File hesai_cmd_response.hpp
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// Copyright 2024 TIER IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef HESAI_CMD_RESPONSE_HPP
#define HESAI_CMD_RESPONSE_HPP
#include <nebula_common/util/string_conversions.hpp>
#include <nlohmann/json.hpp>
#include <nlohmann/json_fwd.hpp>
#include <boost/algorithm/string/join.hpp>
#include <boost/endian/buffers.hpp>
#include <boost/format.hpp>
#include <algorithm>
#include <array>
#include <cstdint>
#include <iomanip>
#include <ostream>
#include <sstream>
#include <string>
#include <string_view>
#include <vector>
using namespace boost::endian; // NOLINT(build/namespaces)
namespace nebula
{
using nebula::util::to_string;
using nlohmann::ordered_json;
#pragma pack(push, 1)
struct HesaiPtpDiagStatus
{
big_int64_buf_t master_offset;
big_int32_buf_t ptp_state;
big_int32_buf_t elapsed_millisec;
friend std::ostream & operator<<(std::ostream & os, nebula::HesaiPtpDiagStatus const & arg)
{
os << "master_offset: " << arg.master_offset;
os << ", ";
os << "ptp_state: " << arg.ptp_state;
os << ", ";
os << "elapsed_millisec: " << arg.elapsed_millisec;
return os;
}
};
struct HesaiPtpDiagPort
{
char portIdentity[10];
big_int32_buf_t portState;
big_int32_buf_t logMinDelayReqInterval;
big_int64_buf_t peerMeanPathDelay;
big_int32_buf_t logAnnounceInterval;
big_int32_buf_t announceReceiptTimeout;
big_int32_buf_t logSyncInterval;
big_int32_buf_t delayMechanism;
big_int32_buf_t logMinPdelayReqInterval;
big_int32_buf_t versionNumber;
friend std::ostream & operator<<(std::ostream & os, nebula::HesaiPtpDiagPort const & arg)
{
os << "portIdentity: " << to_string(arg.portIdentity);
os << ", ";
os << "portState: " << arg.portState;
os << ", ";
os << "logMinDelayReqInterval: " << arg.logMinDelayReqInterval;
os << ", ";
os << "peerMeanPathDelay: " << arg.peerMeanPathDelay;
os << ", ";
os << "logAnnounceInterval: " << arg.logAnnounceInterval;
os << ", ";
os << "announceReceiptTimeout: " << arg.announceReceiptTimeout;
os << ", ";
os << "logSyncInterval: " << arg.logSyncInterval;
os << ", ";
os << "delayMechanism: " << arg.delayMechanism;
os << ", ";
os << "logMinPdelayReqInterval: " << arg.logMinPdelayReqInterval;
os << ", ";
os << "versionNumber: " << arg.versionNumber;
return os;
}
};
struct HesaiPtpDiagTime
{
big_int64_buf_t master_offset;
big_int64_buf_t ingress_time;
big_int32_buf_t cumulativeScaledRateOffset;
big_int32_buf_t scaledLastGmPhaseChange;
big_int16_buf_t gmTimeBaseIndicator;
uint8_t lastGmPhaseChange[12];
big_int32_buf_t gmPresent;
big_int64_buf_t gmIdentity;
friend std::ostream & operator<<(std::ostream & os, nebula::HesaiPtpDiagTime const & arg)
{
os << "master_offset: " << arg.master_offset;
os << ", ";
os << "ingress_time: " << arg.ingress_time;
os << ", ";
os << "cumulativeScaledRateOffset: " << arg.cumulativeScaledRateOffset;
os << ", ";
os << "scaledLastGmPhaseChange: " << arg.scaledLastGmPhaseChange;
os << ", ";
os << "gmTimeBaseIndicator: " << arg.gmTimeBaseIndicator;
os << ", ";
// FIXME: lastGmPhaseChange is a binary number, displaying it as string is incorrect
os << "lastGmPhaseChange: "
<< std::string(std::begin(arg.lastGmPhaseChange), std::end(arg.lastGmPhaseChange));
os << ", ";
os << "gmPresent: " << arg.gmPresent;
os << ", ";
os << "gmIdentity: " << arg.gmIdentity;
return os;
}
};
struct HesaiPtpDiagGrandmaster
{
big_int32_buf_t clockQuality;
big_int16_buf_t utc_offset;
int8_t time_flags;
int8_t time_source;
friend std::ostream & operator<<(std::ostream & os, nebula::HesaiPtpDiagGrandmaster const & arg)
{
os << "clockQuality: " << arg.clockQuality;
os << ", ";
os << "utc_offset: " << arg.utc_offset;
os << ", ";
os << "time_flags: " << +arg.time_flags;
os << ", ";
os << "time_source: " << +arg.time_source;
return os;
}
};
struct HesaiInventoryBase
{
struct Internal
{
char sn[18];
char date_of_manufacture[16];
uint8_t mac[6];
char sw_ver[16];
char hw_ver[16];
char control_fw_ver[16];
char sensor_fw_ver[16];
};
virtual ~HesaiInventoryBase() = default;
[[nodiscard]] ordered_json to_json() const
{
const Internal & val = get();
ordered_json j;
j["sn"] = to_string(val.sn);
j["date_of_manufacture"] = to_string(val.date_of_manufacture);
{
std::stringstream ss;
for (size_t i = 0; i < sizeof(val.mac); i++) {
if (i != 0) {
ss << ':';
}
ss << std::hex << std::setfill('0') << std::setw(2) << (+val.mac[i]);
}
j["mac"] = ss.str();
}
j["sw_ver"] = to_string(val.sw_ver);
j["hw_ver"] = to_string(val.hw_ver);
j["control_fw_ver"] = to_string(val.control_fw_ver);
j["sensor_fw_ver"] = to_string(val.sensor_fw_ver);
j.update(sensor_specifics_to_json());
return j;
}
[[nodiscard]] virtual uint8_t model_number() const = 0;
[[nodiscard]] virtual const Internal & get() const = 0;
protected:
[[nodiscard]] virtual ordered_json sensor_specifics_to_json() const = 0;
friend std::ostream & operator<<(std::ostream & os, const HesaiInventoryBase & arg)
{
ordered_json j = arg.to_json();
std::vector<std::string> kv_pairs;
for (const auto & [key, value] : j.items()) {
kv_pairs.emplace_back(key + ": " + to_string(value));
}
return os << boost::algorithm::join(kv_pairs, ", ");
}
[[nodiscard]] static std::string get_str_model(uint8_t model)
{
switch (model) {
case 0:
return "Pandar40P";
case 2:
return "Pandar64";
case 3:
return "Pandar128";
case 15:
return "PandarQT";
case 17:
return "Pandar40M";
case 20:
return "PandarMind(PM64)";
case 25:
return "PandarXT32";
case 26:
return "PandarXT16";
case 32:
return "QT128C2X";
case 38:
return "PandarXT32M";
case 42:
return "OT128";
case 40:
case 48:
return "PandarAT128";
default:
return "Unknown(" + std::to_string(static_cast<int>(model)) + ")";
}
}
[[nodiscard]] static std::string get_motor_type(uint8_t motor_type)
{
switch (motor_type) {
case 0:
return "unidirectional";
case 1:
return "bidirectional";
default:
return "unknown";
}
}
};
struct HesaiInventory_OT128 : public HesaiInventoryBase
{
struct Internal : public HesaiInventoryBase::Internal
{
big_int16_buf_t zero_angle_offset;
uint8_t product_model;
uint8_t motor_type;
uint8_t num_of_lines;
char pn[32];
uint8_t customer_pn_enable;
char customer_pn[20];
};
explicit HesaiInventory_OT128(Internal value) : value(value) {}
[[nodiscard]] uint8_t model_number() const override { return value.product_model; }
[[nodiscard]] const HesaiInventoryBase::Internal & get() const override { return value; }
[[nodiscard]] ordered_json sensor_specifics_to_json() const override
{
ordered_json j;
j["zero_angle_offset"] = value.zero_angle_offset.value();
j["model"] = get_str_model(value.product_model);
j["motor_type"] = get_motor_type(value.motor_type);
j["num_of_lines"] = value.num_of_lines;
j["pn"] = to_string(value.pn);
if (value.customer_pn_enable) {
j["customer_pn"] = to_string(value.customer_pn);
}
return j;
}
private:
Internal value;
};
struct HesaiInventory_XT32_40P : public HesaiInventoryBase
{
struct Internal : public HesaiInventoryBase::Internal
{
big_int16_buf_t zero_angle_offset;
uint8_t product_model;
uint8_t motor_type;
uint8_t num_of_lines;
uint8_t reserved[11];
};
explicit HesaiInventory_XT32_40P(Internal value) : value(value) {}
[[nodiscard]] uint8_t model_number() const override { return value.product_model; }
[[nodiscard]] const HesaiInventoryBase::Internal & get() const override { return value; }
[[nodiscard]] ordered_json sensor_specifics_to_json() const override
{
ordered_json j;
j["zero_angle_offset"] = value.zero_angle_offset.value();
j["model"] = get_str_model(value.product_model);
j["motor_type"] = get_motor_type(value.motor_type);
j["num_of_lines"] = value.num_of_lines;
return j;
}
private:
Internal value;
};
struct HesaiInventory_QT128 : public HesaiInventoryBase
{
struct Internal : public HesaiInventoryBase::Internal
{
big_int16_buf_t zero_angle_offset;
big_int16_buf_t angle_offset_cc;
uint8_t product_model;
uint8_t motor_type;
uint8_t num_of_lines;
char pn[32];
uint8_t reserved;
};
explicit HesaiInventory_QT128(Internal value) : value(value) {}
[[nodiscard]] uint8_t model_number() const override { return value.product_model; }
[[nodiscard]] const HesaiInventoryBase::Internal & get() const override { return value; }
[[nodiscard]] ordered_json sensor_specifics_to_json() const override
{
ordered_json j;
j["zero_angle_offset"] = value.zero_angle_offset.value();
j["zero_angle_offset_cc"] = value.angle_offset_cc.value();
j["model"] = get_str_model(value.product_model);
j["motor_type"] = get_motor_type(value.motor_type);
j["num_of_lines"] = value.num_of_lines;
j["pn"] = to_string(value.pn);
return j;
}
private:
Internal value;
};
struct HesaiInventory_AT128 : public HesaiInventoryBase
{
struct Internal : public HesaiInventoryBase::Internal
{
// zero_angle_offset from datasheet does not exist
char fpga_para_ver[16];
char fpga_cfg_ver[16];
char fpga_para_sha[16];
char fpga_cfg_sha[16];
big_int16_buf_t unused_angle_offset;
uint8_t product_model;
uint8_t motor_type;
uint8_t num_of_lines; // this is also not in the datasheet but definitely exists
uint8_t motor_correction_flag;
uint8_t encoder_disk_correction_flag;
uint8_t reserved[9];
};
explicit HesaiInventory_AT128(Internal value) : value(value) {}
[[nodiscard]] uint8_t model_number() const override { return value.product_model; }
[[nodiscard]] const HesaiInventoryBase::Internal & get() const override { return value; }
[[nodiscard]] ordered_json sensor_specifics_to_json() const override
{
ordered_json j;
j["fpga_para_ver"] = to_string(value.fpga_para_ver);
j["fpga_cfg_ver"] = to_string(value.fpga_cfg_ver);
j["fpga_para_sha"] = to_string(value.fpga_para_sha);
j["fpga_cfg_sha"] = to_string(value.fpga_cfg_sha);
j["model"] = get_str_model(value.product_model);
j["motor_type"] = get_motor_type(value.motor_type);
j["num_of_lines"] = value.num_of_lines;
j["motor_correction_flag"] = value.motor_correction_flag ? "finished" : "not finished";
j["encoder_disk_correction_flag"] =
value.encoder_disk_correction_flag ? "finished" : "not finished";
return j;
}
private:
Internal value;
};
struct HesaiConfigBase
{
struct Internal
{
uint8_t ipaddr[4];
uint8_t mask[4];
uint8_t gateway[4];
uint8_t dest_ipaddr[4];
big_uint16_buf_t dest_LiDAR_udp_port;
big_uint16_buf_t dest_gps_udp_port;
big_uint16_buf_t spin_rate;
uint8_t sync;
big_uint16_buf_t sync_angle;
big_uint16_buf_t start_angle;
big_uint16_buf_t stop_angle;
uint8_t clock_source;
uint8_t udp_seq;
uint8_t trigger_method;
uint8_t return_mode;
uint8_t standby_mode;
uint8_t motor_status;
uint8_t vlan_flag;
big_uint16_buf_t vlan_id;
};
virtual ~HesaiConfigBase() = default;
[[nodiscard]] ordered_json to_json() const
{
ordered_json j;
{
std::stringstream ss;
ss << static_cast<int>(get().ipaddr[0]) << "." << static_cast<int>(get().ipaddr[1]) << "."
<< static_cast<int>(get().ipaddr[2]) << "." << static_cast<int>(get().ipaddr[3]);
j["ipaddr"] = ss.str();
}
{
std::stringstream ss;
ss << static_cast<int>(get().mask[0]) << "." << static_cast<int>(get().mask[1]) << "."
<< static_cast<int>(get().mask[2]) << "." << static_cast<int>(get().mask[3]);
j["mask"] = ss.str();
}
{
std::stringstream ss;
ss << static_cast<int>(get().gateway[0]) << "." << static_cast<int>(get().gateway[1]) << "."
<< static_cast<int>(get().gateway[2]) << "." << static_cast<int>(get().gateway[3]);
j["gateway"] = ss.str();
}
{
std::stringstream ss;
ss << static_cast<int>(get().dest_ipaddr[0]) << "." << static_cast<int>(get().dest_ipaddr[1])
<< "." << static_cast<int>(get().dest_ipaddr[2]) << "."
<< static_cast<int>(get().dest_ipaddr[3]);
j["dest_ipaddr"] = ss.str();
}
j["dest_LiDAR_udp_port"] = get().dest_LiDAR_udp_port.value();
j["dest_gps_udp_port"] = get().dest_gps_udp_port.value();
j["spin_rate"] = std::to_string(get().spin_rate.value()) + " RPM";
j["sync"] = get().sync;
j["sync_angle"] = std::to_string(get().sync * 0.01) + " deg";
j["start_angle"] = get().start_angle.value();
j["stop_angle"] = get().stop_angle.value();
j["clock_source"] = get().clock_source;
j["udp_seq"] = get().udp_seq;
j["trigger_method"] = get().trigger_method;
j["return_mode"] = get().return_mode;
j["standby_mode"] = get().standby_mode;
j["motor_status"] = get().motor_status;
j["vlan_flag"] = get().vlan_flag;
j["vlan_id"] = get().vlan_id.value();
j.update(sensor_specifics_to_json());
return j;
}
[[nodiscard]] virtual const Internal & get() const = 0;
protected:
[[nodiscard]] virtual ordered_json sensor_specifics_to_json() const = 0;
};
inline std::ostream & operator<<(std::ostream & os, const HesaiConfigBase & arg)
{
ordered_json j = arg.to_json();
for (const auto & [key, value] : j.items()) {
os << key << ": " << to_string(value) << '\n';
}
return os;
}
struct HesaiConfig_OT128_AT128 : public HesaiConfigBase
{
struct Internal : public HesaiConfigBase::Internal
{
uint8_t gps_nmea_sentence;
uint8_t noise_filtering;
uint8_t reflectivity_mapping;
unsigned char reserved[6];
};
explicit HesaiConfig_OT128_AT128(Internal value) : value(value) {}
[[nodiscard]] const HesaiConfigBase::Internal & get() const override { return value; }
[[nodiscard]] ordered_json sensor_specifics_to_json() const override
{
ordered_json j;
j["gps_nmea_sentence"] = value.gps_nmea_sentence;
j["noise_filtering"] = value.noise_filtering;
j["reflectivity_mapping"] = value.reflectivity_mapping;
return j;
}
private:
Internal value;
};
struct HesaiConfig_XT_40P_64_QT128 : public HesaiConfigBase
{
struct Internal : public HesaiConfigBase::Internal
{
uint8_t clock_data_fmt;
uint8_t noise_filtering;
uint8_t reflectivity_mapping;
unsigned char reserved[6];
};
explicit HesaiConfig_XT_40P_64_QT128(Internal value) : value(value) {}
[[nodiscard]] const HesaiConfigBase::Internal & get() const override { return value; }
[[nodiscard]] ordered_json sensor_specifics_to_json() const override
{
ordered_json j;
j["clock_data_fmt"] = value.clock_data_fmt;
j["noise_filtering"] = value.noise_filtering;
j["reflectivity_mapping"] = value.reflectivity_mapping;
return j;
}
private:
Internal value;
};
struct HesaiLidarStatusBase
{
struct Internal
{
big_uint32_buf_t system_uptime;
big_uint16_buf_t motor_speed;
};
virtual ~HesaiLidarStatusBase() = default;
[[nodiscard]] ordered_json to_json() const
{
ordered_json j;
j["system_uptime"] = std::to_string(get().system_uptime.value()) + " s";
j["motor_speed"] = std::to_string(get().motor_speed.value()) + " RPM";
j.update(sensor_specifics_to_json());
return j;
}
[[nodiscard]] virtual const Internal & get() const = 0;
protected:
[[nodiscard]] virtual ordered_json sensor_specifics_to_json() const = 0;
[[nodiscard]] static std::string get_str_gps_pps_lock(uint8_t value)
{
switch (value) {
case 1:
return "locked";
case 0:
return "not locked";
default:
return "unknown";
}
}
[[nodiscard]] static std::string get_str_gps_gprmc_status(uint8_t value)
{
switch (value) {
case 1:
return "locked";
case 0:
return "not locked";
default:
return "unknown";
}
}
[[nodiscard]] static std::string get_str_ptp_clock_status(uint8_t value)
{
switch (value) {
case 0:
return "free run";
case 1:
return "tracking";
case 2:
return "locked";
case 3:
return "frozen";
default:
return "unknown";
}
}
};
inline std::ostream & operator<<(std::ostream & os, const HesaiLidarStatusBase & arg)
{
ordered_json j = arg.to_json();
for (const auto & [key, value] : j.items()) {
os << key << ": " << to_string(value) << '\n';
}
return os;
}
struct HesaiLidarStatus_AT128_QT128 : public HesaiLidarStatusBase
{
struct Internal : public HesaiLidarStatusBase::Internal
{
big_int32_buf_t temperature[9];
uint8_t unused_gps_pps_lock;
uint8_t unused_gps_gprmc_status;
big_int32_buf_t startup_times;
big_int32_buf_t total_operation_time;
uint8_t ptp_status;
unsigned char reserved[5];
};
[[nodiscard]] ordered_json sensor_specifics_to_json() const override
{
ordered_json j;
ordered_json temperature;
const auto temperature_names = get_temperature_names();
for (size_t i = 0; i < temperature_names.size(); ++i) {
temperature[temperature_names[i]] =
std::to_string(value.temperature[i].value() * 0.01) + " deg";
}
j["temperature"] = temperature;
j["startup_times"] = value.startup_times.value();
j["total_operation_time"] = std::to_string(value.total_operation_time.value()) + " min";
j["ptp_status"] = get_str_ptp_clock_status(value.ptp_status);
return j;
}
[[nodiscard]] const HesaiLidarStatusBase::Internal & get() const override { return value; }
protected:
explicit HesaiLidarStatus_AT128_QT128(Internal value) : value(value) {}
[[nodiscard]] virtual std::array<std::string, 9> get_temperature_names() const = 0;
private:
Internal value;
};
struct HesaiLidarStatusAT128 : public HesaiLidarStatus_AT128_QT128
{
explicit HesaiLidarStatusAT128(Internal value) : HesaiLidarStatus_AT128_QT128(value) {}
protected:
[[nodiscard]] std::array<std::string, 9> get_temperature_names() const override
{
return {
"tx1 temperature", "tx2 temperature", "fpga temperature",
"rx1 temperature", "rx2 temperature", "mb1 temperature",
"mb2 temperature", "pb temperature", "hot temperature",
};
}
};
struct HesaiLidarStatusQT128 : public HesaiLidarStatus_AT128_QT128
{
explicit HesaiLidarStatusQT128(Internal value) : HesaiLidarStatus_AT128_QT128(value) {}
protected:
[[nodiscard]] std::array<std::string, 9> get_temperature_names() const override
{
return {
"Bottom circuit board T1 temperature",
"Bottom circuit board T2 temperature",
"Internal temperature",
"Laser emitting board RT1 temperature",
"Laser emitting board RT2 temperature",
"Receiving board RT1 temperature",
"Receiving board RT2 temperature",
"Top circuit RT1 temperature",
"Top circuit RT2 temperature",
};
}
};
struct HesaiLidarStatusOT128 : public HesaiLidarStatusBase
{
struct Internal : public HesaiLidarStatusBase::Internal
{
big_int32_buf_t temperature[8];
uint8_t gps_pps_lock;
uint8_t gps_gprmc_status;
big_int32_buf_t startup_times;
big_int32_buf_t total_operation_time;
uint8_t ptp_status;
big_uint32_buf_t humidity;
unsigned char reserved[1];
};
explicit HesaiLidarStatusOT128(Internal value) : value(value) {}
[[nodiscard]] const HesaiLidarStatusBase::Internal & get() const override { return value; }
[[nodiscard]] ordered_json sensor_specifics_to_json() const override
{
ordered_json j;
ordered_json temperature;
temperature["Bottom circuit board T1 temperature"] =
std::to_string(value.temperature[0].value() * 0.01) + " deg";
temperature["Bottom circuit board T2 temperature"] =
std::to_string(value.temperature[1].value() * 0.01) + " deg";
temperature["Laser emitting board RT_L1 temperature"] =
std::to_string(value.temperature[2].value() * 0.01) + " deg";
temperature["Laser emitting board RT_L2 temperature"] =
std::to_string(value.temperature[3].value() * 0.01) + " deg";
temperature["Laser Receiving board RT_R temperature"] =
std::to_string(value.temperature[4].value() * 0.01) + " deg";
temperature["Laser Receiving board RT2 temperature"] =
std::to_string(value.temperature[5].value() * 0.01) + " deg";
temperature["Top circuit RT3 temperature"] =
std::to_string(value.temperature[6].value() * 0.01) + " deg";
temperature["Top circuit RT4 temperature"] =
std::to_string(value.temperature[7].value() * 0.01) + " deg";
j["temperature"] = temperature;
j["gps_pps_lock"] = get_str_gps_pps_lock(value.gps_pps_lock);
j["gps_gprmc_status"] = get_str_gps_gprmc_status(value.gps_gprmc_status);
j["startup_times"] = value.startup_times.value();
j["total_operation_time"] = std::to_string(value.total_operation_time.value()) + " min";
j["ptp_status"] = get_str_ptp_clock_status(value.ptp_status);
j["humidity"] = std::to_string(value.humidity.value() * 0.1) + " %";
return j;
}
private:
Internal value;
};
struct HesaiLidarStatus_XT_40p : public HesaiLidarStatusBase
{
struct Internal : public HesaiLidarStatusBase::Internal
{
big_int32_buf_t temperature[8];
uint8_t gps_pps_lock;
uint8_t gps_gprmc_status;
big_int32_buf_t startup_times;
big_int32_buf_t total_operation_time;
uint8_t ptp_status;
unsigned char reserved[5];
};
explicit HesaiLidarStatus_XT_40p(Internal value) : value(value) {}
[[nodiscard]] const HesaiLidarStatusBase::Internal & get() const override { return value; }
[[nodiscard]] ordered_json sensor_specifics_to_json() const override
{
ordered_json j;
ordered_json temperature;
temperature["Bottom circuit board T1 temperature"] =
std::to_string(value.temperature[0].value() * 0.01) + " deg";
temperature["Bottom circuit board T2 temperature"] =
std::to_string(value.temperature[1].value() * 0.01) + " deg";
temperature["Laser emitting board RT_L temperature"] =
std::to_string(value.temperature[2].value() * 0.01) + " deg";
temperature["Laser emitting board RT_R temperature"] =
std::to_string(value.temperature[3].value() * 0.01) + " deg";
temperature["Laser Receiving board RT2 temperature"] =
std::to_string(value.temperature[4].value() * 0.01) + " deg";
temperature["Top circult RT3 temperature"] =
std::to_string(value.temperature[5].value() * 0.01) + " deg";
temperature["Top circuit RT4 temperature"] =
std::to_string(value.temperature[6].value() * 0.01) + " deg";
temperature["Top circuit RT5 temperature"] =
std::to_string(value.temperature[7].value() * 0.01) + " deg";
j["temperature"] = temperature;
j["gps_pps_lock"] = get_str_gps_pps_lock(value.gps_pps_lock);
j["gps_gprmc_status"] = get_str_gps_gprmc_status(value.gps_gprmc_status);
j["startup_times"] = value.startup_times.value();
j["total_operation_time"] = std::to_string(value.total_operation_time.value()) + " min";
j["ptp_status"] = get_str_ptp_clock_status(value.ptp_status);
return j;
}
private:
Internal value;
};
struct HesaiLidarRangeAll
{
uint8_t method;
big_uint16_buf_t start;
big_uint16_buf_t end;
friend std::ostream & operator<<(std::ostream & os, nebula::HesaiLidarRangeAll const & arg)
{
os << "method: " << static_cast<int>(arg.method);
os << ", ";
os << "start: " << static_cast<int>(arg.start.value());
os << ", ";
os << "end: " << static_cast<int>(arg.end.value());
return os;
}
};
struct HesaiPtpConfig
{
int8_t status;
int8_t profile;
int8_t domain;
int8_t network;
int8_t logAnnounceInterval;
int8_t logSyncInterval;
int8_t logMinDelayReqInterval;
// FIXME: this format is not correct for OT128, or for AT128 on 802.1AS
friend std::ostream & operator<<(std::ostream & os, nebula::HesaiPtpConfig const & arg)
{
os << "status: " << static_cast<int>(arg.status);
os << ", ";
os << "profile: " << static_cast<int>(arg.profile);
os << ", ";
os << "domain: " << static_cast<int>(arg.domain);
os << ", ";
os << "network: " << static_cast<int>(arg.network);
if (arg.status == 0) {
os << ", ";
os << "logAnnounceInterval: " << static_cast<int>(arg.logAnnounceInterval);
os << ", ";
os << "logSyncInterval: " << static_cast<int>(arg.logSyncInterval);
os << ", ";
os << "logMinDelayReqInterval: " << static_cast<int>(arg.logMinDelayReqInterval);
}
return os;
}
};
struct HesaiLidarMonitor
{
big_int32_buf_t input_current;
big_int32_buf_t input_voltage;
big_int32_buf_t input_power;
big_int32_buf_t phase_offset;
uint8_t reserved[48];
[[nodiscard]] ordered_json to_json() const
{
ordered_json j;
j["input_current"] = std::to_string(input_current.value() * 0.01) + " mA";
j["input_voltage"] = std::to_string(input_voltage.value() * 0.01) + " V";
j["input_power"] = std::to_string(input_power.value() * 0.01) + " W";
j["phase_offset"] = std::to_string(phase_offset.value() * 0.01) + " deg";
return j;
}
};
inline std::ostream & operator<<(std::ostream & os, const HesaiLidarMonitor & arg)
{
ordered_json j = arg.to_json();
for (const auto & [key, value] : j.items()) {
os << key << ": " << to_string(value) << '\n';
}
return os;
}
#pragma pack(pop)
} // namespace nebula
#endif // HESAI_CMD_RESPONSE_HPP