syntax = "proto3";

package SlamControl;

option java_multiple_files = true;
option java_package = "org.vato.carcontroller";
option java_outer_classname = "SlamControllerProto";

message SlamDetails {
    int32 map_size_pixels = 1;
    int32 map_size_meters = 2;
}

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;
}

message StartMapStreamingResponse {

}

message StopStreamingRequest {

}

message StopStreamingResponse {

}

service SlamControl {
    rpc start_map_streaming(SlamDetails) returns (StartMapStreamingResponse) {}

    rpc map_stream(SlamDetails) returns (stream SlamScan) {}

    rpc stop_streaming(StopStreamingRequest) returns (StopStreamingResponse) {}
}