35 lines
728 B
Protocol Buffer
35 lines
728 B
Protocol Buffer
syntax = "proto3";
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option java_multiple_files = true;
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option java_package = "org.vato.carcontroller";
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option java_outer_classname = "SlamControllerProto";
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import "google/protobuf/empty.proto";
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message SlamDetails {
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int32 map_size_pixels = 1;
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int32 map_size_meters = 2;
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}
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message SlamRow{
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repeated int32 points = 1;
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}
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message SlamLocation{
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float x = 1;
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float y = 2;
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float theta = 3;
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}
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message SlamScan{
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bytes map = 1;
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SlamLocation location = 2;
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}
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service SlamControl {
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rpc start_map_streaming(SlamDetails) returns (google.protobuf.Empty) {}
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rpc map_stream(SlamDetails) returns (stream SlamScan) {}
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rpc stop_streaming(google.protobuf.Empty) returns (google.protobuf.Empty) {}
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} |