test(hesai): dependency-injectable TCP socket, HW interface testability

[mojomex]

PR Type

• Improvement

Related Links

• feat: add a logging interface, dependency injectable loggers #233 -- has to be merged before this
• feat(hesai_hw_interface): use dependency-injected logger, get rid of RCLCPP dependency #232 -- has to be merged before this
• feat(nebula_hw_interfaces): better UDP socket #231 -- has to be merged before this

Description

⚠️ #231, #232, #233 have to be merged before this ⚠️

Previously, testing Nebula's HW interfaces has been difficult because all hardware drivers were hard-coded. This meant that during test time, a real network connection would have to be used, or, that LD_PRELOAD or macro trickery had to be used.

This PR adds a dependency-injectable TCP socket implementation (currently just a wrapper around transport_drivers), which allows mocking the TCP socket at test time.

Since the TCP socket is still very Hesai-specific, I have added the new socket and refactored it into nebula_ros and nebula_hw_interfaces_hesai already.

Basic unit tests to prove testability have been added. More will be added in a future PR.

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[codecov]

Codecov Report

Attention: Patch coverage is 59.60265% with 61 lines in your changes missing coverage. Please review.

Project coverage is 5.02%. Comparing base (dc69e52) to head (ee5013f).

Files with missing lines	Patch %	Lines
...terfaces/test/hesai/test_ptc/tcp_socket_replay.hpp	52.17%	11 Missing and 11 partials ⚠️
...ces/nebula_hw_interfaces_hesai/connections/tcp.hpp	0.00%	20 Missing ⚠️
nebula_hw_interfaces/test/hesai/test_ptc.cpp	77.77%	8 Missing and 6 partials ⚠️
nebula_ros/src/hesai/hw_interface_wrapper.cpp	0.00%	2 Missing ⚠️
.../nebula_hesai_hw_interfaces/hesai_hw_interface.cpp	87.50%	0 Missing and 1 partial ⚠️
...ula_hw_interfaces/test/hesai/test_ptc/ptc_test.hpp	87.50%	1 Missing ⚠️
...interfaces/test/hesai/test_ptc/tcp_socket_mock.hpp	75.00%	1 Missing ⚠️

❗ There is a different number of reports uploaded between BASE (dc69e52) and HEAD (ee5013f). Click for more details.

HEAD has 2 uploads less than BASE

Flag	BASE (dc69e52)	HEAD (ee5013f)
total	2	0

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #234       +/-   ##
==========================================
- Coverage   27.21%   5.02%   -22.20%     
==========================================
  Files         104      97        -7     
  Lines        9458    8321     -1137     
  Branches     2322    1578      -744     
==========================================
- Hits         2574     418     -2156     
- Misses       6449    7832     +1383     
+ Partials      435      71      -364     

Flag	Coverage Δ
differential	5.02% <59.60%> (?)
total	?

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