Use the throttle as the heartbeat message.

2019-09-22 19:45:49 +09:30
parent d14bae53f6
commit 37622b58f8
4 changed files with 11 additions and 126 deletions
--- a/MotorControl/protos/motorService.proto
+++ b/MotorControl/protos/motorService.proto
@@ -18,16 +18,7 @@ message SteeringResponse{
    bool steeringSet = 1;
 }

-message HeartbeatCheck{
-    bool continue = 1;
-}
-
-message HeartbeatCheckResponse{
-    string errorMessage = 1;
-}
-
 service CarControl{
-    rpc SetThrottle(ThrottleRequest) returns (ThrottleResponse){}
+    rpc SetThrottle(stream ThrottleRequest) returns (ThrottleResponse){}
    rpc SetSteering(SteeringRequest) returns (SteeringResponse){}
-    rpc Heartbeat(HeartbeatCheck) returns (HeartbeatCheckResponse){}
 }