feat(hesai): add TSN settings for Hesai sensors (OT128)

[drwnz]

PR Type

• New Feature

Related Links

Description

Hesai OT128 has different handling of PTP settings, as it only allows 802.1AS Automotive and allows setting of switch type (TSN or not). This in turn changes PTP from the default P2P to use E2E when the switch type is changed to non-TSN.

Review Procedure

• Connect OT128 sensor
• Configure sensor with 802.1AS Automotive via launchfile, and set ptp_switch_type to TSN or NON_TSN
• Confirm PTP operation, and also check that the delay measurement mechanism is correctly configured

Remarks

ToDo:

• Tests to clear build and test if required

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.

[mojomex]

Apart from the comment above, the code looks good! Thank you.
I'll try and test it with a real sensor tomorrow.

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 0% with 27 lines in your changes are missing coverage. Please review.

Project coverage is 8.33%. Comparing base (45c01cf) to head (05990d1).

Files	Patch %	Lines
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	0.00%	16 Missing ⚠️
...a_ros/src/hesai/hesai_hw_interface_ros_wrapper.cpp	0.00%	11 Missing ⚠️

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Additional details and impacted files

@@           Coverage Diff            @@
##            main    #125      +/-   ##
========================================
+ Coverage   6.55%   8.33%   +1.78%     
========================================
  Files        136      67      -69     
  Lines      11053    8252    -2801     
  Branches     869     859      -10     
========================================
- Hits         724     688      -36     
+ Misses      9743    6980    -2763     
+ Partials     586     584       -2     

Flag	Coverage Δ
differential	8.33% <0.00%> (?)
total	?

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[mojomex]

LGTM!