hesai.proto

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syntax = "proto2";
 
package apollo.drivers.hesai;
 
import "modules/common_msgs/basic_msgs/header.proto";
 
enum Model {
  UNKNOWN = 0;
  HESAI40P = 1;
  HESAI64 = 2;
}
 
message HesaiScanPacket {
  optional uint64 stamp = 1;
  optional bytes data = 2;
}
 
message HesaiScan {
  optional apollo.common.Header header = 1;
  optional Model model = 2;  // hesai device model
  repeated HesaiScanPacket firing_pkts = 3;
  optional uint64 basetime = 4 [default = 0];
}