syntax = "proto3";

package lidar;

message LidarMap{
    repeated Row rows = 1;
}

message Row{
    repeated int32 x = 1;
}

message LidarRequest{
    int32 numColumns = 1;
    int32 numRows = 2;
    bool continuous = 3;
    int32 readRate = 4;
    int32 numMaps = 5;
}

message StopRequest{
    bool stop = 1;
}

message StopResponse{
    bool stopped = 1;
}


service LidarService{
    rpc GetMaps(LidarRequest) returns (stream LidarMap) {}
    rpc Stop(StopRequest) returns (StopResponse) {}
}