Initial Commit

app/src/main/proto/SlamController.proto

@@ -0,0 +1,31 @@
+syntax = "proto3";
+
+message SlamDetails {
+    int32 map_size_pixels = 1;
+    int32 map_size_meters = 2;
+}
+
+message SlamRow{
+    repeated int32 points = 1;
+}
+
+message SlamLocation{
+    int32 x = 1;
+    int32 y = 2;
+    int32 theta = 3;
+}
+
+message SlamScan{
+    bytes map = 1;
+    SlamLocation location = 2;
+}
+
+message Empty{
+
+}
+
+service SlamControl {
+    rpc start_map_streaming(SlamDetails) returns (Empty) {}
+
+    rpc stop_streaming(Empty) returns (Empty) {}
+}