From 05a3b244aaf75be4a074a6661aed3500010d79ee Mon Sep 17 00:00:00 2001 From: amc-nu Date: Mon, 13 Nov 2023 17:04:41 +0900 Subject: [PATCH] Initial support for QT128 Signed-off-by: amc-nu --- nebula_common/include/nebula_common/hesai/hesai_common.hpp | 3 +++ .../src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp | 3 ++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/nebula_common/include/nebula_common/hesai/hesai_common.hpp b/nebula_common/include/nebula_common/hesai/hesai_common.hpp index cee8b36a5..ab24c7f36 100644 --- a/nebula_common/include/nebula_common/hesai/hesai_common.hpp +++ b/nebula_common/include/nebula_common/hesai/hesai_common.hpp @@ -393,6 +393,7 @@ inline ReturnMode ReturnModeFromStringHesai( case SensorModel::HESAI_PANDARXT32M: case SensorModel::HESAI_PANDARAT128: case SensorModel::HESAI_PANDAR128_E4X: + case SensorModel::HESAI_PANDARQT128: if (return_mode == "Last") return ReturnMode::LAST; if (return_mode == "Strongest") return ReturnMode::STRONGEST; if (return_mode == "LastStrongest") return ReturnMode::DUAL_LAST_STRONGEST; @@ -426,6 +427,7 @@ inline ReturnMode ReturnModeFromIntHesai(const int return_mode, const SensorMode case SensorModel::HESAI_PANDARXT32M: case SensorModel::HESAI_PANDARAT128: case SensorModel::HESAI_PANDAR128_E4X: + case SensorModel::HESAI_PANDARQT128: if (return_mode == 0) return ReturnMode::LAST; if (return_mode == 1) return ReturnMode::STRONGEST; if (return_mode == 2) return ReturnMode::DUAL_LAST_STRONGEST; @@ -458,6 +460,7 @@ inline int IntFromReturnModeHesai(const ReturnMode return_mode, const SensorMode case SensorModel::HESAI_PANDARXT32M: case SensorModel::HESAI_PANDARAT128: case SensorModel::HESAI_PANDAR128_E4X: + case SensorModel::HESAI_PANDARQT128: if (return_mode == ReturnMode::LAST) return 0; if (return_mode == ReturnMode::STRONGEST) return 1; if (return_mode == ReturnMode::DUAL_LAST_STRONGEST diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp index fd5ec96e7..a7791ccbb 100644 --- a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp +++ b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp @@ -2986,7 +2986,8 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig( std::this_thread::sleep_for(100ms); } - if (sensor_configuration->sensor_model != SensorModel::HESAI_PANDARAT128){ + if (sensor_configuration->sensor_model != SensorModel::HESAI_PANDARAT128 + && sensor_configuration->sensor_model != SensorModel::HESAI_PANDARQT128) { set_flg = true; auto sync_angle = static_cast(hesai_config.sync_angle / 100); auto scan_phase = static_cast(sensor_configuration->scan_phase);