cs_comm.proto

/***************************************************************************
 *  OrderInstruction.proto - LLSF Protocol - Order Instruction message
 *
 *  Created: Mon Feb 25 11:37:09 2013
 *  Copyright  2013  Tim Niemueller [www.niemueller.de]
 *             2016  Tobias Neumann
 ****************************************************************************/

/*  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 * - Redistributions of source code must retain the above copyright
 *   notice, this list of conditions and the following disclaimer.
 * - Redistributions in binary form must reproduce the above copyright
 *   notice, this list of conditions and the following disclaimer in
 *   the documentation and/or other materials provided with the
 *   distribution.
 * - Neither the name of the authors nor the names of its contributors
 *   may be used to endorse or promote products derived from this
 *   software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
 * OF THE POSSIBILITY OF SUCH DAMAGE.
 */
syntax = "proto3";

package mapit.msgs;

message Request {
  enum CompType {
    PROTO_3  = 0;
    COMP_ID  = 1000;
    MSG_TYPE = 01;
  }

  enum Type {
    TEXT_OUTPUT = 0;
    POINTCLOUD = 1;
  }

  string   sender_name = 1;
  Type     type = 2;
}

message PCLPointCloud2_empty {
  enum CompType {
    PROTO_3  = 0;
    COMP_ID  = 3000;
    MSG_TYPE = 01;
  }
  PCLHeader     header       = 1;
  uint32        height       = 2;
  uint32        width        = 3;
  repeated PCLPointField fields       = 4;
  uint32        is_bigendian = 5;
  uint32        point_step   = 6;
  uint32        row_step     = 7;
  bool          is_dense     = 9;
}

message PCLHeader {
  enum CompType {
    PROTO_3  = 0;
    COMP_ID  = 2000;
    MSG_TYPE = 01;
  }

  uint32 seq      = 1;
  uint64 stamp    = 2;
  string frame_id = 3;
}

message PCLPointField {
  enum CompType {
    PROTO_3  = 0;
    COMP_ID  = 2000;
    MSG_TYPE = 02;
  }

  string name     = 1;
  uint32 offset   = 2;
  uint32 datatype = 3;
  uint32 count    = 4;
}

message PCLPointCloud2 {
  enum CompType {
    PROTO_3  = 0;
    COMP_ID  = 2000;
    MSG_TYPE = 03;
  }

  PCLHeader     header       = 1;
  uint32        height       = 2;
  uint32        width        = 3;
  repeated PCLPointField fields       = 4;
  uint32        is_bigendian = 5;
  uint32        point_step   = 6;
  uint32        row_step     = 7;
  bytes         data         = 8;
  bool          is_dense     = 9;

}