fix(hesai_hw_interface): change to synchronous requests to prevent undefined sensor behavior

nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_128e3x.hpp

@@ -68,7 +68,6 @@ struct Packet128E3X : public PacketBase<2, 128, 2, 100>
 
 }  // namespace hesai_packet
 
-// FIXME(mojomex) support high resolution mode
 class Pandar128E3X : public HesaiSensor<hesai_packet::Packet128E3X>
 {
 private:

nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_128e4x.hpp

@@ -20,11 +20,14 @@
 
 }  // namespace hesai_packet
 
-// FIXME(mojomex) support high resolution mode
+// FIXME(mojomex):
+// The OT128 datasheet has entierly different numbers (and more azimuth states).
+// With the current sensor version, the numbers from the new datasheet are incorrect
+// (clouds do not sync to ToS but ToS+.052s) 
 class Pandar128E4X : public HesaiSensor<hesai_packet::Packet128E4X>
 {
 private:
-  enum OperationalState { HIGH_RESOLUTION = 0, STANDARD = 1 };
+enum OperationalState { HIGH_RESOLUTION = 0, STANDARD = 1 };
 
   static constexpr int firing_time_offset_static_ns_[128] = {
     49758, 43224, 36690, 30156, 21980, 15446, 8912,  2378,  49758, 43224, 36690, 30156, 2378,
@@ -80,7 +83,7 @@
 
     int channel_offset_ns;
     bool is_hires_mode = packet.tail.operational_state == OperationalState::HIGH_RESOLUTION;
-    auto azimuth_state = packet.tail.geAzimuthState(block_id);
+        auto azimuth_state = packet.tail.geAzimuthState(block_id);
 
     if (!is_hires_mode) {
       channel_offset_ns = firing_time_offset_static_ns_[channel_id];
@@ -91,7 +94,7 @@
         channel_offset_ns = firing_time_offset_as1_ns_[channel_id];
       }
     }
-
+    
     return block_offset_ns + 43346 + channel_offset_ns;
   }
 

nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp

@@ -235,40 +235,30 @@ struct HesaiInventory
     switch (model) {
       case 0:
         return "Pandar40P";
-        break;
       case 2:
         return "Pandar64";
-        break;
       case 3:
         return "Pandar128";
-        break;
       case 15:
         return "PandarQT";
-        break;
       case 17:
         return "Pandar40M";
-        break;
       case 20:
         return "PandarMind(PM64)";
-        break;
       case 25:
         return "PandarXT32";
-        break;
       case 26:
         return "PandarXT16";
-        break;
       case 32:
         return "QT128C2X";
-        break;
       case 38:
         return "PandarXT32M";
-        break;
+      case 42:
+        return "OT128";
       case 48:
         return "PandarAT128";
-        break;
       default:
         return "Unknown(" + std::to_string(model) + ")";
-        break;
     }
   }
 };