syntax = "proto2";

package apollo.drivers.velodyne;

import "modules/common/proto/header.proto";

enum Model {
  UNKNOWN = 0;
  HDL64E_S3S = 1;
  HDL64E_S3D = 2;
  HDL64E_S2 = 3;
  HDL32E = 4;
  VLP16 = 5;
  VLP32C = 6;
  VLS128 = 7;
}

enum Mode {
  STRONGEST = 1;
  LAST = 2;
  DUAL = 3;
}

message VelodynePacket {
  optional uint64 stamp = 1;
  optional bytes data = 2;
}

message VelodyneScan {
  optional apollo.common.Header header = 1;
  optional Model model = 2;  // velodyne device model
  optional Mode mode = 3;    // velodyne work mode

  repeated VelodynePacket firing_pkts = 4;

  // for HDL32 and VLP16
  repeated VelodynePacket positioning_pkts = 5;
  // velodyne device serial number, corresponds to a specific calibration file
  optional string sn = 6;
  optional uint64 basetime = 7 [default = 0];
}