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fix(hesai): print uint8, uint16 as numbers
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@mojomex
mojomex committed Apr 8, 2024
1 parent 6713b0d commit e5d0a9c
Showing 1 changed file with 70 additions and 57 deletions.
127 changes: 70 additions & 57 deletions ...interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,7 @@ struct HesaiPtpDiagTime
os << ", ";
os << "scaledLastGmPhaseChange: " << arg.scaledLastGmPhaseChange;
os << ", ";
os << "gmTimeBaseIndicator: " << arg.gmTimeBaseIndicator;
os << "gmTimeBaseIndicator: " << +arg.gmTimeBaseIndicator.value();
os << ", ";
//FIXME: lastGmPhaseChange is a binary number, displaying it as string is incorrect
os << "lastGmPhaseChange: "
Expand All @@ -124,11 +124,11 @@ struct HesaiPtpDiagGrandmaster
{
os << "clockQuality: " << arg.clockQuality;
os << ", ";
os << "utc_offset: " << static_cast<int>(arg.utc_offset.value());
os << "utc_offset: " << +arg.utc_offset.value();
os << ", ";
os << "time_flags: " << static_cast<int>(arg.time_flags);
os << "time_flags: " << +arg.time_flags;
os << ", ";
os << "time_source: " << static_cast<int>(arg.time_source);
os << "time_source: " << +arg.time_source;

return os;
}
Expand All @@ -137,13 +137,13 @@ struct HesaiPtpDiagGrandmaster
/// @brief struct of PTC_COMMAND_GET_INVENTORY_INFO
struct HesaiInventory
{
uint8_t sn[18];
uint8_t date_of_manufacture[16];
char sn[18];
char date_of_manufacture[16];
uint8_t mac[6];
uint8_t sw_ver[16];
uint8_t hw_ver[16];
uint8_t control_fw_ver[16];
uint8_t sensor_fw_ver[16];
char sw_ver[16];
char hw_ver[16];
char control_fw_ver[16];
char sensor_fw_ver[16];
big_uint16_buf_t angle_offset;
uint8_t model;
uint8_t motor_type;
Expand All @@ -152,46 +152,51 @@ struct HesaiInventory

friend std::ostream & operator<<(std::ostream & os, nebula::HesaiInventory const & arg)
{
os << "sn: " << std::string(std::begin(arg.sn), std::end(arg.sn));
std::ios initial_format(nullptr);
initial_format.copyfmt(os);

os << "sn: " << std::string(arg.sn, strnlen(arg.sn, sizeof(arg.sn)));
os << ", ";
os << "date_of_manufacture: "
<< std::string(std::begin(arg.date_of_manufacture), std::end(arg.date_of_manufacture));
<< std::string(arg.date_of_manufacture, strnlen(arg.date_of_manufacture, sizeof(arg.date_of_manufacture)));
os << ", ";
os << "mac: ";

for (size_t i = 0; i < sizeof(arg.mac); i++) {
if (i != 0) {
os << ':';
}
os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.mac[i]));
os << std::hex << std::setfill('0') << std::setw(2) << (+arg.mac[i]);
}
os.copyfmt(initial_format);

os << ", ";
os << "sw_ver: " << std::string(std::begin(arg.sw_ver), std::end(arg.sw_ver));
os << "sw_ver: " << std::string(arg.sw_ver, strnlen(arg.sw_ver, sizeof(arg.sw_ver)));
os << ", ";
os << "hw_ver: " << std::string(std::begin(arg.hw_ver), std::end(arg.hw_ver));
os << "hw_ver: " << std::string(arg.hw_ver, strnlen(arg.hw_ver, sizeof(arg.hw_ver)));
os << ", ";
os << "control_fw_ver: "
<< std::string(std::begin(arg.control_fw_ver), std::end(arg.control_fw_ver));
<< std::string(arg.control_fw_ver, strnlen(arg.control_fw_ver, sizeof(arg.control_fw_ver)));
os << ", ";
os << "sensor_fw_ver: "
<< std::string(std::begin(arg.sensor_fw_ver), std::end(arg.sensor_fw_ver));
<< std::string(arg.sensor_fw_ver, strnlen(arg.sensor_fw_ver, sizeof(arg.sensor_fw_ver)));
os << ", ";
os << "angle_offset: " << arg.angle_offset;
os << "angle_offset: " << +arg.angle_offset.value();
os << ", ";
os << "model: " << arg.model;
os << "model: " << +arg.model;
os << ", ";
os << "motor_type: " << arg.motor_type;
os << "motor_type: " << +arg.motor_type;
os << ", ";
os << "num_of_lines: " << arg.num_of_lines;
os << "num_of_lines: " << +arg.num_of_lines;
os << ", ";

for (size_t i = 0; i < sizeof(arg.reserved); i++) {
if (i != 0) {
os << ' ';
}
os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.reserved[i]));
os << std::hex << std::setfill('0') << std::setw(2) << (+arg.reserved[i]);
}
os.copyfmt(initial_format);

return os;
}
Expand Down Expand Up @@ -258,74 +263,78 @@ struct HesaiConfig

friend std::ostream & operator<<(std::ostream & os, nebula::HesaiConfig const & arg)
{
std::ios initial_format(nullptr);
initial_format.copyfmt(os);

os << "ipaddr: "
<< static_cast<int>(arg.ipaddr[0]) << "."
<< static_cast<int>(arg.ipaddr[1]) << "."
<< static_cast<int>(arg.ipaddr[2]) << "."
<< static_cast<int>(arg.ipaddr[3]);
<< +arg.ipaddr[0] << "."
<< +arg.ipaddr[1] << "."
<< +arg.ipaddr[2] << "."
<< +arg.ipaddr[3];
os << ", ";
os << "mask: "
<< static_cast<int>(arg.mask[0]) << "."
<< static_cast<int>(arg.mask[1]) << "."
<< static_cast<int>(arg.mask[2]) << "."
<< static_cast<int>(arg.mask[3]);
<< +arg.mask[0] << "."
<< +arg.mask[1] << "."
<< +arg.mask[2] << "."
<< +arg.mask[3];
os << ", ";
os << "gateway: "
<< static_cast<int>(arg.gateway[0]) << "."
<< static_cast<int>(arg.gateway[1]) << "."
<< static_cast<int>(arg.gateway[2]) << "."
<< static_cast<int>(arg.gateway[3]);
<< +arg.gateway[0] << "."
<< +arg.gateway[1] << "."
<< +arg.gateway[2] << "."
<< +arg.gateway[3];
os << ", ";
os << "dest_ipaddr: "
<< static_cast<int>(arg.dest_ipaddr[0]) << "."
<< static_cast<int>(arg.dest_ipaddr[1]) << "."
<< static_cast<int>(arg.dest_ipaddr[2]) << "."
<< static_cast<int>(arg.dest_ipaddr[3]);
<< +arg.dest_ipaddr[0] << "."
<< +arg.dest_ipaddr[1] << "."
<< +arg.dest_ipaddr[2] << "."
<< +arg.dest_ipaddr[3];
os << ", ";
os << "dest_LiDAR_udp_port: " << arg.dest_LiDAR_udp_port;
os << "dest_LiDAR_udp_port: " << +arg.dest_LiDAR_udp_port.value();
os << ", ";
os << "dest_gps_udp_port: " << arg.dest_gps_udp_port;
os << "dest_gps_udp_port: " << +arg.dest_gps_udp_port.value();
os << ", ";
os << "spin_rate: " << arg.spin_rate;
os << "spin_rate: " << +arg.spin_rate.value();
os << ", ";
os << "sync: " << arg.sync;
os << "sync: " << +arg.sync;
os << ", ";
os << "sync_angle: " << arg.sync_angle;
os << "sync_angle: " << +arg.sync_angle.value();
os << ", ";
os << "start_angle: " << arg.start_angle;
os << "start_angle: " << +arg.start_angle.value();
os << ", ";
os << "stop_angle: " << arg.stop_angle;
os << "stop_angle: " << +arg.stop_angle.value();
os << ", ";
os << "clock_source: " << arg.clock_source;
os << "clock_source: " << +arg.clock_source;
os << ", ";
os << "udp_seq: " << arg.udp_seq;
os << "udp_seq: " << +arg.udp_seq;
os << ", ";
os << "trigger_method: " << arg.trigger_method;
os << "trigger_method: " << +arg.trigger_method;
os << ", ";
os << "return_mode: " << arg.return_mode;
os << "return_mode: " << +arg.return_mode;
os << ", ";
os << "standby_mode: " << arg.standby_mode;
os << "standby_mode: " << +arg.standby_mode;
os << ", ";
os << "motor_status: " << arg.motor_status;
os << "motor_status: " << +arg.motor_status;
os << ", ";
os << "vlan_flag: " << arg.vlan_flag;
os << "vlan_flag: " << +arg.vlan_flag;
os << ", ";
os << "vlan_id: " << arg.vlan_id;
os << "vlan_id: " << +arg.vlan_id.value();
os << ", ";
os << "clock_data_fmt: " << arg.clock_data_fmt;
os << "clock_data_fmt: " << +arg.clock_data_fmt;
os << ", ";
os << "noise_filtering: " << arg.noise_filtering;
os << "noise_filtering: " << +arg.noise_filtering;
os << ", ";
os << "reflectivity_mapping: " << arg.reflectivity_mapping;
os << "reflectivity_mapping: " << +arg.reflectivity_mapping;
os << ", ";
os << "reserved: ";

for (size_t i = 0; i < sizeof(arg.reserved); i++) {
if (i != 0) {
os << ' ';
}
os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.reserved[i]));
os << std::hex << std::setfill('0') << std::setw(2) << (+arg.reserved[i]);
}
os.copyfmt(initial_format);

return os;
}
Expand All @@ -346,6 +355,9 @@ struct HesaiLidarStatus

friend std::ostream & operator<<(std::ostream & os, nebula::HesaiLidarStatus const & arg)
{
std::ios initial_format(nullptr);
initial_format.copyfmt(os);

os << "system_uptime: " << arg.system_uptime;
os << ", ";
os << "motor_speed: " << arg.motor_speed;
Expand Down Expand Up @@ -378,6 +390,7 @@ struct HesaiLidarStatus
}
os << std::hex << std::setfill('0') << std::setw(2) << (static_cast<int>(arg.reserved[i]));
}
os.copyfmt(initial_format);

return os;
}
Expand Down

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