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Format files and add gRPC stream support.

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This commit is contained in:
Piv
2020-05-03 16:10:40 +09:30
parent ff73d09855
commit 7fb20f9d86
14 changed files with 346 additions and 105 deletions
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6
protobuf/src/main/proto/car/control/motorService.proto
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@@ -25,6 +25,11 @@ message SteeringResponse{
bool steeringSet = 1;
}
message Vehicle2DRequest{
ThrottleRequest throttle = 1;
SteeringRequest steering = 2;
}
message RecordingReqeust{
bool record = 1;
}
@@ -36,6 +41,7 @@ message SaveRequest{
service CarControl{
rpc set_throttle(ThrottleRequest) returns (ThrottleResponse){}
rpc set_steering(SteeringRequest) returns (SteeringResponse){}
rpc stream_vehicle_2d(stream Vehicle2DRequest) returns (google.protobuf.Empty){}
rpc record(RecordingReqeust) returns (google.protobuf.Empty) {}
rpc save_recorded_data(SaveRequest) returns (google.protobuf.Empty) {}
}

2
protobuf/src/main/proto/car/slam/SlamController.proto
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@@ -29,5 +29,7 @@ message SlamScan{
service SlamControl {
rpc start_map_streaming(SlamDetails) returns (google.protobuf.Empty) {}
rpc map_stream(SlamDetails) returns (stream SlamScan) {}
rpc stop_streaming(google.protobuf.Empty) returns (google.protobuf.Empty) {}
}