syntax = "proto3";

package lidar;

message LidarMap{
    repeated int32 x = 1;
    repeated int32 y = 2;
}

message LidarRequest{
    bool continuous = 1;
    int32 readRate = 2;
    int32 numMaps = 3;
}

message StopRequest{
    bool stop = 1;
}

message StopResponse{
    bool stopped = 1;
}


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