Create multiproject build, add python grpc build support

protobuf/.gitignore

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+/build
+build

protobuf/build.gradle

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+plugins {
+    id 'java'
+    id 'com.google.protobuf'
+    id 'idea'
+}
+
+configurations {
+
+    // For grpc python codegen.
+    python {
+        canBeResolved = false
+        canBeConsumed = true
+    }
+}
+
+protobuf {
+    protoc { artifact = 'com.google.protobuf:protoc:3.11.0' }
+    plugins {
+        grpc {
+            artifact = 'io.grpc:protoc-gen-grpc-java:1.28.1' // CURRENT_GRPC_VERSION
+        }
+        grpc_python { path = "$projectDir/grpc_python_plugin" }
+    }
+    generateProtoTasks {
+        all().each { task ->
+            task.builtins {
+                java { option 'lite' }
+
+                python {}
+            }
+            task.plugins {
+                grpc { // Options added to --grpc_out
+                    option 'lite'
+                }
+                grpc_python {
+                    outputSubDir = 'python'
+                }
+            }
+        }
+    }
+}
+
+dependencies {
+    implementation 'io.grpc:grpc-okhttp:1.28.1' // CURRENT_GRPC_VERSION
+    implementation 'io.grpc:grpc-protobuf-lite:1.28.1' // CURRENT_GRPC_VERSION
+    implementation 'io.grpc:grpc-stub:1.28.1' // CURRENT_GRPC_VERSION
+    implementation 'javax.annotation:javax.annotation-api:1.2'
+}

protobuf/src/main/proto/SlamController.proto

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+syntax = "proto3";
+
+option java_multiple_files = true;
+option java_package = "org.vato.carcontroller";
+option java_outer_classname = "SlamControllerProto";
+
+import "empty.proto";
+
+message SlamDetails {
+    int32 map_size_pixels = 1;
+    int32 map_size_meters = 2;
+    int32 port = 3;
+}
+
+message SlamRow{
+    repeated int32 points = 1;
+}
+
+message SlamLocation{
+    float x = 1;
+    float y = 2;
+    float theta = 3;
+}
+
+message SlamScan{
+    bytes map = 1;
+    SlamLocation location = 2;
+}
+
+service SlamControl {
+    rpc start_map_streaming(SlamDetails) returns (Empty) {}
+
+    rpc stop_streaming(Empty) returns (Empty) {}
+}

protobuf/src/main/proto/empty.proto

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+syntax = "proto3";
+
+option java_multiple_files = true;
+option java_package = "org.vato.carcontroller";
+option java_outer_classname = "EmptyProto";
+
+message Empty{
+
+}

protobuf/src/main/proto/lidar_tracker.proto

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+syntax = "proto3";
+
+package persontracking;
+
+option java_multiple_files = true;
+option java_package = "org.vato.carcontroller";
+option java_outer_classname = "PersonTrackingProto";
+
+import "empty.proto";
+
+message Int32Value{
+    int32 value = 1;
+}
+
+message Point{
+    double angle = 1;
+    int32 distance = 2;
+    int32 group_number = 3;
+}
+
+message PointScan{
+    repeated Point points = 1;
+}
+
+service PersonTracking{
+    rpc set_tracking_group(Int32Value) returns (Empty) {}
+
+    rpc stop_tracking(Empty) returns (Empty) {}
+
+    rpc start_tracking(Int32Value) returns (Empty) {}
+}

protobuf/src/main/proto/motorService.proto

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+syntax = "proto3";
+
+
+package MotorControl;
+
+option java_multiple_files = true;
+option java_package = "org.vato.carcontroller";
+option java_outer_classname = "MotorServiceProto";
+
+message ThrottleRequest{
+    float throttle = 1;
+}
+
+message ThrottleResponse{
+    bool throttleSet = 1;
+}
+
+message SteeringRequest{
+    float steering = 1;
+}
+
+message SteeringResponse{
+    bool steeringSet = 1;
+}
+
+service CarControl{
+    rpc SetThrottle(ThrottleRequest) returns (ThrottleResponse){}
+    rpc SetSteering(SteeringRequest) returns (SteeringResponse){}
+}