perf(hesai): get rid of copy when replaying /pandar_packets

[mojomex]

PR Type

• Improvement

Related Links

• TIER IV INTERNAL -- discussion

Description

This PR removes an unnecessary per-packet copy when replaying /pandar_packets. Due to the conversion between PandarScan and NebulaPackets, a copy of the buffer (std::array vs. std::vector) was necessary before.

Now, we reference the incoming buffer via gsl::span, no matter if std::vector from UDP or std::array from PandarScan.

Outgoing packets are still copied.

Review Procedure

• code review
• test record/replay functionality
• confirm memory safety

Remarks

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.

[mojomex]

🟢 Self-Evaluation

Tests performed:

Status	Test	Comment
🟢	Connect to Pandar128E4X, record packets	worked as intended
🟢	Replay recorded packets	worked as intended
🟢	Compile and run with AddressSanitizer	needs ASAN_OPTIONS=new_delete_type_mismatch=0 but passes. The errors are occuring in middleware code and are unrelated AFAIK. This was already the case before this PR.

[codecov]

Codecov Report

❌ Patch coverage is 21.42857% with 11 lines in your changes missing coverage. Please review.
✅ Project coverage is 32.35%. Comparing base (8781a6b) to head (58f7d5f).

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #379      +/-   ##
==========================================
- Coverage   34.36%   32.35%   -2.02%     
==========================================
  Files         130      131       +1     
  Lines       10519    10506      -13     
  Branches     5708     4808     -900     
==========================================
- Hits         3615     3399     -216     
- Misses       6188     6487     +299     
+ Partials      716      620      -96     

Flag	Coverage Δ
differential	32.35% <21.42%> (?)
total	?

Flags with carried forward coverage won't be shown. Click here to find out more.

Components	Coverage Δ
Common	35.10% <ø> (-17.64%)	⬇️
Hesai	34.30% <21.42%> (+0.11%)	⬆️
Velodyne	39.58% <ø> (+0.01%)	⬆️
Continental	32.03% <ø> (+0.01%)	⬆️
Robosense	5.39% <ø> (ø)

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