > hesai_config
)

Parameters:

sensor_configuration Current SensorConfiguration
hesai_config Current HesaiConfig

Returns:

Resulting status

function check_and_set_config [2/3]

Checking the current settings and changing the difference point.

HesaiStatus nebula::drivers::HesaiHwInterface::check_and_set_config (
    std::shared_ptr< const HesaiSensorConfiguration > sensor_configuration,
    HesaiLidarRangeAll hesai_lidar_range_all
)

Parameters:

sensor_configuration Current SensorConfiguration
hesai_lidar_range_all Current HesaiLidarRangeAll

Returns:

Resulting status

function check_and_set_config [3/3]

Checking the current settings and changing the difference point.

HesaiStatus nebula::drivers::HesaiHwInterface::check_and_set_config ()

Returns:

Resulting status

function check_and_set_lidar_range

Given the HW interface's sensor configuration and a given calibration, set the sensor FoV (min and max angles) with appropriate padding around the FoV set in the configuration. This compensates for the points lost due to the sensor filtering FoV by raw encoder angle.

Status nebula::drivers::HesaiHwInterface::check_and_set_lidar_range (
    const HesaiCalibrationConfigurationBase & calibration
)

Parameters:

calibration The calibration file of the sensor

Returns:

Status Resulting status of setting the FoV

function finalize_tcp_driver

Closes the TcpDriver and related resources.

Status nebula::drivers::HesaiHwInterface::finalize_tcp_driver ()

Returns:

Status result

function get_calibration_configuration

Printing calibration configuration.

Status nebula::drivers::HesaiHwInterface::get_calibration_configuration (
    CalibrationConfigurationBase & calibration_configuration
)

Parameters:

calibration_configuration CalibrationConfiguration for the checking

Returns:

Resulting status

function get_config

Getting data with PTC_COMMAND_GET_CONFIG_INFO.

std::shared_ptr< HesaiConfigBase > nebula::drivers::HesaiHwInterface::get_config ()

Returns:

Resulting status

function get_inventory

Getting data with PTC_COMMAND_GET_INVENTORY_INFO.

std::shared_ptr< HesaiInventoryBase > nebula::drivers::HesaiHwInterface::get_inventory ()

Returns:

Resulting status

function get_io_context

GetIO Context.

std::shared_ptr< boost::asio::io_context > nebula::drivers::HesaiHwInterface::get_io_context ()

Returns:

IO Context

function get_lidar_calibration_bytes

Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.

std::vector< uint8_t > nebula::drivers::HesaiHwInterface::get_lidar_calibration_bytes ()

Returns:

Resulting status

function get_lidar_calibration_string

Getting data with PTC_COMMAND_GET_LIDAR_CALIBRATION.

std::string nebula::drivers::HesaiHwInterface::get_lidar_calibration_string ()

Returns:

Resulting status

function get_lidar_monitor

Getting data with PTC_COMMAND_LIDAR_MONITOR.

HesaiLidarMonitor nebula::drivers::HesaiHwInterface::get_lidar_monitor ()

Returns:

Resulting status

function get_lidar_monitor_async_http [1/2]

Getting lidar_monitor via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::get_lidar_monitor_async_http (
    std::shared_ptr< boost::asio::io_context > ctx,
    std::function< void(const std::string &str)> str_callback
)

Parameters:

ctx IO Context
str_callback Callback function for received string

Returns:

Resulting status

function get_lidar_monitor_async_http [2/2]

Getting lidar_monitor via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::get_lidar_monitor_async_http (
    std::function< void(const std::string &str)> str_callback
)

Parameters:

str_callback Callback function for received string

Returns:

Resulting status

function get_lidar_range

Getting values with PTC_COMMAND_GET_LIDAR_RANGE.

HesaiLidarRangeAll nebula::drivers::HesaiHwInterface::get_lidar_range ()

Returns:

Resulting status

function get_lidar_status

Getting data with PTC_COMMAND_GET_LIDAR_STATUS.

std::shared_ptr< HesaiLidarStatusBase > nebula::drivers::HesaiHwInterface::get_lidar_status ()

Returns:

Resulting status

function get_ptp_config

Getting data with PTC_COMMAND_GET_PTP_CONFIG.

HesaiPtpConfig nebula::drivers::HesaiHwInterface::get_ptp_config ()

Returns:

Resulting status

function get_ptp_diag_grandmaster

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV GRANDMASTER_SETTINGS_NP)

HesaiPtpDiagGrandmaster nebula::drivers::HesaiHwInterface::get_ptp_diag_grandmaster ()

Returns:

Resulting status

function get_ptp_diag_port

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV PORT_DATA_SET)

HesaiPtpDiagPort nebula::drivers::HesaiHwInterface::get_ptp_diag_port ()

Returns:

Resulting status

function get_ptp_diag_status

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP STATUS)

HesaiPtpDiagStatus nebula::drivers::HesaiHwInterface::get_ptp_diag_status ()

Returns:

Resulting status

function get_ptp_diag_time

Getting data with PTC_COMMAND_PTP_DIAGNOSTICS (PTP TLV TIME_STATUS_NP)

HesaiPtpDiagTime nebula::drivers::HesaiHwInterface::get_ptp_diag_time ()

Returns:

Resulting status

function get_ptp_lock_offset

uint8_t nebula::drivers::HesaiHwInterface::get_ptp_lock_offset ()

function get_sensor_configuration

Printing sensor configuration.

Status nebula::drivers::HesaiHwInterface::get_sensor_configuration (
    const SensorConfigurationBase & sensor_configuration
)

Parameters:

sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

function initialize_tcp_driver

Initializing tcp_driver for TCP communication.

Status nebula::drivers::HesaiHwInterface::initialize_tcp_driver ()

Parameters:

setup_sensor Whether to also initialize tcp_driver for sensor configuration

Returns:

Resulting status

function io_context_run

Call run() of IO Context.

void nebula::drivers::HesaiHwInterface::io_context_run ()

function nebula_model_to_hesai_model_no

Convert to model in Hesai protocol from nebula::drivers::SensorModel.

int nebula::drivers::HesaiHwInterface::nebula_model_to_hesai_model_no (
    nebula::drivers::SensorModel model
)

Parameters:

model

Returns:

function parse_json

Parsing json string to property_tree.

boost::property_tree::ptree nebula::drivers::HesaiHwInterface::parse_json (
    const std::string & str
)

Parameters:

str JSON string

Returns:

Parsed property_tree

function receive_sensor_packet_callback

Callback function to receive the Cloud Packet data from the UDP Driver.

void nebula::drivers::HesaiHwInterface::receive_sensor_packet_callback (
    std::vector< uint8_t > & buffer
)

Parameters:

buffer Buffer containing the data received from the UDP socket

function register_scan_callback

Registering callback for PandarScan.

Status nebula::drivers::HesaiHwInterface::register_scan_callback (
    std::function< void(std::vector< uint8_t > &)> scan_callback
)

Parameters:

scan_callback Callback function

Returns:

Resulting status

function send_reset

Sending command with PTC_COMMAND_RESET.

Status nebula::drivers::HesaiHwInterface::send_reset ()

Returns:

Resulting status

function sensor_interface_start

Starting the interface that handles UDP streams.

Status nebula::drivers::HesaiHwInterface::sensor_interface_start ()

Returns:

Resulting status

function sensor_interface_stop

Function for stopping the interface that handles UDP streams.

Status nebula::drivers::HesaiHwInterface::sensor_interface_stop ()

Returns:

Resulting status

function set_clock_source

Status nebula::drivers::HesaiHwInterface::set_clock_source (
    int clock_source
)

function set_control_port

Setting IP with PTC_COMMAND_SET_CONTROL_PORT.

Status nebula::drivers::HesaiHwInterface::set_control_port (
    int ip_1,
    int ip_2,
    int ip_3,
    int ip_4,
    int mask_1,
    int mask_2,
    int mask_3,
    int mask_4,
    int gateway_1,
    int gateway_2,
    int gateway_3,
    int gateway_4,
    int vlan_flg,
    int vlan_id
)

Parameters:

ip_1 Device IP of the 1st byte represents the 1st section
ip_2 Device IP of the 2nd byte represents the 2nd section
ip_3 Device IP of the 3rd byte represents the 3rd section
ip_4 Device IP of the 4th byte represents the 4th section
mask_1 Device subnet mask of the 1st byte represents the 1st section
mask_2 Device subnet mask of the 2nd byte represents the 2nd section
mask_3 Device subnet mask of the 3rd byte represents the 3rd section
mask_4 Device subnet mask of the 4th byte represents the 4th section
gateway_1 Device gateway of the 1st byte represents the 1st section
gateway_2 Device gateway of the 2nd byte represents the 2nd section
gateway_3 Device gateway of the 3rd byte represents the 3rd section
gateway_4 Device gateway of the 4th byte represents the 4th section
vlan_flg VLAN Status
vlan_id VLAN ID

Returns:

Resulting status

function set_destination_ip

Setting IP with PTC_COMMAND_SET_DESTINATION_IP.

Status nebula::drivers::HesaiHwInterface::set_destination_ip (
    int dest_ip_1,
    int dest_ip_2,
    int dest_ip_3,
    int dest_ip_4,
    int port,
    int gps_port
)

Parameters:

dest_ip_1 The 1st byte represents the 1st section
dest_ip_2 The 2nd byte represents the 2nd section
dest_ip_3 The 3rd byte represents the 3rd section
dest_ip_4 The 4th byte represents the 4th section
port LiDAR Destination Port
gps_port GPS Destination Port

Returns:

Resulting status

function set_lidar_range [1/2]

Setting values with PTC_COMMAND_SET_LIDAR_RANGE.

Status nebula::drivers::HesaiHwInterface::set_lidar_range (
    int method,
    std::vector< unsigned char > data
)

Parameters:

method Method
data Set data

Returns:

Resulting status

function set_lidar_range [2/2]

Setting values with PTC_COMMAND_SET_LIDAR_RANGE.

Status nebula::drivers::HesaiHwInterface::set_lidar_range (
    int start,
    int end
)

Parameters:

start Start angle
end End angle

Returns:

Resulting status

function set_ptp_config

Setting values with PTC_COMMAND_SET_PTP_CONFIG.

Status nebula::drivers::HesaiHwInterface::set_ptp_config (
    int profile,
    int domain,
    int network,
    int switch_type,
    int logAnnounceInterval=1,
    int logSyncInterval=1,
    int logMinDelayReqInterval=0
)

Parameters:

profile IEEE timing and synchronization standard
domain Domain attribute of the local clock
network Network transport type of 1588v2
switch_type Switch type of 802.1AS Automotive
logAnnounceInterval Time interval between Announce messages, in units of log seconds (default: 1)
logSyncInterval Time interval between Sync messages, in units of log seconds (default: 1)
logMinDelayReqInterval Minimum permitted mean time between Delay_Req messages, in units of log seconds (default: 0)

Returns:

Resulting status

function set_ptp_config_sync_http [1/2]

HesaiStatus nebula::drivers::HesaiHwInterface::set_ptp_config_sync_http (
    std::shared_ptr< boost::asio::io_context > ctx,
    int profile,
    int domain,
    int network,
    int logAnnounceInterval,
    int logSyncInterval,
    int logMinDelayReqInterval
)

function set_ptp_config_sync_http [2/2]

HesaiStatus nebula::drivers::HesaiHwInterface::set_ptp_config_sync_http (
    int profile,
    int domain,
    int network,
    int logAnnounceInterval,
    int logSyncInterval,
    int logMinDelayReqInterval
)

function set_ptp_lock_offset

Status nebula::drivers::HesaiHwInterface::set_ptp_lock_offset (
    uint8_t lock_offset
)

function set_return_mode

Setting mode with PTC_COMMAND_SET_RETURN_MODE.

Status nebula::drivers::HesaiHwInterface::set_return_mode (
    int return_mode
)

Parameters:

return_mode Return mode

Returns:

Resulting status

function set_rot_dir

Setting values with PTC_COMMAND_SET_ROTATE_DIRECTION.

Status nebula::drivers::HesaiHwInterface::set_rot_dir (
    int mode
)

Parameters:

mode Rotation of the motor

Returns:

Resulting status

function set_sensor_configuration

Setting sensor configuration.

Status nebula::drivers::HesaiHwInterface::set_sensor_configuration (
    std::shared_ptr< const SensorConfigurationBase > sensor_configuration
)

Parameters:

sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

function set_spin_rate

Setting value with PTC_COMMAND_SET_SPIN_RATE.

Status nebula::drivers::HesaiHwInterface::set_spin_rate (
    uint16_t rpm
)

Parameters:

rpm Spin rate

Returns:

Resulting status

function set_spin_speed_async_http [1/2]

Setting spin_speed via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::set_spin_speed_async_http (
    std::shared_ptr< boost::asio::io_context > ctx,
    uint16_t rpm
)

Parameters:

ctx IO Context used
rpm spin_speed (300, 600, 1200)

Returns:

Resulting status

function set_spin_speed_async_http [2/2]

Setting spin_speed via HTTP API.

HesaiStatus nebula::drivers::HesaiHwInterface::set_spin_speed_async_http (
    uint16_t rpm
)

Parameters:

rpm spin_speed (300, 600, 1200)

Returns:

Resulting status

function set_standby_mode

Setting mode with PTC_COMMAND_SET_STANDBY_MODE.

Status nebula::drivers::HesaiHwInterface::set_standby_mode (
    int standby_mode
)

Parameters:

standby_mode Standby mode

Returns:

Resulting status

function set_sync_angle

Setting value with PTC_COMMAND_SET_SYNC_ANGLE.

Status nebula::drivers::HesaiHwInterface::set_sync_angle (
    int sync_angle,
    int angle
)

Parameters:

sync_angle Sync angle enable flag
angle Angle value

Returns:

Resulting status

function set_sync_angle_sync_http [1/2]

HesaiStatus nebula::drivers::HesaiHwInterface::set_sync_angle_sync_http (
    std::shared_ptr< boost::asio::io_context > ctx,
    int enable,
    int angle
)

function set_sync_angle_sync_http [2/2]

HesaiStatus nebula::drivers::HesaiHwInterface::set_sync_angle_sync_http (
    int enable,
    int angle
)

function set_target_model [1/2]

Set target model number (for proper use of HTTP and TCP according to the support of the target model)

void nebula::drivers::HesaiHwInterface::set_target_model (
    int model
)

Parameters:

model Model number

function set_target_model [2/2]

Set target model number (for proper use of HTTP and TCP according to the support of the target model)

void nebula::drivers::HesaiHwInterface::set_target_model (
    nebula::drivers::SensorModel model
)

Parameters:

model Model

function set_trigger_method

Setting mode with PTC_COMMAND_SET_TRIGGER_METHOD.

Status nebula::drivers::HesaiHwInterface::set_trigger_method (
    int trigger_method
)

Parameters:

trigger_method Trigger method

Returns:

Resulting status

function use_http_get_lidar_monitor [1/2]

Whether to use HTTP for getting LidarMonitor.

bool nebula::drivers::HesaiHwInterface::use_http_get_lidar_monitor (
    int model
)

Parameters:

model Model number

Returns:

Use HTTP

function use_http_get_lidar_monitor [2/2]

Whether to use HTTP for getting LidarMonitor.

bool nebula::drivers::HesaiHwInterface::use_http_get_lidar_monitor ()

Returns:

Use HTTP

function use_http_set_spin_rate [1/2]

Whether to use HTTP for setting SpinRate.

bool nebula::drivers::HesaiHwInterface::use_http_set_spin_rate (
    int model
)

Parameters:

model Model number

Returns:

Use HTTP

function use_http_set_spin_rate [2/2]

Whether to use HTTP for setting SpinRate.

bool nebula::drivers::HesaiHwInterface::use_http_set_spin_rate ()

Returns:

Use HTTP

function ~HesaiHwInterface

Destructor.

nebula::drivers::HesaiHwInterface::~HesaiHwInterface ()

The documentation for this class was generated from the following file nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp