can_config.proto

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syntax = "proto2";
import "goby/protobuf/option_extensions.proto";
import "dccl/option_extensions.proto";
 
package goby.middleware.protobuf;
 
message CanConfig
{
    option (dccl.msg) = {
        unit_system: "si"
    };
 
    required string interface = 1
        [(goby.field) = {example: "can0" description: "Can interface"}];
 
    message CanFilter
    {
        enum CanMask
        {
            StandardFrameFormat = 0x000007FF;
            ExtendedFrameFormat = 0x1FFFFFFF;
            PGNOnly = 0x01FFFF00;
        };
        required uint32 can_id = 1;
        oneof mask
        {
            CanMask can_mask = 2 [default = ExtendedFrameFormat];
            uint32 can_mask_custom = 3;
        }
    }
 
    repeated CanFilter filter = 2;
    repeated uint32 pgn_filter = 3;
}