chore(hesai): fix clang-tidy errors

Author: mojomex

nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp

@@ -218,7 +218,7 @@ struct HesaiInventory
     return os;
   }
 
-  std::string get_str_model()
+  std::string get_str_model() const
   {
     switch (model) {
       case 0:
@@ -400,7 +400,7 @@ struct HesaiLidarStatus
     return os;
   }
 
-  std::string get_str_gps_pps_lock()
+  [[nodiscard]] std::string get_str_gps_pps_lock() const
   {
     switch (gps_pps_lock) {
       case 1:
@@ -411,7 +411,7 @@ struct HesaiLidarStatus
         return "Unknown";
     }
   }
-  std::string get_str_gps_gprmc_status()
+  [[nodiscard]] std::string get_str_gps_gprmc_status() const
   {
     switch (gps_gprmc_status) {
       case 1:
@@ -422,7 +422,7 @@ struct HesaiLidarStatus
         return "Unknown";
     }
   }
-  std::string get_str_ptp_clock_status()
+  [[nodiscard]] std::string get_str_ptp_clock_status() const
   {
     switch (ptp_clock_status) {
       case 0:

nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp

@@ -122,10 +122,10 @@ class HesaiHwInterface
     uint8_t error_flags = 0;
     uint8_t ptc_error_code = 0;
 
-    bool ok() { return !error_flags && !ptc_error_code; }
+    [[nodiscard]] bool ok() const { return !error_flags && !ptc_error_code; }
   };
 
-  typedef nebula::util::expected<std::vector<uint8_t>, ptc_error_t> ptc_cmd_result_t;
+  using ptc_cmd_result_t = nebula::util::expected<std::vector<uint8_t>, ptc_error_t>;
 
   std::unique_ptr<::drivers::common::IoContext> cloud_io_context_;
   std::shared_ptr<boost::asio::io_context> m_owned_ctx;

nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp

@@ -11,9 +11,7 @@
 
 #include <boost/asio.hpp>
 
-namespace nebula
-{
-namespace drivers
+namespace nebula::drivers
 {
 HesaiHwInterface::HesaiHwInterface()
 : cloud_io_context_{new ::drivers::common::IoContext(1)},
@@ -1266,16 +1264,16 @@ std::string HesaiHwInterface::PrettyPrintPTCError(ptc_error_t error_code)
   std::vector<std::string> nebula_errors;
 
   if (error_flags & TCP_ERROR_INCOMPLETE_RESPONSE) {
-    nebula_errors.push_back("Incomplete response payload");
+    nebula_errors.emplace_back("Incomplete response payload");
   }
   if (error_flags & TCP_ERROR_TIMEOUT) {
-    nebula_errors.push_back("Request timeout");
+    nebula_errors.emplace_back("Request timeout");
   }
   if (error_flags & TCP_ERROR_UNEXPECTED_PAYLOAD) {
-    nebula_errors.push_back("Received payload but expected payload length 0");
+    nebula_errors.emplace_back("Received payload but expected payload length 0");
   }
   if (error_flags & TCP_ERROR_UNRELATED_RESPONSE) {
-    nebula_errors.push_back("Received unrelated response");
+    nebula_errors.emplace_back("Received unrelated response");
   }
 
   ss << boost::algorithm::join(nebula_errors, ", ");
@@ -1297,5 +1295,4 @@ T HesaiHwInterface::CheckSizeAndParse(const std::vector<uint8_t> & data)
   return parsed;
 }
 
-}  // namespace drivers
-}  // namespace nebula
+}  // namespace nebula::drivers

nebula_ros/src/hesai/hesai_ros_wrapper.cpp

@@ -17,6 +17,8 @@ namespace nebula
 {
 namespace ros
 {
+using std::get;
+
 HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
 : rclcpp::Node("hesai_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
   wrapper_status_(Status::NOT_INITIALIZED),
@@ -50,6 +52,25 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
       (std::stringstream() << "No valid calibration found: " << calibration_result.error()).str());
   }
 
+  if (hw_interface_wrapper_) {
+    auto cloud_min = sensor_cfg_ptr_->cloud_min_angle / 10.f;
+    auto cloud_max = sensor_cfg_ptr_->cloud_max_angle / 10.f;
+
+    auto padding = calibration_result.value()->getFovPadding();
+    cloud_min += get<0>(padding);
+    cloud_max += get<1>(padding);
+
+    if (cloud_min < 0) {
+      cloud_min += 360;
+    }
+
+    if (cloud_max > 360) {
+      cloud_max -= 360;
+    }
+
+    hw_interface_wrapper_->HwInterface()->setHardwareFov(cloud_min, cloud_max);
+  }
+
   decoder_wrapper_.emplace(this, sensor_cfg_ptr_, calibration_result.value());
 
   RCLCPP_DEBUG(get_logger(), "Starting stream");
@@ -394,7 +415,7 @@ HesaiRosWrapper::get_calibration_result_t HesaiRosWrapper::GetCalibrationData(
   }
 
   // If a sensor is connected, try to download and save its calibration data
-  if (!ignore_others && launch_hw_) {
+  if (!ignore_others && hw_interface_wrapper_) {
     try {
       auto raw_data = hw_interface_wrapper_->HwInterface()->GetLidarCalibrationBytes();
       RCLCPP_INFO(logger, "Downloaded calibration data from sensor.");