test(hesai): dependency-injectable TCP socket, HW interface testability

[mojomex]

PR Type

• Improvement

Related Links

• feat: add a logging interface, dependency injectable loggers #233 -- has to be merged before this
• feat(hesai_hw_interface): use dependency-injected logger, get rid of RCLCPP dependency #232 -- has to be merged before this
• feat(nebula_hw_interfaces): better UDP socket #231 -- has to be merged before this

Description

Previously, testing Nebula's HW interfaces has been difficult because all hardware drivers were hard-coded. This meant that during test time, a real network connection would have to be used, or, that LD_PRELOAD or macro trickery had to be used.

This PR adds a dependency-injectable TCP socket implementation (currently just a wrapper around transport_drivers), which allows mocking the TCP socket at test time.

Since the TCP socket is still very Hesai-specific, I have added the new socket and refactored it into nebula_ros and nebula_hw_interfaces_hesai already.

Basic unit tests to prove testability have been added. More will be added in a future PR.

Review Procedure

Remarks

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[codecov]

Codecov Report

Attention: Patch coverage is 60.00000% with 60 lines in your changes missing coverage. Please review.

Project coverage is 29.84%. Comparing base (8d6aec1) to head (7aa6999).

Files with missing lines	Patch %	Lines
...terfaces/test/hesai/test_ptc/tcp_socket_replay.hpp	52.17%	11 Missing and 11 partials ⚠️
...ces/nebula_hw_interfaces_hesai/connections/tcp.hpp	0.00%	20 Missing ⚠️
nebula_hw_interfaces/test/hesai/test_ptc.cpp	77.77%	8 Missing and 6 partials ⚠️
nebula_ros/src/hesai/hw_interface_wrapper.cpp	0.00%	2 Missing ⚠️
...ula_hw_interfaces/test/hesai/test_ptc/ptc_test.hpp	87.50%	1 Missing ⚠️
...interfaces/test/hesai/test_ptc/tcp_socket_mock.hpp	75.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #234      +/-   ##
==========================================
+ Coverage   29.28%   29.84%   +0.56%     
==========================================
  Files         112      117       +5     
  Lines        9733     9731       -2     
  Branches     3252     2726     -526     
==========================================
+ Hits         2850     2904      +54     
+ Misses       6359     6325      -34     
+ Partials      524      502      -22     

Flag	Coverage Δ
differential	29.84% <60.00%> (?)
total	?

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