chore(hesai): enable PTP lock threshold setting for XT series sensors (…

…#265) Signed-off-by: Max SCHMELLER <[email protected]>
tier4 · Feb 18, 2025 · ad0e988 · ad0e988
1 parent 8efeaf0
commit ad0e988
Showing 1 changed file with 17 additions and 10 deletions.
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
@@ -1080,17 +1080,24 @@ HesaiStatus HesaiHwInterface::check_and_set_config(
     t.join();
     logger_->debug("Thread finished");
 
-    if (
-      sensor_configuration_->sensor_model == SensorModel::HESAI_PANDAR128_E4X ||
-      sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARQT128) {
-      uint8_t sensor_ptp_lock_threshold = get_ptp_lock_offset();
-      if (sensor_ptp_lock_threshold != sensor_configuration_->ptp_lock_threshold) {
-        NEBULA_LOG_STREAM(
-          logger_->info, "changing sensor PTP lock offset from "
-                           << static_cast<int>(sensor_ptp_lock_threshold) << " to "
-                           << static_cast<int>(sensor_configuration_->ptp_lock_threshold));
-        set_ptp_lock_offset(sensor_configuration_->ptp_lock_threshold);
+    switch (sensor_configuration_->sensor_model) {
+      case SensorModel::HESAI_PANDAR128_E4X:
+      case SensorModel::HESAI_PANDARQT128:
+      case SensorModel::HESAI_PANDARXT16:
+      case SensorModel::HESAI_PANDARXT32:
+      case SensorModel::HESAI_PANDARXT32M: {
+        uint8_t sensor_ptp_lock_threshold = get_ptp_lock_offset();
+        if (sensor_ptp_lock_threshold != sensor_configuration_->ptp_lock_threshold) {
+          NEBULA_LOG_STREAM(
+            logger_->info, "changing sensor PTP lock offset from "
+                             << static_cast<int>(sensor_ptp_lock_threshold) << " to "
+                             << static_cast<int>(sensor_configuration_->ptp_lock_threshold));
+          set_ptp_lock_offset(sensor_configuration_->ptp_lock_threshold);
+        }
+        break;
       }
+      default:
+        break;
     }
 
     std::this_thread::sleep_for(wait_time);