vanjeelidar_config.proto

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syntax = "proto2";
 
package apollo.drivers.vanjee;
 
import "modules/drivers/lidar/common/proto/lidar_config_base.proto";
 
message Config {
 
  // lidar base
  required apollo.drivers.lidar.LidarConfigBase config_base = 33;
 
  // general param
  optional string model = 1;
  // Input Param
  optional uint32 connect_type = 2;
  optional uint32 host_msop_port = 3;
  optional uint32 lidar_msop_port = 4;
  // Decoder Param
  optional float start_angle = 5;
  optional float end_angle = 6;
  optional float min_distance = 7;
  optional float max_distance = 8;
  optional bool use_lidar_clock = 9 [default = false];
  // supplementary parameters of Decoder Param
  optional bool dense_points = 10 [default = false];
  optional bool wait_for_difop = 11 [default = true];
  optional bool config_from_file = 12 [default = false];
  optional string angle_path = 13 [default = ""];
  optional uint32 publish_mode = 14 [default = 2];
  // supplementary parameters of Input Param
  optional string host_address = 15 [default = "0.0.0.0"];
  optional string lidar_address = 16 [default = "0.0.0.0"];
}