syntax = "proto3";

message SlamDetails {
    int32 map_size_pixels = 1;
    int32 map_size_meters = 2;
    int32 port = 3;
}

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) {}
}