Rework lidar cache to support grpc streaming

2020-05-31 16:01:43 +09:30
parent 7750fa80d7
commit 31d6bed897
5 changed files with 105 additions and 30 deletions
--- a/protobuf/src/main/proto/car/tracking/lidar_tracker.proto
+++ b/protobuf/src/main/proto/car/tracking/lidar_tracker.proto
@@ -24,6 +24,9 @@ message PointScan{
    repeated Point points = 1;
 }

+message StreamMessage{
+    float time_between_messages = 1;
+}

 service PersonTracking{
    rpc set_tracking_group(Int32Value) returns (google.protobuf.Empty) {}
@@ -36,4 +39,6 @@ service PersonTracking{

    rpc save_lidar(MotorControl.SaveRequest) returns (google.protobuf.Empty) {}

+    rpc lidar_stream(StreamMessage) returns (stream PointScan) {}
+
 }