clamp_lidar/lidar/clamp_lidar_protobuf.proto

syntax = "proto2";

message ClampLidarScanBoxLimit {
    required float dist_limit = 1;
    required float minx = 2;
    required float maxx = 3;
    required float miny = 4;
    required float maxy = 5;
}

message ClampLidarDeviceConfig {
    optional bool enable = 1 [default = false];
    required string ip_address = 2;
    required int32 port = 3;
    required float angle_min = 4;
    required float angle_max = 5;
    required float angle_increment = 6;
    required float time_increment = 7;
    required float range_min = 8;
    required float range_max = 9;
    required ClampLidarScanBoxLimit scan_box_limit = 10;
}

message PLCCommunicationConfig {
    required string ip = 1;
}

message ClampLidarProjectConfig {
    required PLCCommunicationConfig plc = 1;
    repeated ClampLidarDeviceConfig devices = 2;
}