chore(hesai): lessen log spam, error messages

Signed-off-by: Max SCHMELLER <[email protected]>

nebula_common/include/nebula_common/hesai/hesai_common.hpp

@@ -349,26 +349,22 @@ struct HesaiCorrection : public HesaiCalibrationConfigurationBase
   inline nebula::Status save_to_file_from_bytes(
     const std::string & correction_file, const std::vector<uint8_t> & buf) override
   {
-    std::cerr << "Saving in: " << correction_file << "\n";
     std::ofstream ofs(correction_file, std::ios::trunc | std::ios::binary);
     if (!ofs) {
       std::cerr << "Could not create file: " << correction_file << "\n";
       return Status::CANNOT_SAVE_FILE;
     }
-    std::cerr << "Writing start...." << buf.size() << "\n";
     bool sop_received = false;
     for (const auto & byte : buf) {
       if (!sop_received) {
         if (byte == 0xEE) {
-          std::cerr << "SOP received....\n";
           sop_received = true;
         }
       }
       if (sop_received) {
         ofs << byte;
       }
     }
-    std::cerr << "Closing file\n";
     ofs.close();
     if (sop_received) return Status::OK;
     return Status::INVALID_CALIBRATION_FILE;

nebula_common/include/nebula_common/util/string_conversions.hpp

@@ -14,6 +14,9 @@
 
 #pragma once
 
+#include <nlohmann/json.hpp>
+#include <nlohmann/json_fwd.hpp>
+
 #include <ostream>
 #include <sstream>
 #include <string>
@@ -41,4 +44,20 @@ std::enable_if_t<IsStreamable<T>::value, std::string> to_string(const T & value)
   return ss.str();
 }
 
+template <size_t N>
+std::string to_string(const char value[N])
+{
+  return std::string(value, strnlen(value, N));
+}
+
+inline std::string to_string(const nlohmann::ordered_json & j)
+{
+  return j.is_string() ? j.template get<std::string>() : j.dump();
+}
+
+inline std::string to_string(const nlohmann::json & j)
+{
+  return to_string(nlohmann::ordered_json(j));
+}
+
 }  // namespace nebula::util