lslidar.proto

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syntax = "proto2";
 
package apollo.drivers.lslidar;
 
// import "modules/common/proto/header.proto"; 
import "modules/common_msgs/basic_msgs/header.proto";
 
 
enum Model {
  UNKOWN = 0;
  LSLIDAR16P = 1;
  LSLIDAR32P = 2;
  LSLIDAR401 = 3;       //401 废弃不用
  LSLIDAR_CH16 = 4;
  LSLIDAR_CH32 = 5;
  LSLIDAR_CH64 = 6;
  LSLIDAR_CH64w = 7;
  LSLIDAR_CH120 = 8;
  LSLIDAR_CH128 = 9;
  LSLIDAR_CH128X1 = 10;
  LSLIDAR_C32_V4 = 11;
  LSLIDAR_C16_V4 = 12;
  LSLIDAR_C8_V4 = 13;
  LSLIDAR_C1_V4 = 14;
  LSLIDAR_LS128S2 = 15;
}
 
message LslidarPacket {
  optional uint64 stamp = 1;
  optional bytes data = 2;
}
 
message LslidarScan {
  optional apollo.common.Header header = 1;
  optional Model model = 2;  
  repeated LslidarPacket firing_pkts = 3;
  repeated LslidarPacket difop_pkts = 4;
  optional string sn = 5;
  optional uint64 basetime = 6 [default = 0];
}