hesai.proto

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syntax = "proto2";
 
package apollo.drivers.lidar;
 
import "modules/common_msgs/basic_msgs/header.proto";
 
// field        size(byte)
// SOB      2
// angle        2
// measure  5
// block        SOB + angle + measure * 40
// timestamp    4
// factory  2
// reserve  8
// rpm      2
// tail     timestamp + factory + reserve + rpm
// packet   block * 6 + tail
message HesaiUdpPacket {
  optional double timestamp_sec = 1;
  optional bytes data = 2;
  optional uint32 size = 3;
}
 
message HesaiUdpFrame {
  optional apollo.common.Header header = 1;
  repeated HesaiUdpPacket packets = 2;
}