test: runtime common return mode

[drwnz]

PR 1 of 8: Cover Generic Return Mode Parsing

Tracked by #452

Branch: test/runtime-common-return-mode
Base: main
Type: Improvement

Description

Adds a focused regression test for the generic ReturnMode string contract in
nebula_core_common.

This PR intentionally does not change runtime behavior. It documents the current
contract that only generic return mode names are parsed by
return_mode_from_string(), while vendor-specific combinations such as
LastStrongest and FirstStrongest remain vendor-owned and return UNKNOWN at
the common layer.

Review Procedure

Review only:

• src/nebula_core/nebula_core_common/CMakeLists.txt
• src/nebula_core/nebula_core_common/test/test_core_types.cpp

Confirm that the new test target is minimal and does not introduce vendor or
runtime dependencies.

Covered Validation

• colcon build --packages-select nebula_core_common --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

Notes

This PR is a test-only base for the stack. It does not add vendor-neutral runtime
interfaces or vendor driver support.

[codecov]

Codecov Report

❌ Patch coverage is 48.48485% with 34 lines in your changes missing coverage. Please review.
✅ Project coverage is 40.52%. Comparing base (da02c22) to head (a39d7cd).

❌ Your patch check has failed because the patch coverage (0.00%) is below the target coverage (90.00%). You can increase the patch coverage or adjust the target coverage.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #451      +/-   ##
==========================================
+ Coverage   40.16%   40.52%   +0.35%     
==========================================
  Files         131      131              
  Lines       10280    10259      -21     
  Branches     5387     5387              
==========================================
+ Hits         4129     4157      +28     
+ Misses       3770     3735      -35     
+ Partials     2381     2367      -14     

Flag	Coverage Δ
nebula_core_common	39.12% <48.48%> (?)
nebula_hesai	39.12% <48.48%> (?)
nebula_hesai_common	39.12% <48.48%> (?)
nebula_hesai_hw_interfaces	39.12% <48.48%> (?)
nebula_robosense	39.12% <48.48%> (?)
nebula_robosense_common	39.12% <48.48%> (?)
nebula_robosense_decoders	39.12% <48.48%> (?)
nebula_velodyne	39.12% <48.48%> (?)
nebula_velodyne_common	39.12% <48.48%> (?)
nebula_velodyne_decoders	39.12% <48.48%> (?)
nebula_velodyne_hw_interfaces	39.12% <48.48%> (?)

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[mojomex]

Please have a look!

[mojomex]

dual is not a well-defined return mode, and does not correspond to a specific dual return setting. Currently, conventions seem to align across vendors, but I'd like it to be represented as a specific, e.g. LastStrongest option internally, or for it to be deprecated.

[drwnz]

I've done a bit of a refactor of return modes because previously types and modes were being confused.
This also leads to some vendor-specific edits and documentation changes. Please have a look and check that you agree - biggest design decision is how to consider the difference between "StrongestLast" and "LastStrongest". I chose to ignore the UDP field order in the concept of return mode, but kept compatibility with the old canonical strings.

[mojomex]

Cases are not exhaustive, please add all return modes we want to support.

[drwnz]

Addressed in a39d7cd

[mojomex]

Why are these UNKNOWN? Shouldn't they be valid?

[drwnz]

Addressed in a39d7cd