LidarMeasure/laser/laser_parameter.pb.cc

// Generated by the protocol buffer compiler.  DO NOT EDIT!
// source: laser_parameter.proto

#include "laser_parameter.pb.h"

#include <algorithm>

#include <google/protobuf/io/coded_stream.h>
#include <google/protobuf/extension_set.h>
#include <google/protobuf/wire_format_lite.h>
#include <google/protobuf/descriptor.h>
#include <google/protobuf/generated_message_reflection.h>
#include <google/protobuf/reflection_ops.h>
#include <google/protobuf/wire_format.h>
// @@protoc_insertion_point(includes)
#include <google/protobuf/port_def.inc>
extern PROTOBUF_INTERNAL_EXPORT_laser_5fparameter_2eproto ::PROTOBUF_NAMESPACE_ID::internal::SCCInfo<0> scc_info_laser_parameter_laser_5fparameter_2eproto;
namespace Laser_proto {
class laser_parameterDefaultTypeInternal {
 public:
  ::PROTOBUF_NAMESPACE_ID::internal::ExplicitlyConstructed<laser_parameter> _instance;
} _laser_parameter_default_instance_;
class Laser_parameter_allDefaultTypeInternal {
 public:
  ::PROTOBUF_NAMESPACE_ID::internal::ExplicitlyConstructed<Laser_parameter_all> _instance;
} _Laser_parameter_all_default_instance_;
}  // namespace Laser_proto
static void InitDefaultsscc_info_Laser_parameter_all_laser_5fparameter_2eproto() {
  GOOGLE_PROTOBUF_VERIFY_VERSION;

  {
    void* ptr = &::Laser_proto::_Laser_parameter_all_default_instance_;
    new (ptr) ::Laser_proto::Laser_parameter_all();
    ::PROTOBUF_NAMESPACE_ID::internal::OnShutdownDestroyMessage(ptr);
  }
  ::Laser_proto::Laser_parameter_all::InitAsDefaultInstance();
}

::PROTOBUF_NAMESPACE_ID::internal::SCCInfo<1> scc_info_Laser_parameter_all_laser_5fparameter_2eproto =
    {{ATOMIC_VAR_INIT(::PROTOBUF_NAMESPACE_ID::internal::SCCInfoBase::kUninitialized), 1, 0, InitDefaultsscc_info_Laser_parameter_all_laser_5fparameter_2eproto}, {
      &scc_info_laser_parameter_laser_5fparameter_2eproto.base,}};

static void InitDefaultsscc_info_laser_parameter_laser_5fparameter_2eproto() {
  GOOGLE_PROTOBUF_VERIFY_VERSION;

  {
    void* ptr = &::Laser_proto::_laser_parameter_default_instance_;
    new (ptr) ::Laser_proto::laser_parameter();
    ::PROTOBUF_NAMESPACE_ID::internal::OnShutdownDestroyMessage(ptr);
  }
  ::Laser_proto::laser_parameter::InitAsDefaultInstance();
}

::PROTOBUF_NAMESPACE_ID::internal::SCCInfo<0> scc_info_laser_parameter_laser_5fparameter_2eproto =
    {{ATOMIC_VAR_INIT(::PROTOBUF_NAMESPACE_ID::internal::SCCInfoBase::kUninitialized), 0, 0, InitDefaultsscc_info_laser_parameter_laser_5fparameter_2eproto}, {}};

static ::PROTOBUF_NAMESPACE_ID::Metadata file_level_metadata_laser_5fparameter_2eproto[2];
static constexpr ::PROTOBUF_NAMESPACE_ID::EnumDescriptor const** file_level_enum_descriptors_laser_5fparameter_2eproto = nullptr;
static constexpr ::PROTOBUF_NAMESPACE_ID::ServiceDescriptor const** file_level_service_descriptors_laser_5fparameter_2eproto = nullptr;

const ::PROTOBUF_NAMESPACE_ID::uint32 TableStruct_laser_5fparameter_2eproto::offsets[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) = {
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, _has_bits_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, _internal_metadata_),
  ~0u,  // no _extensions_
  ~0u,  // no _oneof_case_
  ~0u,  // no _weak_field_map_
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, laser_ip_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, laser_port_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, laser_port_remote_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r00_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r01_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r02_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r03_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r10_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r11_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r12_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r13_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r20_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r21_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r22_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, mat_r23_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, axis_x_theta_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, axis_y_theta_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, axis_z_theta_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, translation_x_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, translation_y_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, translation_z_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, install_angle_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, scan_direction_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, sn_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, frame_num_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, type_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, is_save_banary_),
  PROTOBUF_FIELD_OFFSET(::Laser_proto::laser_parameter, is_save_txt_),
  0,
  3,
  4,
  15,
  16,
  17,
  18,
  19,
  20,
  21,
  22,
  23,
  24,
  25,
  26,
  5,
  6,
  7,
  8,
  9,
  10,
  11,
  13,
  1,
  27,
  2,
  12,
  14,
  ~0u,  // no _has_bits_
  PROTOBUF_FIELD_OFFSET(::Laser_proto::Laser_parameter_all, _internal_metadata_),
  ~0u,  // no _extensions_
  ~0u,  // no _oneof_case_
  ~0u,  // no _weak_field_map_
  PROTOBUF_FIELD_OFFSET(::Laser_proto::Laser_parameter_all, laser_parameters_),
};
static const ::PROTOBUF_NAMESPACE_ID::internal::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) = {
  { 0, 33, sizeof(::Laser_proto::laser_parameter)},
  { 61, -1, sizeof(::Laser_proto::Laser_parameter_all)},
};

static ::PROTOBUF_NAMESPACE_ID::Message const * const file_default_instances[] = {
  reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Message*>(&::Laser_proto::_laser_parameter_default_instance_),
  reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Message*>(&::Laser_proto::_Laser_parameter_all_default_instance_),
};

const char descriptor_table_protodef_laser_5fparameter_2eproto[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) =
  "\n\025laser_parameter.proto\022\013Laser_proto\"\360\004\n"
  "\017laser_parameter\022\020\n\010laser_ip\030\001 \001(\t\022\022\n\nla"
  "ser_port\030\002 \001(\003\022\031\n\021laser_port_remote\030\003 \001("
  "\003\022\022\n\007mat_r00\030\004 \001(\001:\0011\022\022\n\007mat_r01\030\005 \001(\001:\001"
  "1\022\022\n\007mat_r02\030\006 \001(\001:\0011\022\022\n\007mat_r03\030\007 \001(\001:\001"
  "1\022\022\n\007mat_r10\030\010 \001(\001:\0011\022\022\n\007mat_r11\030\t \001(\001:\001"
  "1\022\022\n\007mat_r12\030\n \001(\001:\0011\022\022\n\007mat_r13\030\013 \001(\001:\001"
  "1\022\022\n\007mat_r20\030\014 \001(\001:\0011\022\022\n\007mat_r21\030\r \001(\001:\001"
  "1\022\022\n\007mat_r22\030\016 \001(\001:\0011\022\022\n\007mat_r23\030\017 \001(\001:\001"
  "1\022\024\n\014axis_x_theta\030\020 \001(\001\022\024\n\014axis_y_theta\030"
  "\021 \001(\001\022\024\n\014axis_z_theta\030\022 \001(\001\022\025\n\rtranslati"
  "on_x\030\023 \001(\001\022\025\n\rtranslation_y\030\024 \001(\001\022\025\n\rtra"
  "nslation_z\030\025 \001(\001\022\030\n\rinstall_angle\030\026 \001(\001:"
  "\0010\022\034\n\016scan_direction\030\027 \001(\010:\004true\022\n\n\002sn\030\030"
  " \001(\t\022\027\n\tframe_num\030\031 \001(\003:\0043000\022\016\n\004type\030\032 "
  "\001(\t:\000\022\035\n\016is_save_banary\030\033 \001(\010:\005false\022\031\n\013"
  "is_save_txt\030\034 \001(\010:\004true\"M\n\023Laser_paramet"
  "er_all\0226\n\020laser_parameters\030\001 \003(\0132\034.Laser"
  "_proto.laser_parameter"
  ;
static const ::PROTOBUF_NAMESPACE_ID::internal::DescriptorTable*const descriptor_table_laser_5fparameter_2eproto_deps[1] = {
};
static ::PROTOBUF_NAMESPACE_ID::internal::SCCInfoBase*const descriptor_table_laser_5fparameter_2eproto_sccs[2] = {
  &scc_info_Laser_parameter_all_laser_5fparameter_2eproto.base,
  &scc_info_laser_parameter_laser_5fparameter_2eproto.base,
};
static ::PROTOBUF_NAMESPACE_ID::internal::once_flag descriptor_table_laser_5fparameter_2eproto_once;
const ::PROTOBUF_NAMESPACE_ID::internal::DescriptorTable descriptor_table_laser_5fparameter_2eproto = {
  false, false, descriptor_table_protodef_laser_5fparameter_2eproto, "laser_parameter.proto", 742,
  &descriptor_table_laser_5fparameter_2eproto_once, descriptor_table_laser_5fparameter_2eproto_sccs, descriptor_table_laser_5fparameter_2eproto_deps, 2, 0,
  schemas, file_default_instances, TableStruct_laser_5fparameter_2eproto::offsets,
  file_level_metadata_laser_5fparameter_2eproto, 2, file_level_enum_descriptors_laser_5fparameter_2eproto, file_level_service_descriptors_laser_5fparameter_2eproto,
};

// Force running AddDescriptors() at dynamic initialization time.
static bool dynamic_init_dummy_laser_5fparameter_2eproto = (static_cast<void>(::PROTOBUF_NAMESPACE_ID::internal::AddDescriptors(&descriptor_table_laser_5fparameter_2eproto)), true);
namespace Laser_proto {

// ===================================================================

void laser_parameter::InitAsDefaultInstance() {
}
class laser_parameter::_Internal {
 public:
  using HasBits = decltype(std::declval<laser_parameter>()._has_bits_);
  static void set_has_laser_ip(HasBits* has_bits) {
    (*has_bits)[0] |= 1u;
  }
  static void set_has_laser_port(HasBits* has_bits) {
    (*has_bits)[0] |= 8u;
  }
  static void set_has_laser_port_remote(HasBits* has_bits) {
    (*has_bits)[0] |= 16u;
  }
  static void set_has_mat_r00(HasBits* has_bits) {
    (*has_bits)[0] |= 32768u;
  }
  static void set_has_mat_r01(HasBits* has_bits) {
    (*has_bits)[0] |= 65536u;
  }
  static void set_has_mat_r02(HasBits* has_bits) {
    (*has_bits)[0] |= 131072u;
  }
  static void set_has_mat_r03(HasBits* has_bits) {
    (*has_bits)[0] |= 262144u;
  }
  static void set_has_mat_r10(HasBits* has_bits) {
    (*has_bits)[0] |= 524288u;
  }
  static void set_has_mat_r11(HasBits* has_bits) {
    (*has_bits)[0] |= 1048576u;
  }
  static void set_has_mat_r12(HasBits* has_bits) {
    (*has_bits)[0] |= 2097152u;
  }
  static void set_has_mat_r13(HasBits* has_bits) {
    (*has_bits)[0] |= 4194304u;
  }
  static void set_has_mat_r20(HasBits* has_bits) {
    (*has_bits)[0] |= 8388608u;
  }
  static void set_has_mat_r21(HasBits* has_bits) {
    (*has_bits)[0] |= 16777216u;
  }
  static void set_has_mat_r22(HasBits* has_bits) {
    (*has_bits)[0] |= 33554432u;
  }
  static void set_has_mat_r23(HasBits* has_bits) {
    (*has_bits)[0] |= 67108864u;
  }
  static void set_has_axis_x_theta(HasBits* has_bits) {
    (*has_bits)[0] |= 32u;
  }
  static void set_has_axis_y_theta(HasBits* has_bits) {
    (*has_bits)[0] |= 64u;
  }
  static void set_has_axis_z_theta(HasBits* has_bits) {
    (*has_bits)[0] |= 128u;
  }
  static void set_has_translation_x(HasBits* has_bits) {
    (*has_bits)[0] |= 256u;
  }
  static void set_has_translation_y(HasBits* has_bits) {
    (*has_bits)[0] |= 512u;
  }
  static void set_has_translation_z(HasBits* has_bits) {
    (*has_bits)[0] |= 1024u;
  }
  static void set_has_install_angle(HasBits* has_bits) {
    (*has_bits)[0] |= 2048u;
  }
  static void set_has_scan_direction(HasBits* has_bits) {
    (*has_bits)[0] |= 8192u;
  }
  static void set_has_sn(HasBits* has_bits) {
    (*has_bits)[0] |= 2u;
  }
  static void set_has_frame_num(HasBits* has_bits) {
    (*has_bits)[0] |= 134217728u;
  }
  static void set_has_type(HasBits* has_bits) {
    (*has_bits)[0] |= 4u;
  }
  static void set_has_is_save_banary(HasBits* has_bits) {
    (*has_bits)[0] |= 4096u;
  }
  static void set_has_is_save_txt(HasBits* has_bits) {
    (*has_bits)[0] |= 16384u;
  }
};

laser_parameter::laser_parameter(::PROTOBUF_NAMESPACE_ID::Arena* arena)
  : ::PROTOBUF_NAMESPACE_ID::Message(arena) {
  SharedCtor();
  RegisterArenaDtor(arena);
  // @@protoc_insertion_point(arena_constructor:Laser_proto.laser_parameter)
}
laser_parameter::laser_parameter(const laser_parameter& from)
  : ::PROTOBUF_NAMESPACE_ID::Message(),
      _has_bits_(from._has_bits_) {
  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
  laser_ip_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
  if (from._internal_has_laser_ip()) {
    laser_ip_.Set(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), from._internal_laser_ip(),
      GetArena());
  }
  sn_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
  if (from._internal_has_sn()) {
    sn_.Set(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), from._internal_sn(),
      GetArena());
  }
  type_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
  if (from._internal_has_type()) {
    type_.Set(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), from._internal_type(),
      GetArena());
  }
  ::memcpy(&laser_port_, &from.laser_port_,
    static_cast<size_t>(reinterpret_cast<char*>(&frame_num_) -
    reinterpret_cast<char*>(&laser_port_)) + sizeof(frame_num_));
  // @@protoc_insertion_point(copy_constructor:Laser_proto.laser_parameter)
}

void laser_parameter::SharedCtor() {
  ::PROTOBUF_NAMESPACE_ID::internal::InitSCC(&scc_info_laser_parameter_laser_5fparameter_2eproto.base);
  laser_ip_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
  sn_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
  type_.UnsafeSetDefault(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
  ::memset(&laser_port_, 0, static_cast<size_t>(
      reinterpret_cast<char*>(&is_save_banary_) -
      reinterpret_cast<char*>(&laser_port_)) + sizeof(is_save_banary_));
  scan_direction_ = true;
  is_save_txt_ = true;
  mat_r00_ = 1;
  mat_r01_ = 1;
  mat_r02_ = 1;
  mat_r03_ = 1;
  mat_r10_ = 1;
  mat_r11_ = 1;
  mat_r12_ = 1;
  mat_r13_ = 1;
  mat_r20_ = 1;
  mat_r21_ = 1;
  mat_r22_ = 1;
  mat_r23_ = 1;
  frame_num_ = PROTOBUF_LONGLONG(3000);
}

laser_parameter::~laser_parameter() {
  // @@protoc_insertion_point(destructor:Laser_proto.laser_parameter)
  SharedDtor();
  _internal_metadata_.Delete<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
}

void laser_parameter::SharedDtor() {
  GOOGLE_DCHECK(GetArena() == nullptr);
  laser_ip_.DestroyNoArena(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
  sn_.DestroyNoArena(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
  type_.DestroyNoArena(&::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited());
}

void laser_parameter::ArenaDtor(void* object) {
  laser_parameter* _this = reinterpret_cast< laser_parameter* >(object);
  (void)_this;
}
void laser_parameter::RegisterArenaDtor(::PROTOBUF_NAMESPACE_ID::Arena*) {
}
void laser_parameter::SetCachedSize(int size) const {
  _cached_size_.Set(size);
}
const laser_parameter& laser_parameter::default_instance() {
  ::PROTOBUF_NAMESPACE_ID::internal::InitSCC(&::scc_info_laser_parameter_laser_5fparameter_2eproto.base);
  return *internal_default_instance();
}


void laser_parameter::Clear() {
// @@protoc_insertion_point(message_clear_start:Laser_proto.laser_parameter)
  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
  // Prevent compiler warnings about cached_has_bits being unused
  (void) cached_has_bits;

  cached_has_bits = _has_bits_[0];
  if (cached_has_bits & 0x00000007u) {
    if (cached_has_bits & 0x00000001u) {
      laser_ip_.ClearNonDefaultToEmpty();
    }
    if (cached_has_bits & 0x00000002u) {
      sn_.ClearNonDefaultToEmpty();
    }
    if (cached_has_bits & 0x00000004u) {
      type_.ClearNonDefaultToEmpty();
    }
  }
  if (cached_has_bits & 0x000000f8u) {
    ::memset(&laser_port_, 0, static_cast<size_t>(
        reinterpret_cast<char*>(&axis_z_theta_) -
        reinterpret_cast<char*>(&laser_port_)) + sizeof(axis_z_theta_));
  }
  if (cached_has_bits & 0x0000ff00u) {
    ::memset(&translation_x_, 0, static_cast<size_t>(
        reinterpret_cast<char*>(&is_save_banary_) -
        reinterpret_cast<char*>(&translation_x_)) + sizeof(is_save_banary_));
    scan_direction_ = true;
    is_save_txt_ = true;
    mat_r00_ = 1;
  }
  if (cached_has_bits & 0x00ff0000u) {
    mat_r01_ = 1;
    mat_r02_ = 1;
    mat_r03_ = 1;
    mat_r10_ = 1;
    mat_r11_ = 1;
    mat_r12_ = 1;
    mat_r13_ = 1;
    mat_r20_ = 1;
  }
  if (cached_has_bits & 0x0f000000u) {
    mat_r21_ = 1;
    mat_r22_ = 1;
    mat_r23_ = 1;
    frame_num_ = PROTOBUF_LONGLONG(3000);
  }
  _has_bits_.Clear();
  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
}

const char* laser_parameter::_InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) {
#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
  _Internal::HasBits has_bits{};
  ::PROTOBUF_NAMESPACE_ID::Arena* arena = GetArena(); (void)arena;
  while (!ctx->Done(&ptr)) {
    ::PROTOBUF_NAMESPACE_ID::uint32 tag;
    ptr = ::PROTOBUF_NAMESPACE_ID::internal::ReadTag(ptr, &tag);
    CHK_(ptr);
    switch (tag >> 3) {
      // optional string laser_ip = 1;
      case 1:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 10)) {
          auto str = _internal_mutable_laser_ip();
          ptr = ::PROTOBUF_NAMESPACE_ID::internal::InlineGreedyStringParser(str, ptr, ctx);
          #ifndef NDEBUG
          ::PROTOBUF_NAMESPACE_ID::internal::VerifyUTF8(str, "Laser_proto.laser_parameter.laser_ip");
          #endif  // !NDEBUG
          CHK_(ptr);
        } else goto handle_unusual;
        continue;
      // optional int64 laser_port = 2;
      case 2:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 16)) {
          _Internal::set_has_laser_port(&has_bits);
          laser_port_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
          CHK_(ptr);
        } else goto handle_unusual;
        continue;
      // optional int64 laser_port_remote = 3;
      case 3:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 24)) {
          _Internal::set_has_laser_port_remote(&has_bits);
          laser_port_remote_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
          CHK_(ptr);
        } else goto handle_unusual;
        continue;
      // optional double mat_r00 = 4 [default = 1];
      case 4:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 33)) {
          _Internal::set_has_mat_r00(&has_bits);
          mat_r00_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double mat_r01 = 5 [default = 1];
      case 5:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 41)) {
          _Internal::set_has_mat_r01(&has_bits);
          mat_r01_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double mat_r02 = 6 [default = 1];
      case 6:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 49)) {
          _Internal::set_has_mat_r02(&has_bits);
          mat_r02_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double mat_r03 = 7 [default = 1];
      case 7:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 57)) {
          _Internal::set_has_mat_r03(&has_bits);
          mat_r03_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double mat_r10 = 8 [default = 1];
      case 8:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 65)) {
          _Internal::set_has_mat_r10(&has_bits);
          mat_r10_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double mat_r11 = 9 [default = 1];
      case 9:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 73)) {
          _Internal::set_has_mat_r11(&has_bits);
          mat_r11_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double mat_r12 = 10 [default = 1];
      case 10:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 81)) {
          _Internal::set_has_mat_r12(&has_bits);
          mat_r12_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double mat_r13 = 11 [default = 1];
      case 11:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 89)) {
          _Internal::set_has_mat_r13(&has_bits);
          mat_r13_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double mat_r20 = 12 [default = 1];
      case 12:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 97)) {
          _Internal::set_has_mat_r20(&has_bits);
          mat_r20_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double mat_r21 = 13 [default = 1];
      case 13:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 105)) {
          _Internal::set_has_mat_r21(&has_bits);
          mat_r21_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double mat_r22 = 14 [default = 1];
      case 14:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 113)) {
          _Internal::set_has_mat_r22(&has_bits);
          mat_r22_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double mat_r23 = 15 [default = 1];
      case 15:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 121)) {
          _Internal::set_has_mat_r23(&has_bits);
          mat_r23_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double axis_x_theta = 16;
      case 16:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 129)) {
          _Internal::set_has_axis_x_theta(&has_bits);
          axis_x_theta_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double axis_y_theta = 17;
      case 17:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 137)) {
          _Internal::set_has_axis_y_theta(&has_bits);
          axis_y_theta_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double axis_z_theta = 18;
      case 18:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 145)) {
          _Internal::set_has_axis_z_theta(&has_bits);
          axis_z_theta_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double translation_x = 19;
      case 19:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 153)) {
          _Internal::set_has_translation_x(&has_bits);
          translation_x_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double translation_y = 20;
      case 20:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 161)) {
          _Internal::set_has_translation_y(&has_bits);
          translation_y_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double translation_z = 21;
      case 21:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 169)) {
          _Internal::set_has_translation_z(&has_bits);
          translation_z_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional double install_angle = 22 [default = 0];
      case 22:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 177)) {
          _Internal::set_has_install_angle(&has_bits);
          install_angle_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<double>(ptr);
          ptr += sizeof(double);
        } else goto handle_unusual;
        continue;
      // optional bool scan_direction = 23 [default = true];
      case 23:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 184)) {
          _Internal::set_has_scan_direction(&has_bits);
          scan_direction_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
          CHK_(ptr);
        } else goto handle_unusual;
        continue;
      // optional string sn = 24;
      case 24:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 194)) {
          auto str = _internal_mutable_sn();
          ptr = ::PROTOBUF_NAMESPACE_ID::internal::InlineGreedyStringParser(str, ptr, ctx);
          #ifndef NDEBUG
          ::PROTOBUF_NAMESPACE_ID::internal::VerifyUTF8(str, "Laser_proto.laser_parameter.sn");
          #endif  // !NDEBUG
          CHK_(ptr);
        } else goto handle_unusual;
        continue;
      // optional int64 frame_num = 25 [default = 3000];
      case 25:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 200)) {
          _Internal::set_has_frame_num(&has_bits);
          frame_num_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
          CHK_(ptr);
        } else goto handle_unusual;
        continue;
      // optional string type = 26 [default = ""];
      case 26:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 210)) {
          auto str = _internal_mutable_type();
          ptr = ::PROTOBUF_NAMESPACE_ID::internal::InlineGreedyStringParser(str, ptr, ctx);
          #ifndef NDEBUG
          ::PROTOBUF_NAMESPACE_ID::internal::VerifyUTF8(str, "Laser_proto.laser_parameter.type");
          #endif  // !NDEBUG
          CHK_(ptr);
        } else goto handle_unusual;
        continue;
      // optional bool is_save_banary = 27 [default = false];
      case 27:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 216)) {
          _Internal::set_has_is_save_banary(&has_bits);
          is_save_banary_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
          CHK_(ptr);
        } else goto handle_unusual;
        continue;
      // optional bool is_save_txt = 28 [default = true];
      case 28:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 224)) {
          _Internal::set_has_is_save_txt(&has_bits);
          is_save_txt_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
          CHK_(ptr);
        } else goto handle_unusual;
        continue;
      default: {
      handle_unusual:
        if ((tag & 7) == 4 || tag == 0) {
          ctx->SetLastTag(tag);
          goto success;
        }
        ptr = UnknownFieldParse(tag,
            _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
            ptr, ctx);
        CHK_(ptr != nullptr);
        continue;
      }
    }  // switch
  }  // while
success:
  _has_bits_.Or(has_bits);
  return ptr;
failure:
  ptr = nullptr;
  goto success;
#undef CHK_
}

::PROTOBUF_NAMESPACE_ID::uint8* laser_parameter::_InternalSerialize(
    ::PROTOBUF_NAMESPACE_ID::uint8* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
  // @@protoc_insertion_point(serialize_to_array_start:Laser_proto.laser_parameter)
  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
  (void) cached_has_bits;

  cached_has_bits = _has_bits_[0];
  // optional string laser_ip = 1;
  if (cached_has_bits & 0x00000001u) {
    ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::VerifyUTF8StringNamedField(
      this->_internal_laser_ip().data(), static_cast<int>(this->_internal_laser_ip().length()),
      ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::SERIALIZE,
      "Laser_proto.laser_parameter.laser_ip");
    target = stream->WriteStringMaybeAliased(
        1, this->_internal_laser_ip(), target);
  }

  // optional int64 laser_port = 2;
  if (cached_has_bits & 0x00000008u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteInt64ToArray(2, this->_internal_laser_port(), target);
  }

  // optional int64 laser_port_remote = 3;
  if (cached_has_bits & 0x00000010u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteInt64ToArray(3, this->_internal_laser_port_remote(), target);
  }

  // optional double mat_r00 = 4 [default = 1];
  if (cached_has_bits & 0x00008000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(4, this->_internal_mat_r00(), target);
  }

  // optional double mat_r01 = 5 [default = 1];
  if (cached_has_bits & 0x00010000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(5, this->_internal_mat_r01(), target);
  }

  // optional double mat_r02 = 6 [default = 1];
  if (cached_has_bits & 0x00020000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(6, this->_internal_mat_r02(), target);
  }

  // optional double mat_r03 = 7 [default = 1];
  if (cached_has_bits & 0x00040000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(7, this->_internal_mat_r03(), target);
  }

  // optional double mat_r10 = 8 [default = 1];
  if (cached_has_bits & 0x00080000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(8, this->_internal_mat_r10(), target);
  }

  // optional double mat_r11 = 9 [default = 1];
  if (cached_has_bits & 0x00100000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(9, this->_internal_mat_r11(), target);
  }

  // optional double mat_r12 = 10 [default = 1];
  if (cached_has_bits & 0x00200000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(10, this->_internal_mat_r12(), target);
  }

  // optional double mat_r13 = 11 [default = 1];
  if (cached_has_bits & 0x00400000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(11, this->_internal_mat_r13(), target);
  }

  // optional double mat_r20 = 12 [default = 1];
  if (cached_has_bits & 0x00800000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(12, this->_internal_mat_r20(), target);
  }

  // optional double mat_r21 = 13 [default = 1];
  if (cached_has_bits & 0x01000000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(13, this->_internal_mat_r21(), target);
  }

  // optional double mat_r22 = 14 [default = 1];
  if (cached_has_bits & 0x02000000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(14, this->_internal_mat_r22(), target);
  }

  // optional double mat_r23 = 15 [default = 1];
  if (cached_has_bits & 0x04000000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(15, this->_internal_mat_r23(), target);
  }

  // optional double axis_x_theta = 16;
  if (cached_has_bits & 0x00000020u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(16, this->_internal_axis_x_theta(), target);
  }

  // optional double axis_y_theta = 17;
  if (cached_has_bits & 0x00000040u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(17, this->_internal_axis_y_theta(), target);
  }

  // optional double axis_z_theta = 18;
  if (cached_has_bits & 0x00000080u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(18, this->_internal_axis_z_theta(), target);
  }

  // optional double translation_x = 19;
  if (cached_has_bits & 0x00000100u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(19, this->_internal_translation_x(), target);
  }

  // optional double translation_y = 20;
  if (cached_has_bits & 0x00000200u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(20, this->_internal_translation_y(), target);
  }

  // optional double translation_z = 21;
  if (cached_has_bits & 0x00000400u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(21, this->_internal_translation_z(), target);
  }

  // optional double install_angle = 22 [default = 0];
  if (cached_has_bits & 0x00000800u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteDoubleToArray(22, this->_internal_install_angle(), target);
  }

  // optional bool scan_direction = 23 [default = true];
  if (cached_has_bits & 0x00002000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteBoolToArray(23, this->_internal_scan_direction(), target);
  }

  // optional string sn = 24;
  if (cached_has_bits & 0x00000002u) {
    ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::VerifyUTF8StringNamedField(
      this->_internal_sn().data(), static_cast<int>(this->_internal_sn().length()),
      ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::SERIALIZE,
      "Laser_proto.laser_parameter.sn");
    target = stream->WriteStringMaybeAliased(
        24, this->_internal_sn(), target);
  }

  // optional int64 frame_num = 25 [default = 3000];
  if (cached_has_bits & 0x08000000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteInt64ToArray(25, this->_internal_frame_num(), target);
  }

  // optional string type = 26 [default = ""];
  if (cached_has_bits & 0x00000004u) {
    ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::VerifyUTF8StringNamedField(
      this->_internal_type().data(), static_cast<int>(this->_internal_type().length()),
      ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::SERIALIZE,
      "Laser_proto.laser_parameter.type");
    target = stream->WriteStringMaybeAliased(
        26, this->_internal_type(), target);
  }

  // optional bool is_save_banary = 27 [default = false];
  if (cached_has_bits & 0x00001000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteBoolToArray(27, this->_internal_is_save_banary(), target);
  }

  // optional bool is_save_txt = 28 [default = true];
  if (cached_has_bits & 0x00004000u) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteBoolToArray(28, this->_internal_is_save_txt(), target);
  }

  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::InternalSerializeUnknownFieldsToArray(
        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
  }
  // @@protoc_insertion_point(serialize_to_array_end:Laser_proto.laser_parameter)
  return target;
}

size_t laser_parameter::ByteSizeLong() const {
// @@protoc_insertion_point(message_byte_size_start:Laser_proto.laser_parameter)
  size_t total_size = 0;

  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
  // Prevent compiler warnings about cached_has_bits being unused
  (void) cached_has_bits;

  cached_has_bits = _has_bits_[0];
  if (cached_has_bits & 0x000000ffu) {
    // optional string laser_ip = 1;
    if (cached_has_bits & 0x00000001u) {
      total_size += 1 +
        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
          this->_internal_laser_ip());
    }

    // optional string sn = 24;
    if (cached_has_bits & 0x00000002u) {
      total_size += 2 +
        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
          this->_internal_sn());
    }

    // optional string type = 26 [default = ""];
    if (cached_has_bits & 0x00000004u) {
      total_size += 2 +
        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
          this->_internal_type());
    }

    // optional int64 laser_port = 2;
    if (cached_has_bits & 0x00000008u) {
      total_size += 1 +
        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::Int64Size(
          this->_internal_laser_port());
    }

    // optional int64 laser_port_remote = 3;
    if (cached_has_bits & 0x00000010u) {
      total_size += 1 +
        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::Int64Size(
          this->_internal_laser_port_remote());
    }

    // optional double axis_x_theta = 16;
    if (cached_has_bits & 0x00000020u) {
      total_size += 2 + 8;
    }

    // optional double axis_y_theta = 17;
    if (cached_has_bits & 0x00000040u) {
      total_size += 2 + 8;
    }

    // optional double axis_z_theta = 18;
    if (cached_has_bits & 0x00000080u) {
      total_size += 2 + 8;
    }

  }
  if (cached_has_bits & 0x0000ff00u) {
    // optional double translation_x = 19;
    if (cached_has_bits & 0x00000100u) {
      total_size += 2 + 8;
    }

    // optional double translation_y = 20;
    if (cached_has_bits & 0x00000200u) {
      total_size += 2 + 8;
    }

    // optional double translation_z = 21;
    if (cached_has_bits & 0x00000400u) {
      total_size += 2 + 8;
    }

    // optional double install_angle = 22 [default = 0];
    if (cached_has_bits & 0x00000800u) {
      total_size += 2 + 8;
    }

    // optional bool is_save_banary = 27 [default = false];
    if (cached_has_bits & 0x00001000u) {
      total_size += 2 + 1;
    }

    // optional bool scan_direction = 23 [default = true];
    if (cached_has_bits & 0x00002000u) {
      total_size += 2 + 1;
    }

    // optional bool is_save_txt = 28 [default = true];
    if (cached_has_bits & 0x00004000u) {
      total_size += 2 + 1;
    }

    // optional double mat_r00 = 4 [default = 1];
    if (cached_has_bits & 0x00008000u) {
      total_size += 1 + 8;
    }

  }
  if (cached_has_bits & 0x00ff0000u) {
    // optional double mat_r01 = 5 [default = 1];
    if (cached_has_bits & 0x00010000u) {
      total_size += 1 + 8;
    }

    // optional double mat_r02 = 6 [default = 1];
    if (cached_has_bits & 0x00020000u) {
      total_size += 1 + 8;
    }

    // optional double mat_r03 = 7 [default = 1];
    if (cached_has_bits & 0x00040000u) {
      total_size += 1 + 8;
    }

    // optional double mat_r10 = 8 [default = 1];
    if (cached_has_bits & 0x00080000u) {
      total_size += 1 + 8;
    }

    // optional double mat_r11 = 9 [default = 1];
    if (cached_has_bits & 0x00100000u) {
      total_size += 1 + 8;
    }

    // optional double mat_r12 = 10 [default = 1];
    if (cached_has_bits & 0x00200000u) {
      total_size += 1 + 8;
    }

    // optional double mat_r13 = 11 [default = 1];
    if (cached_has_bits & 0x00400000u) {
      total_size += 1 + 8;
    }

    // optional double mat_r20 = 12 [default = 1];
    if (cached_has_bits & 0x00800000u) {
      total_size += 1 + 8;
    }

  }
  if (cached_has_bits & 0x0f000000u) {
    // optional double mat_r21 = 13 [default = 1];
    if (cached_has_bits & 0x01000000u) {
      total_size += 1 + 8;
    }

    // optional double mat_r22 = 14 [default = 1];
    if (cached_has_bits & 0x02000000u) {
      total_size += 1 + 8;
    }

    // optional double mat_r23 = 15 [default = 1];
    if (cached_has_bits & 0x04000000u) {
      total_size += 1 + 8;
    }

    // optional int64 frame_num = 25 [default = 3000];
    if (cached_has_bits & 0x08000000u) {
      total_size += 2 +
        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::Int64Size(
          this->_internal_frame_num());
    }

  }
  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
    return ::PROTOBUF_NAMESPACE_ID::internal::ComputeUnknownFieldsSize(
        _internal_metadata_, total_size, &_cached_size_);
  }
  int cached_size = ::PROTOBUF_NAMESPACE_ID::internal::ToCachedSize(total_size);
  SetCachedSize(cached_size);
  return total_size;
}

void laser_parameter::MergeFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) {
// @@protoc_insertion_point(generalized_merge_from_start:Laser_proto.laser_parameter)
  GOOGLE_DCHECK_NE(&from, this);
  const laser_parameter* source =
      ::PROTOBUF_NAMESPACE_ID::DynamicCastToGenerated<laser_parameter>(
          &from);
  if (source == nullptr) {
  // @@protoc_insertion_point(generalized_merge_from_cast_fail:Laser_proto.laser_parameter)
    ::PROTOBUF_NAMESPACE_ID::internal::ReflectionOps::Merge(from, this);
  } else {
  // @@protoc_insertion_point(generalized_merge_from_cast_success:Laser_proto.laser_parameter)
    MergeFrom(*source);
  }
}

void laser_parameter::MergeFrom(const laser_parameter& from) {
// @@protoc_insertion_point(class_specific_merge_from_start:Laser_proto.laser_parameter)
  GOOGLE_DCHECK_NE(&from, this);
  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
  (void) cached_has_bits;

  cached_has_bits = from._has_bits_[0];
  if (cached_has_bits & 0x000000ffu) {
    if (cached_has_bits & 0x00000001u) {
      _internal_set_laser_ip(from._internal_laser_ip());
    }
    if (cached_has_bits & 0x00000002u) {
      _internal_set_sn(from._internal_sn());
    }
    if (cached_has_bits & 0x00000004u) {
      _internal_set_type(from._internal_type());
    }
    if (cached_has_bits & 0x00000008u) {
      laser_port_ = from.laser_port_;
    }
    if (cached_has_bits & 0x00000010u) {
      laser_port_remote_ = from.laser_port_remote_;
    }
    if (cached_has_bits & 0x00000020u) {
      axis_x_theta_ = from.axis_x_theta_;
    }
    if (cached_has_bits & 0x00000040u) {
      axis_y_theta_ = from.axis_y_theta_;
    }
    if (cached_has_bits & 0x00000080u) {
      axis_z_theta_ = from.axis_z_theta_;
    }
    _has_bits_[0] |= cached_has_bits;
  }
  if (cached_has_bits & 0x0000ff00u) {
    if (cached_has_bits & 0x00000100u) {
      translation_x_ = from.translation_x_;
    }
    if (cached_has_bits & 0x00000200u) {
      translation_y_ = from.translation_y_;
    }
    if (cached_has_bits & 0x00000400u) {
      translation_z_ = from.translation_z_;
    }
    if (cached_has_bits & 0x00000800u) {
      install_angle_ = from.install_angle_;
    }
    if (cached_has_bits & 0x00001000u) {
      is_save_banary_ = from.is_save_banary_;
    }
    if (cached_has_bits & 0x00002000u) {
      scan_direction_ = from.scan_direction_;
    }
    if (cached_has_bits & 0x00004000u) {
      is_save_txt_ = from.is_save_txt_;
    }
    if (cached_has_bits & 0x00008000u) {
      mat_r00_ = from.mat_r00_;
    }
    _has_bits_[0] |= cached_has_bits;
  }
  if (cached_has_bits & 0x00ff0000u) {
    if (cached_has_bits & 0x00010000u) {
      mat_r01_ = from.mat_r01_;
    }
    if (cached_has_bits & 0x00020000u) {
      mat_r02_ = from.mat_r02_;
    }
    if (cached_has_bits & 0x00040000u) {
      mat_r03_ = from.mat_r03_;
    }
    if (cached_has_bits & 0x00080000u) {
      mat_r10_ = from.mat_r10_;
    }
    if (cached_has_bits & 0x00100000u) {
      mat_r11_ = from.mat_r11_;
    }
    if (cached_has_bits & 0x00200000u) {
      mat_r12_ = from.mat_r12_;
    }
    if (cached_has_bits & 0x00400000u) {
      mat_r13_ = from.mat_r13_;
    }
    if (cached_has_bits & 0x00800000u) {
      mat_r20_ = from.mat_r20_;
    }
    _has_bits_[0] |= cached_has_bits;
  }
  if (cached_has_bits & 0x0f000000u) {
    if (cached_has_bits & 0x01000000u) {
      mat_r21_ = from.mat_r21_;
    }
    if (cached_has_bits & 0x02000000u) {
      mat_r22_ = from.mat_r22_;
    }
    if (cached_has_bits & 0x04000000u) {
      mat_r23_ = from.mat_r23_;
    }
    if (cached_has_bits & 0x08000000u) {
      frame_num_ = from.frame_num_;
    }
    _has_bits_[0] |= cached_has_bits;
  }
}

void laser_parameter::CopyFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) {
// @@protoc_insertion_point(generalized_copy_from_start:Laser_proto.laser_parameter)
  if (&from == this) return;
  Clear();
  MergeFrom(from);
}

void laser_parameter::CopyFrom(const laser_parameter& from) {
// @@protoc_insertion_point(class_specific_copy_from_start:Laser_proto.laser_parameter)
  if (&from == this) return;
  Clear();
  MergeFrom(from);
}

bool laser_parameter::IsInitialized() const {
  return true;
}

void laser_parameter::InternalSwap(laser_parameter* other) {
  using std::swap;
  _internal_metadata_.Swap<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(&other->_internal_metadata_);
  swap(_has_bits_[0], other->_has_bits_[0]);
  laser_ip_.Swap(&other->laser_ip_, &::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), GetArena());
  sn_.Swap(&other->sn_, &::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), GetArena());
  type_.Swap(&other->type_, &::PROTOBUF_NAMESPACE_ID::internal::GetEmptyStringAlreadyInited(), GetArena());
  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
      PROTOBUF_FIELD_OFFSET(laser_parameter, is_save_banary_)
      + sizeof(laser_parameter::is_save_banary_)
      - PROTOBUF_FIELD_OFFSET(laser_parameter, laser_port_)>(
          reinterpret_cast<char*>(&laser_port_),
          reinterpret_cast<char*>(&other->laser_port_));
  swap(scan_direction_, other->scan_direction_);
  swap(is_save_txt_, other->is_save_txt_);
  swap(mat_r00_, other->mat_r00_);
  swap(mat_r01_, other->mat_r01_);
  swap(mat_r02_, other->mat_r02_);
  swap(mat_r03_, other->mat_r03_);
  swap(mat_r10_, other->mat_r10_);
  swap(mat_r11_, other->mat_r11_);
  swap(mat_r12_, other->mat_r12_);
  swap(mat_r13_, other->mat_r13_);
  swap(mat_r20_, other->mat_r20_);
  swap(mat_r21_, other->mat_r21_);
  swap(mat_r22_, other->mat_r22_);
  swap(mat_r23_, other->mat_r23_);
  swap(frame_num_, other->frame_num_);
}

::PROTOBUF_NAMESPACE_ID::Metadata laser_parameter::GetMetadata() const {
  return GetMetadataStatic();
}


// ===================================================================

void Laser_parameter_all::InitAsDefaultInstance() {
}
class Laser_parameter_all::_Internal {
 public:
};

Laser_parameter_all::Laser_parameter_all(::PROTOBUF_NAMESPACE_ID::Arena* arena)
  : ::PROTOBUF_NAMESPACE_ID::Message(arena),
  laser_parameters_(arena) {
  SharedCtor();
  RegisterArenaDtor(arena);
  // @@protoc_insertion_point(arena_constructor:Laser_proto.Laser_parameter_all)
}
Laser_parameter_all::Laser_parameter_all(const Laser_parameter_all& from)
  : ::PROTOBUF_NAMESPACE_ID::Message(),
      laser_parameters_(from.laser_parameters_) {
  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
  // @@protoc_insertion_point(copy_constructor:Laser_proto.Laser_parameter_all)
}

void Laser_parameter_all::SharedCtor() {
  ::PROTOBUF_NAMESPACE_ID::internal::InitSCC(&scc_info_Laser_parameter_all_laser_5fparameter_2eproto.base);
}

Laser_parameter_all::~Laser_parameter_all() {
  // @@protoc_insertion_point(destructor:Laser_proto.Laser_parameter_all)
  SharedDtor();
  _internal_metadata_.Delete<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
}

void Laser_parameter_all::SharedDtor() {
  GOOGLE_DCHECK(GetArena() == nullptr);
}

void Laser_parameter_all::ArenaDtor(void* object) {
  Laser_parameter_all* _this = reinterpret_cast< Laser_parameter_all* >(object);
  (void)_this;
}
void Laser_parameter_all::RegisterArenaDtor(::PROTOBUF_NAMESPACE_ID::Arena*) {
}
void Laser_parameter_all::SetCachedSize(int size) const {
  _cached_size_.Set(size);
}
const Laser_parameter_all& Laser_parameter_all::default_instance() {
  ::PROTOBUF_NAMESPACE_ID::internal::InitSCC(&::scc_info_Laser_parameter_all_laser_5fparameter_2eproto.base);
  return *internal_default_instance();
}


void Laser_parameter_all::Clear() {
// @@protoc_insertion_point(message_clear_start:Laser_proto.Laser_parameter_all)
  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
  // Prevent compiler warnings about cached_has_bits being unused
  (void) cached_has_bits;

  laser_parameters_.Clear();
  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
}

const char* Laser_parameter_all::_InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) {
#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
  ::PROTOBUF_NAMESPACE_ID::Arena* arena = GetArena(); (void)arena;
  while (!ctx->Done(&ptr)) {
    ::PROTOBUF_NAMESPACE_ID::uint32 tag;
    ptr = ::PROTOBUF_NAMESPACE_ID::internal::ReadTag(ptr, &tag);
    CHK_(ptr);
    switch (tag >> 3) {
      // repeated .Laser_proto.laser_parameter laser_parameters = 1;
      case 1:
        if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 10)) {
          ptr -= 1;
          do {
            ptr += 1;
            ptr = ctx->ParseMessage(_internal_add_laser_parameters(), ptr);
            CHK_(ptr);
            if (!ctx->DataAvailable(ptr)) break;
          } while (::PROTOBUF_NAMESPACE_ID::internal::ExpectTag<10>(ptr));
        } else goto handle_unusual;
        continue;
      default: {
      handle_unusual:
        if ((tag & 7) == 4 || tag == 0) {
          ctx->SetLastTag(tag);
          goto success;
        }
        ptr = UnknownFieldParse(tag,
            _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
            ptr, ctx);
        CHK_(ptr != nullptr);
        continue;
      }
    }  // switch
  }  // while
success:
  return ptr;
failure:
  ptr = nullptr;
  goto success;
#undef CHK_
}

::PROTOBUF_NAMESPACE_ID::uint8* Laser_parameter_all::_InternalSerialize(
    ::PROTOBUF_NAMESPACE_ID::uint8* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
  // @@protoc_insertion_point(serialize_to_array_start:Laser_proto.Laser_parameter_all)
  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
  (void) cached_has_bits;

  // repeated .Laser_proto.laser_parameter laser_parameters = 1;
  for (unsigned int i = 0,
      n = static_cast<unsigned int>(this->_internal_laser_parameters_size()); i < n; i++) {
    target = stream->EnsureSpace(target);
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
      InternalWriteMessage(1, this->_internal_laser_parameters(i), target, stream);
  }

  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormat::InternalSerializeUnknownFieldsToArray(
        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
  }
  // @@protoc_insertion_point(serialize_to_array_end:Laser_proto.Laser_parameter_all)
  return target;
}

size_t Laser_parameter_all::ByteSizeLong() const {
// @@protoc_insertion_point(message_byte_size_start:Laser_proto.Laser_parameter_all)
  size_t total_size = 0;

  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
  // Prevent compiler warnings about cached_has_bits being unused
  (void) cached_has_bits;

  // repeated .Laser_proto.laser_parameter laser_parameters = 1;
  total_size += 1UL * this->_internal_laser_parameters_size();
  for (const auto& msg : this->laser_parameters_) {
    total_size +=
      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(msg);
  }

  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
    return ::PROTOBUF_NAMESPACE_ID::internal::ComputeUnknownFieldsSize(
        _internal_metadata_, total_size, &_cached_size_);
  }
  int cached_size = ::PROTOBUF_NAMESPACE_ID::internal::ToCachedSize(total_size);
  SetCachedSize(cached_size);
  return total_size;
}

void Laser_parameter_all::MergeFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) {
// @@protoc_insertion_point(generalized_merge_from_start:Laser_proto.Laser_parameter_all)
  GOOGLE_DCHECK_NE(&from, this);
  const Laser_parameter_all* source =
      ::PROTOBUF_NAMESPACE_ID::DynamicCastToGenerated<Laser_parameter_all>(
          &from);
  if (source == nullptr) {
  // @@protoc_insertion_point(generalized_merge_from_cast_fail:Laser_proto.Laser_parameter_all)
    ::PROTOBUF_NAMESPACE_ID::internal::ReflectionOps::Merge(from, this);
  } else {
  // @@protoc_insertion_point(generalized_merge_from_cast_success:Laser_proto.Laser_parameter_all)
    MergeFrom(*source);
  }
}

void Laser_parameter_all::MergeFrom(const Laser_parameter_all& from) {
// @@protoc_insertion_point(class_specific_merge_from_start:Laser_proto.Laser_parameter_all)
  GOOGLE_DCHECK_NE(&from, this);
  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
  ::PROTOBUF_NAMESPACE_ID::uint32 cached_has_bits = 0;
  (void) cached_has_bits;

  laser_parameters_.MergeFrom(from.laser_parameters_);
}

void Laser_parameter_all::CopyFrom(const ::PROTOBUF_NAMESPACE_ID::Message& from) {
// @@protoc_insertion_point(generalized_copy_from_start:Laser_proto.Laser_parameter_all)
  if (&from == this) return;
  Clear();
  MergeFrom(from);
}

void Laser_parameter_all::CopyFrom(const Laser_parameter_all& from) {
// @@protoc_insertion_point(class_specific_copy_from_start:Laser_proto.Laser_parameter_all)
  if (&from == this) return;
  Clear();
  MergeFrom(from);
}

bool Laser_parameter_all::IsInitialized() const {
  return true;
}

void Laser_parameter_all::InternalSwap(Laser_parameter_all* other) {
  using std::swap;
  _internal_metadata_.Swap<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(&other->_internal_metadata_);
  laser_parameters_.InternalSwap(&other->laser_parameters_);
}

::PROTOBUF_NAMESPACE_ID::Metadata Laser_parameter_all::GetMetadata() const {
  return GetMetadataStatic();
}


// @@protoc_insertion_point(namespace_scope)
}  // namespace Laser_proto
PROTOBUF_NAMESPACE_OPEN
template<> PROTOBUF_NOINLINE ::Laser_proto::laser_parameter* Arena::CreateMaybeMessage< ::Laser_proto::laser_parameter >(Arena* arena) {
  return Arena::CreateMessageInternal< ::Laser_proto::laser_parameter >(arena);
}
template<> PROTOBUF_NOINLINE ::Laser_proto::Laser_parameter_all* Arena::CreateMaybeMessage< ::Laser_proto::Laser_parameter_all >(Arena* arena) {
  return Arena::CreateMessageInternal< ::Laser_proto::Laser_parameter_all >(arena);
}
PROTOBUF_NAMESPACE_CLOSE

// @@protoc_insertion_point(global_scope)
#include <google/protobuf/port_undef.inc>