diff --git a/events/events.proto b/events/events.proto
index 825677c..69e4d73 100644
--- a/events/events.proto
+++ b/events/events.proto
@@ -15,6 +15,14 @@ message FrameMessage {
     bytes frame = 2;
 }
 
+message DisparityMessage {
+    FrameRef frame_ref= 1;
+    bytes disparity = 2;
+    double focal_length_in_pixels = 3;
+    // the distance between two mono cameras
+    double baseline_in_mm = 4;
+}
+
 message SteeringMessage {
     float steering = 1;
     float confidence = 2;
diff --git a/go/events/events.pb.go b/go/events/events.pb.go
index 39dd815..d26cb21 100644
--- a/go/events/events.pb.go
+++ b/go/events/events.pb.go
@@ -295,6 +295,78 @@ func (x *FrameMessage) GetFrame() []byte {
 	return nil
 }
 
+type DisparityMessage struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	FrameRef            *FrameRef `protobuf:"bytes,1,opt,name=frame_ref,json=frameRef,proto3" json:"frame_ref,omitempty"`
+	Disparity           []byte    `protobuf:"bytes,2,opt,name=disparity,proto3" json:"disparity,omitempty"`
+	FocalLengthInPixels float64   `protobuf:"fixed64,3,opt,name=focal_length_in_pixels,json=focalLengthInPixels,proto3" json:"focal_length_in_pixels,omitempty"`
+	// the distance between two mono cameras
+	BaselineInMm float64 `protobuf:"fixed64,4,opt,name=baseline_in_mm,json=baselineInMm,proto3" json:"baseline_in_mm,omitempty"`
+}
+
+func (x *DisparityMessage) Reset() {
+	*x = DisparityMessage{}
+	if protoimpl.UnsafeEnabled {
+		mi := &file_events_events_proto_msgTypes[2]
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		ms.StoreMessageInfo(mi)
+	}
+}
+
+func (x *DisparityMessage) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*DisparityMessage) ProtoMessage() {}
+
+func (x *DisparityMessage) ProtoReflect() protoreflect.Message {
+	mi := &file_events_events_proto_msgTypes[2]
+	if protoimpl.UnsafeEnabled && x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use DisparityMessage.ProtoReflect.Descriptor instead.
+func (*DisparityMessage) Descriptor() ([]byte, []int) {
+	return file_events_events_proto_rawDescGZIP(), []int{2}
+}
+
+func (x *DisparityMessage) GetFrameRef() *FrameRef {
+	if x != nil {
+		return x.FrameRef
+	}
+	return nil
+}
+
+func (x *DisparityMessage) GetDisparity() []byte {
+	if x != nil {
+		return x.Disparity
+	}
+	return nil
+}
+
+func (x *DisparityMessage) GetFocalLengthInPixels() float64 {
+	if x != nil {
+		return x.FocalLengthInPixels
+	}
+	return 0
+}
+
+func (x *DisparityMessage) GetBaselineInMm() float64 {
+	if x != nil {
+		return x.BaselineInMm
+	}
+	return 0
+}
+
 type SteeringMessage struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -308,7 +380,7 @@ type SteeringMessage struct {
 func (x *SteeringMessage) Reset() {
 	*x = SteeringMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[2]
+		mi := &file_events_events_proto_msgTypes[3]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -321,7 +393,7 @@ func (x *SteeringMessage) String() string {
 func (*SteeringMessage) ProtoMessage() {}
 
 func (x *SteeringMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[2]
+	mi := &file_events_events_proto_msgTypes[3]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -334,7 +406,7 @@ func (x *SteeringMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use SteeringMessage.ProtoReflect.Descriptor instead.
 func (*SteeringMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{2}
+	return file_events_events_proto_rawDescGZIP(), []int{3}
 }
 
 func (x *SteeringMessage) GetSteering() float32 {
@@ -371,7 +443,7 @@ type ThrottleMessage struct {
 func (x *ThrottleMessage) Reset() {
 	*x = ThrottleMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[3]
+		mi := &file_events_events_proto_msgTypes[4]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -384,7 +456,7 @@ func (x *ThrottleMessage) String() string {
 func (*ThrottleMessage) ProtoMessage() {}
 
 func (x *ThrottleMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[3]
+	mi := &file_events_events_proto_msgTypes[4]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -397,7 +469,7 @@ func (x *ThrottleMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use ThrottleMessage.ProtoReflect.Descriptor instead.
 func (*ThrottleMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{3}
+	return file_events_events_proto_rawDescGZIP(), []int{4}
 }
 
 func (x *ThrottleMessage) GetThrottle() float32 {
@@ -434,7 +506,7 @@ type SpeedZoneMessage struct {
 func (x *SpeedZoneMessage) Reset() {
 	*x = SpeedZoneMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[4]
+		mi := &file_events_events_proto_msgTypes[5]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -447,7 +519,7 @@ func (x *SpeedZoneMessage) String() string {
 func (*SpeedZoneMessage) ProtoMessage() {}
 
 func (x *SpeedZoneMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[4]
+	mi := &file_events_events_proto_msgTypes[5]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -460,7 +532,7 @@ func (x *SpeedZoneMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use SpeedZoneMessage.ProtoReflect.Descriptor instead.
 func (*SpeedZoneMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{4}
+	return file_events_events_proto_rawDescGZIP(), []int{5}
 }
 
 func (x *SpeedZoneMessage) GetSpeedZone() SpeedZone {
@@ -495,7 +567,7 @@ type DriveModeMessage struct {
 func (x *DriveModeMessage) Reset() {
 	*x = DriveModeMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[5]
+		mi := &file_events_events_proto_msgTypes[6]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -508,7 +580,7 @@ func (x *DriveModeMessage) String() string {
 func (*DriveModeMessage) ProtoMessage() {}
 
 func (x *DriveModeMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[5]
+	mi := &file_events_events_proto_msgTypes[6]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -521,7 +593,7 @@ func (x *DriveModeMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use DriveModeMessage.ProtoReflect.Descriptor instead.
 func (*DriveModeMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{5}
+	return file_events_events_proto_rawDescGZIP(), []int{6}
 }
 
 func (x *DriveModeMessage) GetDriveMode() DriveMode {
@@ -543,7 +615,7 @@ type ObjectsMessage struct {
 func (x *ObjectsMessage) Reset() {
 	*x = ObjectsMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[6]
+		mi := &file_events_events_proto_msgTypes[7]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -556,7 +628,7 @@ func (x *ObjectsMessage) String() string {
 func (*ObjectsMessage) ProtoMessage() {}
 
 func (x *ObjectsMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[6]
+	mi := &file_events_events_proto_msgTypes[7]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -569,7 +641,7 @@ func (x *ObjectsMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use ObjectsMessage.ProtoReflect.Descriptor instead.
 func (*ObjectsMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{6}
+	return file_events_events_proto_rawDescGZIP(), []int{7}
 }
 
 func (x *ObjectsMessage) GetObjects() []*Object {
@@ -603,7 +675,7 @@ type Object struct {
 func (x *Object) Reset() {
 	*x = Object{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[7]
+		mi := &file_events_events_proto_msgTypes[8]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -616,7 +688,7 @@ func (x *Object) String() string {
 func (*Object) ProtoMessage() {}
 
 func (x *Object) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[7]
+	mi := &file_events_events_proto_msgTypes[8]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -629,7 +701,7 @@ func (x *Object) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Object.ProtoReflect.Descriptor instead.
 func (*Object) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{7}
+	return file_events_events_proto_rawDescGZIP(), []int{8}
 }
 
 func (x *Object) GetType() TypeObject {
@@ -685,7 +757,7 @@ type SwitchRecordMessage struct {
 func (x *SwitchRecordMessage) Reset() {
 	*x = SwitchRecordMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[8]
+		mi := &file_events_events_proto_msgTypes[9]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -698,7 +770,7 @@ func (x *SwitchRecordMessage) String() string {
 func (*SwitchRecordMessage) ProtoMessage() {}
 
 func (x *SwitchRecordMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[8]
+	mi := &file_events_events_proto_msgTypes[9]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -711,7 +783,7 @@ func (x *SwitchRecordMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use SwitchRecordMessage.ProtoReflect.Descriptor instead.
 func (*SwitchRecordMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{8}
+	return file_events_events_proto_rawDescGZIP(), []int{9}
 }
 
 func (x *SwitchRecordMessage) GetEnabled() bool {
@@ -735,7 +807,7 @@ type RoadMessage struct {
 func (x *RoadMessage) Reset() {
 	*x = RoadMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[9]
+		mi := &file_events_events_proto_msgTypes[10]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -748,7 +820,7 @@ func (x *RoadMessage) String() string {
 func (*RoadMessage) ProtoMessage() {}
 
 func (x *RoadMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[9]
+	mi := &file_events_events_proto_msgTypes[10]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -761,7 +833,7 @@ func (x *RoadMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use RoadMessage.ProtoReflect.Descriptor instead.
 func (*RoadMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{9}
+	return file_events_events_proto_rawDescGZIP(), []int{10}
 }
 
 func (x *RoadMessage) GetContour() []*Point {
@@ -797,7 +869,7 @@ type Point struct {
 func (x *Point) Reset() {
 	*x = Point{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[10]
+		mi := &file_events_events_proto_msgTypes[11]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -810,7 +882,7 @@ func (x *Point) String() string {
 func (*Point) ProtoMessage() {}
 
 func (x *Point) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[10]
+	mi := &file_events_events_proto_msgTypes[11]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -823,7 +895,7 @@ func (x *Point) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Point.ProtoReflect.Descriptor instead.
 func (*Point) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{10}
+	return file_events_events_proto_rawDescGZIP(), []int{11}
 }
 
 func (x *Point) GetX() int32 {
@@ -855,7 +927,7 @@ type Ellipse struct {
 func (x *Ellipse) Reset() {
 	*x = Ellipse{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[11]
+		mi := &file_events_events_proto_msgTypes[12]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -868,7 +940,7 @@ func (x *Ellipse) String() string {
 func (*Ellipse) ProtoMessage() {}
 
 func (x *Ellipse) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[11]
+	mi := &file_events_events_proto_msgTypes[12]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -881,7 +953,7 @@ func (x *Ellipse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Ellipse.ProtoReflect.Descriptor instead.
 func (*Ellipse) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{11}
+	return file_events_events_proto_rawDescGZIP(), []int{12}
 }
 
 func (x *Ellipse) GetCenter() *Point {
@@ -935,7 +1007,7 @@ type RecordMessage struct {
 func (x *RecordMessage) Reset() {
 	*x = RecordMessage{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_events_events_proto_msgTypes[12]
+		mi := &file_events_events_proto_msgTypes[13]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -948,7 +1020,7 @@ func (x *RecordMessage) String() string {
 func (*RecordMessage) ProtoMessage() {}
 
 func (x *RecordMessage) ProtoReflect() protoreflect.Message {
-	mi := &file_events_events_proto_msgTypes[12]
+	mi := &file_events_events_proto_msgTypes[13]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -961,7 +1033,7 @@ func (x *RecordMessage) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use RecordMessage.ProtoReflect.Descriptor instead.
 func (*RecordMessage) Descriptor() ([]byte, []int) {
-	return file_events_events_proto_rawDescGZIP(), []int{12}
+	return file_events_events_proto_rawDescGZIP(), []int{13}
 }
 
 func (x *RecordMessage) GetFrame() *FrameMessage {
@@ -1018,114 +1090,127 @@ var file_events_events_proto_rawDesc = []byte{
 	0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46,
 	0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x52, 0x02, 0x69, 0x64, 0x12, 0x14, 0x0a, 0x05, 0x66,
 	0x72, 0x61, 0x6d, 0x65, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0c, 0x52, 0x05, 0x66, 0x72, 0x61, 0x6d,
-	0x65, 0x22, 0x84, 0x01, 0x0a, 0x0f, 0x53, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x4d, 0x65,
-	0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x1a, 0x0a, 0x08, 0x73, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e,
-	0x67, 0x18, 0x01, 0x20, 0x01, 0x28, 0x02, 0x52, 0x08, 0x73, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e,
-	0x67, 0x12, 0x1e, 0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x18,
-	0x02, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63,
-	0x65, 0x12, 0x35, 0x0a, 0x09, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x72, 0x65, 0x66, 0x18, 0x03,
-	0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65,
-	0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x52, 0x08,
-	0x66, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x22, 0x84, 0x01, 0x0a, 0x0f, 0x54, 0x68, 0x72,
-	0x6f, 0x74, 0x74, 0x6c, 0x65, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x1a, 0x0a, 0x08,
-	0x74, 0x68, 0x72, 0x6f, 0x74, 0x74, 0x6c, 0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x02, 0x52, 0x08,
-	0x74, 0x68, 0x72, 0x6f, 0x74, 0x74, 0x6c, 0x65, 0x12, 0x1e, 0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66,
-	0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x18, 0x02, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f,
-	0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x12, 0x35, 0x0a, 0x09, 0x66, 0x72, 0x61, 0x6d,
-	0x65, 0x5f, 0x72, 0x65, 0x66, 0x18, 0x03, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f,
-	0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46, 0x72, 0x61,
-	0x6d, 0x65, 0x52, 0x65, 0x66, 0x52, 0x08, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x22,
-	0xa3, 0x01, 0x0a, 0x10, 0x53, 0x70, 0x65, 0x65, 0x64, 0x5a, 0x6f, 0x6e, 0x65, 0x4d, 0x65, 0x73,
-	0x73, 0x61, 0x67, 0x65, 0x12, 0x38, 0x0a, 0x0a, 0x73, 0x70, 0x65, 0x65, 0x64, 0x5f, 0x7a, 0x6f,
-	0x6e, 0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0e, 0x32, 0x19, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63,
-	0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x53, 0x70, 0x65, 0x65, 0x64, 0x5a,
-	0x6f, 0x6e, 0x65, 0x52, 0x09, 0x73, 0x70, 0x65, 0x65, 0x64, 0x5a, 0x6f, 0x6e, 0x65, 0x12, 0x1e,
-	0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x18, 0x02, 0x20, 0x01,
-	0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x12, 0x35,
-	0x0a, 0x09, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x72, 0x65, 0x66, 0x18, 0x03, 0x20, 0x01, 0x28,
-	0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e,
-	0x74, 0x73, 0x2e, 0x46, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x52, 0x08, 0x66, 0x72, 0x61,
-	0x6d, 0x65, 0x52, 0x65, 0x66, 0x22, 0x4c, 0x0a, 0x10, 0x44, 0x72, 0x69, 0x76, 0x65, 0x4d, 0x6f,
-	0x64, 0x65, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x38, 0x0a, 0x0a, 0x64, 0x72, 0x69,
-	0x76, 0x65, 0x5f, 0x6d, 0x6f, 0x64, 0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0e, 0x32, 0x19, 0x2e,
-	0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x44,
-	0x72, 0x69, 0x76, 0x65, 0x4d, 0x6f, 0x64, 0x65, 0x52, 0x09, 0x64, 0x72, 0x69, 0x76, 0x65, 0x4d,
-	0x6f, 0x64, 0x65, 0x22, 0x79, 0x0a, 0x0e, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x73, 0x4d, 0x65,
-	0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x30, 0x0a, 0x07, 0x6f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x73,
-	0x18, 0x01, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x16, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72,
-	0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x52, 0x07,
-	0x6f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x73, 0x12, 0x35, 0x0a, 0x09, 0x66, 0x72, 0x61, 0x6d, 0x65,
-	0x5f, 0x72, 0x65, 0x66, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f, 0x62,
+	0x65, 0x22, 0xc2, 0x01, 0x0a, 0x10, 0x44, 0x69, 0x73, 0x70, 0x61, 0x72, 0x69, 0x74, 0x79, 0x4d,
+	0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x35, 0x0a, 0x09, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f,
+	0x72, 0x65, 0x66, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f, 0x62, 0x6f,
+	0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46, 0x72, 0x61, 0x6d, 0x65,
+	0x52, 0x65, 0x66, 0x52, 0x08, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x12, 0x1c, 0x0a,
+	0x09, 0x64, 0x69, 0x73, 0x70, 0x61, 0x72, 0x69, 0x74, 0x79, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0c,
+	0x52, 0x09, 0x64, 0x69, 0x73, 0x70, 0x61, 0x72, 0x69, 0x74, 0x79, 0x12, 0x33, 0x0a, 0x16, 0x66,
+	0x6f, 0x63, 0x61, 0x6c, 0x5f, 0x6c, 0x65, 0x6e, 0x67, 0x74, 0x68, 0x5f, 0x69, 0x6e, 0x5f, 0x70,
+	0x69, 0x78, 0x65, 0x6c, 0x73, 0x18, 0x03, 0x20, 0x01, 0x28, 0x01, 0x52, 0x13, 0x66, 0x6f, 0x63,
+	0x61, 0x6c, 0x4c, 0x65, 0x6e, 0x67, 0x74, 0x68, 0x49, 0x6e, 0x50, 0x69, 0x78, 0x65, 0x6c, 0x73,
+	0x12, 0x24, 0x0a, 0x0e, 0x62, 0x61, 0x73, 0x65, 0x6c, 0x69, 0x6e, 0x65, 0x5f, 0x69, 0x6e, 0x5f,
+	0x6d, 0x6d, 0x18, 0x04, 0x20, 0x01, 0x28, 0x01, 0x52, 0x0c, 0x62, 0x61, 0x73, 0x65, 0x6c, 0x69,
+	0x6e, 0x65, 0x49, 0x6e, 0x4d, 0x6d, 0x22, 0x84, 0x01, 0x0a, 0x0f, 0x53, 0x74, 0x65, 0x65, 0x72,
+	0x69, 0x6e, 0x67, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x1a, 0x0a, 0x08, 0x73, 0x74,
+	0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x18, 0x01, 0x20, 0x01, 0x28, 0x02, 0x52, 0x08, 0x73, 0x74,
+	0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x12, 0x1e, 0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64,
+	0x65, 0x6e, 0x63, 0x65, 0x18, 0x02, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e, 0x66,
+	0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x12, 0x35, 0x0a, 0x09, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f,
+	0x72, 0x65, 0x66, 0x18, 0x03, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f, 0x62, 0x6f,
+	0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46, 0x72, 0x61, 0x6d, 0x65,
+	0x52, 0x65, 0x66, 0x52, 0x08, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x22, 0x84, 0x01,
+	0x0a, 0x0f, 0x54, 0x68, 0x72, 0x6f, 0x74, 0x74, 0x6c, 0x65, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67,
+	0x65, 0x12, 0x1a, 0x0a, 0x08, 0x74, 0x68, 0x72, 0x6f, 0x74, 0x74, 0x6c, 0x65, 0x18, 0x01, 0x20,
+	0x01, 0x28, 0x02, 0x52, 0x08, 0x74, 0x68, 0x72, 0x6f, 0x74, 0x74, 0x6c, 0x65, 0x12, 0x1e, 0x0a,
+	0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x18, 0x02, 0x20, 0x01, 0x28,
+	0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x12, 0x35, 0x0a,
+	0x09, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x72, 0x65, 0x66, 0x18, 0x03, 0x20, 0x01, 0x28, 0x0b,
+	0x32, 0x18, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74,
+	0x73, 0x2e, 0x46, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x52, 0x08, 0x66, 0x72, 0x61, 0x6d,
+	0x65, 0x52, 0x65, 0x66, 0x22, 0xa3, 0x01, 0x0a, 0x10, 0x53, 0x70, 0x65, 0x65, 0x64, 0x5a, 0x6f,
+	0x6e, 0x65, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x38, 0x0a, 0x0a, 0x73, 0x70, 0x65,
+	0x65, 0x64, 0x5f, 0x7a, 0x6f, 0x6e, 0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0e, 0x32, 0x19, 0x2e,
+	0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x53,
+	0x70, 0x65, 0x65, 0x64, 0x5a, 0x6f, 0x6e, 0x65, 0x52, 0x09, 0x73, 0x70, 0x65, 0x65, 0x64, 0x5a,
+	0x6f, 0x6e, 0x65, 0x12, 0x1e, 0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63,
+	0x65, 0x18, 0x02, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65,
+	0x6e, 0x63, 0x65, 0x12, 0x35, 0x0a, 0x09, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x72, 0x65, 0x66,
+	0x18, 0x03, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72,
+	0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66,
+	0x52, 0x08, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x22, 0x4c, 0x0a, 0x10, 0x44, 0x72,
+	0x69, 0x76, 0x65, 0x4d, 0x6f, 0x64, 0x65, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x38,
+	0x0a, 0x0a, 0x64, 0x72, 0x69, 0x76, 0x65, 0x5f, 0x6d, 0x6f, 0x64, 0x65, 0x18, 0x01, 0x20, 0x01,
+	0x28, 0x0e, 0x32, 0x19, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65,
+	0x6e, 0x74, 0x73, 0x2e, 0x44, 0x72, 0x69, 0x76, 0x65, 0x4d, 0x6f, 0x64, 0x65, 0x52, 0x09, 0x64,
+	0x72, 0x69, 0x76, 0x65, 0x4d, 0x6f, 0x64, 0x65, 0x22, 0x79, 0x0a, 0x0e, 0x4f, 0x62, 0x6a, 0x65,
+	0x63, 0x74, 0x73, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x30, 0x0a, 0x07, 0x6f, 0x62,
+	0x6a, 0x65, 0x63, 0x74, 0x73, 0x18, 0x01, 0x20, 0x03, 0x28, 0x0b, 0x32, 0x16, 0x2e, 0x72, 0x6f,
+	0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x4f, 0x62, 0x6a,
+	0x65, 0x63, 0x74, 0x52, 0x07, 0x6f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x73, 0x12, 0x35, 0x0a, 0x09,
+	0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x72, 0x65, 0x66, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0b, 0x32,
+	0x18, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73,
+	0x2e, 0x46, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x52, 0x08, 0x66, 0x72, 0x61, 0x6d, 0x65,
+	0x52, 0x65, 0x66, 0x22, 0xac, 0x01, 0x0a, 0x06, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x12, 0x2e,
+	0x0a, 0x04, 0x74, 0x79, 0x70, 0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0e, 0x32, 0x1a, 0x2e, 0x72,
+	0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x54, 0x79,
+	0x70, 0x65, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x52, 0x04, 0x74, 0x79, 0x70, 0x65, 0x12, 0x12,
+	0x0a, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x18, 0x02, 0x20, 0x01, 0x28, 0x02, 0x52, 0x04, 0x6c, 0x65,
+	0x66, 0x74, 0x12, 0x10, 0x0a, 0x03, 0x74, 0x6f, 0x70, 0x18, 0x03, 0x20, 0x01, 0x28, 0x02, 0x52,
+	0x03, 0x74, 0x6f, 0x70, 0x12, 0x14, 0x0a, 0x05, 0x72, 0x69, 0x67, 0x68, 0x74, 0x18, 0x04, 0x20,
+	0x01, 0x28, 0x02, 0x52, 0x05, 0x72, 0x69, 0x67, 0x68, 0x74, 0x12, 0x16, 0x0a, 0x06, 0x62, 0x6f,
+	0x74, 0x74, 0x6f, 0x6d, 0x18, 0x05, 0x20, 0x01, 0x28, 0x02, 0x52, 0x06, 0x62, 0x6f, 0x74, 0x74,
+	0x6f, 0x6d, 0x12, 0x1e, 0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65,
+	0x18, 0x06, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e,
+	0x63, 0x65, 0x22, 0x2f, 0x0a, 0x13, 0x53, 0x77, 0x69, 0x74, 0x63, 0x68, 0x52, 0x65, 0x63, 0x6f,
+	0x72, 0x64, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x18, 0x0a, 0x07, 0x65, 0x6e, 0x61,
+	0x62, 0x6c, 0x65, 0x64, 0x18, 0x01, 0x20, 0x01, 0x28, 0x08, 0x52, 0x07, 0x65, 0x6e, 0x61, 0x62,
+	0x6c, 0x65, 0x64, 0x22, 0xa8, 0x01, 0x0a, 0x0b, 0x52, 0x6f, 0x61, 0x64, 0x4d, 0x65, 0x73, 0x73,
+	0x61, 0x67, 0x65, 0x12, 0x2f, 0x0a, 0x07, 0x63, 0x6f, 0x6e, 0x74, 0x6f, 0x75, 0x72, 0x18, 0x01,
+	0x20, 0x03, 0x28, 0x0b, 0x32, 0x15, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65,
+	0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x52, 0x07, 0x63, 0x6f, 0x6e,
+	0x74, 0x6f, 0x75, 0x72, 0x12, 0x31, 0x0a, 0x07, 0x65, 0x6c, 0x6c, 0x69, 0x70, 0x73, 0x65, 0x18,
+	0x02, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x17, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e,
+	0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x45, 0x6c, 0x6c, 0x69, 0x70, 0x73, 0x65, 0x52, 0x07,
+	0x65, 0x6c, 0x6c, 0x69, 0x70, 0x73, 0x65, 0x12, 0x35, 0x0a, 0x09, 0x66, 0x72, 0x61, 0x6d, 0x65,
+	0x5f, 0x72, 0x65, 0x66, 0x18, 0x03, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f, 0x62,
 	0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46, 0x72, 0x61, 0x6d,
-	0x65, 0x52, 0x65, 0x66, 0x52, 0x08, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x22, 0xac,
-	0x01, 0x0a, 0x06, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x12, 0x2e, 0x0a, 0x04, 0x74, 0x79, 0x70,
-	0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0e, 0x32, 0x1a, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61,
-	0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x54, 0x79, 0x70, 0x65, 0x4f, 0x62, 0x6a,
-	0x65, 0x63, 0x74, 0x52, 0x04, 0x74, 0x79, 0x70, 0x65, 0x12, 0x12, 0x0a, 0x04, 0x6c, 0x65, 0x66,
-	0x74, 0x18, 0x02, 0x20, 0x01, 0x28, 0x02, 0x52, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x12, 0x10, 0x0a,
-	0x03, 0x74, 0x6f, 0x70, 0x18, 0x03, 0x20, 0x01, 0x28, 0x02, 0x52, 0x03, 0x74, 0x6f, 0x70, 0x12,
-	0x14, 0x0a, 0x05, 0x72, 0x69, 0x67, 0x68, 0x74, 0x18, 0x04, 0x20, 0x01, 0x28, 0x02, 0x52, 0x05,
-	0x72, 0x69, 0x67, 0x68, 0x74, 0x12, 0x16, 0x0a, 0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x18,
-	0x05, 0x20, 0x01, 0x28, 0x02, 0x52, 0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x12, 0x1e, 0x0a,
-	0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x18, 0x06, 0x20, 0x01, 0x28,
-	0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x22, 0x2f, 0x0a,
-	0x13, 0x53, 0x77, 0x69, 0x74, 0x63, 0x68, 0x52, 0x65, 0x63, 0x6f, 0x72, 0x64, 0x4d, 0x65, 0x73,
-	0x73, 0x61, 0x67, 0x65, 0x12, 0x18, 0x0a, 0x07, 0x65, 0x6e, 0x61, 0x62, 0x6c, 0x65, 0x64, 0x18,
-	0x01, 0x20, 0x01, 0x28, 0x08, 0x52, 0x07, 0x65, 0x6e, 0x61, 0x62, 0x6c, 0x65, 0x64, 0x22, 0xa8,
-	0x01, 0x0a, 0x0b, 0x52, 0x6f, 0x61, 0x64, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x12, 0x2f,
-	0x0a, 0x07, 0x63, 0x6f, 0x6e, 0x74, 0x6f, 0x75, 0x72, 0x18, 0x01, 0x20, 0x03, 0x28, 0x0b, 0x32,
+	0x65, 0x52, 0x65, 0x66, 0x52, 0x08, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x22, 0x23,
+	0x0a, 0x05, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x12, 0x0c, 0x0a, 0x01, 0x78, 0x18, 0x01, 0x20, 0x01,
+	0x28, 0x05, 0x52, 0x01, 0x78, 0x12, 0x0c, 0x0a, 0x01, 0x79, 0x18, 0x02, 0x20, 0x01, 0x28, 0x05,
+	0x52, 0x01, 0x79, 0x22, 0x9c, 0x01, 0x0a, 0x07, 0x45, 0x6c, 0x6c, 0x69, 0x70, 0x73, 0x65, 0x12,
+	0x2d, 0x0a, 0x06, 0x63, 0x65, 0x6e, 0x74, 0x65, 0x72, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0b, 0x32,
 	0x15, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73,
-	0x2e, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x52, 0x07, 0x63, 0x6f, 0x6e, 0x74, 0x6f, 0x75, 0x72, 0x12,
-	0x31, 0x0a, 0x07, 0x65, 0x6c, 0x6c, 0x69, 0x70, 0x73, 0x65, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0b,
-	0x32, 0x17, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74,
-	0x73, 0x2e, 0x45, 0x6c, 0x6c, 0x69, 0x70, 0x73, 0x65, 0x52, 0x07, 0x65, 0x6c, 0x6c, 0x69, 0x70,
-	0x73, 0x65, 0x12, 0x35, 0x0a, 0x09, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x72, 0x65, 0x66, 0x18,
-	0x03, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e,
-	0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x52,
-	0x08, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x22, 0x23, 0x0a, 0x05, 0x50, 0x6f, 0x69,
-	0x6e, 0x74, 0x12, 0x0c, 0x0a, 0x01, 0x78, 0x18, 0x01, 0x20, 0x01, 0x28, 0x05, 0x52, 0x01, 0x78,
-	0x12, 0x0c, 0x0a, 0x01, 0x79, 0x18, 0x02, 0x20, 0x01, 0x28, 0x05, 0x52, 0x01, 0x79, 0x22, 0x9c,
-	0x01, 0x0a, 0x07, 0x45, 0x6c, 0x6c, 0x69, 0x70, 0x73, 0x65, 0x12, 0x2d, 0x0a, 0x06, 0x63, 0x65,
-	0x6e, 0x74, 0x65, 0x72, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x15, 0x2e, 0x72, 0x6f, 0x62,
-	0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x50, 0x6f, 0x69, 0x6e,
-	0x74, 0x52, 0x06, 0x63, 0x65, 0x6e, 0x74, 0x65, 0x72, 0x12, 0x14, 0x0a, 0x05, 0x77, 0x69, 0x64,
-	0x74, 0x68, 0x18, 0x02, 0x20, 0x01, 0x28, 0x05, 0x52, 0x05, 0x77, 0x69, 0x64, 0x74, 0x68, 0x12,
-	0x16, 0x0a, 0x06, 0x68, 0x65, 0x69, 0x67, 0x68, 0x74, 0x18, 0x03, 0x20, 0x01, 0x28, 0x05, 0x52,
-	0x06, 0x68, 0x65, 0x69, 0x67, 0x68, 0x74, 0x12, 0x14, 0x0a, 0x05, 0x61, 0x6e, 0x67, 0x6c, 0x65,
-	0x18, 0x04, 0x20, 0x01, 0x28, 0x02, 0x52, 0x05, 0x61, 0x6e, 0x67, 0x6c, 0x65, 0x12, 0x1e, 0x0a,
-	0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x18, 0x05, 0x20, 0x01, 0x28,
-	0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x22, 0xaf, 0x02,
-	0x0a, 0x0d, 0x52, 0x65, 0x63, 0x6f, 0x72, 0x64, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x12,
-	0x32, 0x0a, 0x05, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x1c,
-	0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e,
-	0x46, 0x72, 0x61, 0x6d, 0x65, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x52, 0x05, 0x66, 0x72,
-	0x61, 0x6d, 0x65, 0x12, 0x3b, 0x0a, 0x08, 0x73, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x18,
-	0x02, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x1f, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e,
-	0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x53, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x4d,
-	0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x52, 0x08, 0x73, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67,
-	0x12, 0x4e, 0x0a, 0x12, 0x61, 0x75, 0x74, 0x6f, 0x70, 0x69, 0x6c, 0x6f, 0x74, 0x5f, 0x73, 0x74,
-	0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x18, 0x04, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x1f, 0x2e, 0x72,
-	0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x53, 0x74,
-	0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x52, 0x11, 0x61,
-	0x75, 0x74, 0x6f, 0x70, 0x69, 0x6c, 0x6f, 0x74, 0x53, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67,
-	0x12, 0x3f, 0x0a, 0x0a, 0x64, 0x72, 0x69, 0x76, 0x65, 0x5f, 0x6d, 0x6f, 0x64, 0x65, 0x18, 0x05,
-	0x20, 0x01, 0x28, 0x0b, 0x32, 0x20, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65,
-	0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x44, 0x72, 0x69, 0x76, 0x65, 0x4d, 0x6f, 0x64, 0x65, 0x4d,
-	0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x52, 0x09, 0x64, 0x72, 0x69, 0x76, 0x65, 0x4d, 0x6f, 0x64,
-	0x65, 0x12, 0x1c, 0x0a, 0x09, 0x72, 0x65, 0x63, 0x6f, 0x72, 0x64, 0x53, 0x65, 0x74, 0x18, 0x03,
-	0x20, 0x01, 0x28, 0x09, 0x52, 0x09, 0x72, 0x65, 0x63, 0x6f, 0x72, 0x64, 0x53, 0x65, 0x74, 0x2a,
-	0x38, 0x0a, 0x09, 0x53, 0x70, 0x65, 0x65, 0x64, 0x5a, 0x6f, 0x6e, 0x65, 0x12, 0x0b, 0x0a, 0x07,
-	0x55, 0x4e, 0x4b, 0x4e, 0x4f, 0x57, 0x4e, 0x10, 0x00, 0x12, 0x08, 0x0a, 0x04, 0x53, 0x4c, 0x4f,
-	0x57, 0x10, 0x01, 0x12, 0x0a, 0x0a, 0x06, 0x4e, 0x4f, 0x52, 0x4d, 0x41, 0x4c, 0x10, 0x02, 0x12,
-	0x08, 0x0a, 0x04, 0x46, 0x41, 0x53, 0x54, 0x10, 0x03, 0x2a, 0x3a, 0x0a, 0x09, 0x44, 0x72, 0x69,
-	0x76, 0x65, 0x4d, 0x6f, 0x64, 0x65, 0x12, 0x0b, 0x0a, 0x07, 0x49, 0x4e, 0x56, 0x41, 0x4c, 0x49,
-	0x44, 0x10, 0x00, 0x12, 0x08, 0x0a, 0x04, 0x55, 0x53, 0x45, 0x52, 0x10, 0x01, 0x12, 0x09, 0x0a,
-	0x05, 0x50, 0x49, 0x4c, 0x4f, 0x54, 0x10, 0x02, 0x12, 0x0b, 0x0a, 0x07, 0x43, 0x4f, 0x50, 0x49,
-	0x4c, 0x4f, 0x54, 0x10, 0x03, 0x2a, 0x32, 0x0a, 0x0a, 0x54, 0x79, 0x70, 0x65, 0x4f, 0x62, 0x6a,
-	0x65, 0x63, 0x74, 0x12, 0x07, 0x0a, 0x03, 0x41, 0x4e, 0x59, 0x10, 0x00, 0x12, 0x07, 0x0a, 0x03,
-	0x43, 0x41, 0x52, 0x10, 0x01, 0x12, 0x08, 0x0a, 0x04, 0x42, 0x55, 0x4d, 0x50, 0x10, 0x02, 0x12,
-	0x08, 0x0a, 0x04, 0x50, 0x4c, 0x4f, 0x54, 0x10, 0x03, 0x42, 0x0a, 0x5a, 0x08, 0x2e, 0x2f, 0x65,
-	0x76, 0x65, 0x6e, 0x74, 0x73, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
+	0x2e, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x52, 0x06, 0x63, 0x65, 0x6e, 0x74, 0x65, 0x72, 0x12, 0x14,
+	0x0a, 0x05, 0x77, 0x69, 0x64, 0x74, 0x68, 0x18, 0x02, 0x20, 0x01, 0x28, 0x05, 0x52, 0x05, 0x77,
+	0x69, 0x64, 0x74, 0x68, 0x12, 0x16, 0x0a, 0x06, 0x68, 0x65, 0x69, 0x67, 0x68, 0x74, 0x18, 0x03,
+	0x20, 0x01, 0x28, 0x05, 0x52, 0x06, 0x68, 0x65, 0x69, 0x67, 0x68, 0x74, 0x12, 0x14, 0x0a, 0x05,
+	0x61, 0x6e, 0x67, 0x6c, 0x65, 0x18, 0x04, 0x20, 0x01, 0x28, 0x02, 0x52, 0x05, 0x61, 0x6e, 0x67,
+	0x6c, 0x65, 0x12, 0x1e, 0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65,
+	0x18, 0x05, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69, 0x64, 0x65, 0x6e,
+	0x63, 0x65, 0x22, 0xaf, 0x02, 0x0a, 0x0d, 0x52, 0x65, 0x63, 0x6f, 0x72, 0x64, 0x4d, 0x65, 0x73,
+	0x73, 0x61, 0x67, 0x65, 0x12, 0x32, 0x0a, 0x05, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x18, 0x01, 0x20,
+	0x01, 0x28, 0x0b, 0x32, 0x1c, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76,
+	0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46, 0x72, 0x61, 0x6d, 0x65, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67,
+	0x65, 0x52, 0x05, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x12, 0x3b, 0x0a, 0x08, 0x73, 0x74, 0x65, 0x65,
+	0x72, 0x69, 0x6e, 0x67, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x1f, 0x2e, 0x72, 0x6f, 0x62,
+	0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x53, 0x74, 0x65, 0x65,
+	0x72, 0x69, 0x6e, 0x67, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x52, 0x08, 0x73, 0x74, 0x65,
+	0x65, 0x72, 0x69, 0x6e, 0x67, 0x12, 0x4e, 0x0a, 0x12, 0x61, 0x75, 0x74, 0x6f, 0x70, 0x69, 0x6c,
+	0x6f, 0x74, 0x5f, 0x73, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x18, 0x04, 0x20, 0x01, 0x28,
+	0x0b, 0x32, 0x1f, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e,
+	0x74, 0x73, 0x2e, 0x53, 0x74, 0x65, 0x65, 0x72, 0x69, 0x6e, 0x67, 0x4d, 0x65, 0x73, 0x73, 0x61,
+	0x67, 0x65, 0x52, 0x11, 0x61, 0x75, 0x74, 0x6f, 0x70, 0x69, 0x6c, 0x6f, 0x74, 0x53, 0x74, 0x65,
+	0x65, 0x72, 0x69, 0x6e, 0x67, 0x12, 0x3f, 0x0a, 0x0a, 0x64, 0x72, 0x69, 0x76, 0x65, 0x5f, 0x6d,
+	0x6f, 0x64, 0x65, 0x18, 0x05, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x20, 0x2e, 0x72, 0x6f, 0x62, 0x6f,
+	0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x44, 0x72, 0x69, 0x76, 0x65,
+	0x4d, 0x6f, 0x64, 0x65, 0x4d, 0x65, 0x73, 0x73, 0x61, 0x67, 0x65, 0x52, 0x09, 0x64, 0x72, 0x69,
+	0x76, 0x65, 0x4d, 0x6f, 0x64, 0x65, 0x12, 0x1c, 0x0a, 0x09, 0x72, 0x65, 0x63, 0x6f, 0x72, 0x64,
+	0x53, 0x65, 0x74, 0x18, 0x03, 0x20, 0x01, 0x28, 0x09, 0x52, 0x09, 0x72, 0x65, 0x63, 0x6f, 0x72,
+	0x64, 0x53, 0x65, 0x74, 0x2a, 0x38, 0x0a, 0x09, 0x53, 0x70, 0x65, 0x65, 0x64, 0x5a, 0x6f, 0x6e,
+	0x65, 0x12, 0x0b, 0x0a, 0x07, 0x55, 0x4e, 0x4b, 0x4e, 0x4f, 0x57, 0x4e, 0x10, 0x00, 0x12, 0x08,
+	0x0a, 0x04, 0x53, 0x4c, 0x4f, 0x57, 0x10, 0x01, 0x12, 0x0a, 0x0a, 0x06, 0x4e, 0x4f, 0x52, 0x4d,
+	0x41, 0x4c, 0x10, 0x02, 0x12, 0x08, 0x0a, 0x04, 0x46, 0x41, 0x53, 0x54, 0x10, 0x03, 0x2a, 0x3a,
+	0x0a, 0x09, 0x44, 0x72, 0x69, 0x76, 0x65, 0x4d, 0x6f, 0x64, 0x65, 0x12, 0x0b, 0x0a, 0x07, 0x49,
+	0x4e, 0x56, 0x41, 0x4c, 0x49, 0x44, 0x10, 0x00, 0x12, 0x08, 0x0a, 0x04, 0x55, 0x53, 0x45, 0x52,
+	0x10, 0x01, 0x12, 0x09, 0x0a, 0x05, 0x50, 0x49, 0x4c, 0x4f, 0x54, 0x10, 0x02, 0x12, 0x0b, 0x0a,
+	0x07, 0x43, 0x4f, 0x50, 0x49, 0x4c, 0x4f, 0x54, 0x10, 0x03, 0x2a, 0x32, 0x0a, 0x0a, 0x54, 0x79,
+	0x70, 0x65, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x12, 0x07, 0x0a, 0x03, 0x41, 0x4e, 0x59, 0x10,
+	0x00, 0x12, 0x07, 0x0a, 0x03, 0x43, 0x41, 0x52, 0x10, 0x01, 0x12, 0x08, 0x0a, 0x04, 0x42, 0x55,
+	0x4d, 0x50, 0x10, 0x02, 0x12, 0x08, 0x0a, 0x04, 0x50, 0x4c, 0x4f, 0x54, 0x10, 0x03, 0x42, 0x0a,
+	0x5a, 0x08, 0x2e, 0x2f, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74,
+	0x6f, 0x33,
 }
 
 var (
@@ -1141,50 +1226,52 @@ func file_events_events_proto_rawDescGZIP() []byte {
 }
 
 var file_events_events_proto_enumTypes = make([]protoimpl.EnumInfo, 3)
-var file_events_events_proto_msgTypes = make([]protoimpl.MessageInfo, 13)
+var file_events_events_proto_msgTypes = make([]protoimpl.MessageInfo, 14)
 var file_events_events_proto_goTypes = []interface{}{
 	(SpeedZone)(0),                // 0: robocar.events.SpeedZone
 	(DriveMode)(0),                // 1: robocar.events.DriveMode
 	(TypeObject)(0),               // 2: robocar.events.TypeObject
 	(*FrameRef)(nil),              // 3: robocar.events.FrameRef
 	(*FrameMessage)(nil),          // 4: robocar.events.FrameMessage
-	(*SteeringMessage)(nil),       // 5: robocar.events.SteeringMessage
-	(*ThrottleMessage)(nil),       // 6: robocar.events.ThrottleMessage
-	(*SpeedZoneMessage)(nil),      // 7: robocar.events.SpeedZoneMessage
-	(*DriveModeMessage)(nil),      // 8: robocar.events.DriveModeMessage
-	(*ObjectsMessage)(nil),        // 9: robocar.events.ObjectsMessage
-	(*Object)(nil),                // 10: robocar.events.Object
-	(*SwitchRecordMessage)(nil),   // 11: robocar.events.SwitchRecordMessage
-	(*RoadMessage)(nil),           // 12: robocar.events.RoadMessage
-	(*Point)(nil),                 // 13: robocar.events.Point
-	(*Ellipse)(nil),               // 14: robocar.events.Ellipse
-	(*RecordMessage)(nil),         // 15: robocar.events.RecordMessage
-	(*timestamppb.Timestamp)(nil), // 16: google.protobuf.Timestamp
+	(*DisparityMessage)(nil),      // 5: robocar.events.DisparityMessage
+	(*SteeringMessage)(nil),       // 6: robocar.events.SteeringMessage
+	(*ThrottleMessage)(nil),       // 7: robocar.events.ThrottleMessage
+	(*SpeedZoneMessage)(nil),      // 8: robocar.events.SpeedZoneMessage
+	(*DriveModeMessage)(nil),      // 9: robocar.events.DriveModeMessage
+	(*ObjectsMessage)(nil),        // 10: robocar.events.ObjectsMessage
+	(*Object)(nil),                // 11: robocar.events.Object
+	(*SwitchRecordMessage)(nil),   // 12: robocar.events.SwitchRecordMessage
+	(*RoadMessage)(nil),           // 13: robocar.events.RoadMessage
+	(*Point)(nil),                 // 14: robocar.events.Point
+	(*Ellipse)(nil),               // 15: robocar.events.Ellipse
+	(*RecordMessage)(nil),         // 16: robocar.events.RecordMessage
+	(*timestamppb.Timestamp)(nil), // 17: google.protobuf.Timestamp
 }
 var file_events_events_proto_depIdxs = []int32{
-	16, // 0: robocar.events.FrameRef.created_at:type_name -> google.protobuf.Timestamp
+	17, // 0: robocar.events.FrameRef.created_at:type_name -> google.protobuf.Timestamp
 	3,  // 1: robocar.events.FrameMessage.id:type_name -> robocar.events.FrameRef
-	3,  // 2: robocar.events.SteeringMessage.frame_ref:type_name -> robocar.events.FrameRef
-	3,  // 3: robocar.events.ThrottleMessage.frame_ref:type_name -> robocar.events.FrameRef
-	0,  // 4: robocar.events.SpeedZoneMessage.speed_zone:type_name -> robocar.events.SpeedZone
-	3,  // 5: robocar.events.SpeedZoneMessage.frame_ref:type_name -> robocar.events.FrameRef
-	1,  // 6: robocar.events.DriveModeMessage.drive_mode:type_name -> robocar.events.DriveMode
-	10, // 7: robocar.events.ObjectsMessage.objects:type_name -> robocar.events.Object
-	3,  // 8: robocar.events.ObjectsMessage.frame_ref:type_name -> robocar.events.FrameRef
-	2,  // 9: robocar.events.Object.type:type_name -> robocar.events.TypeObject
-	13, // 10: robocar.events.RoadMessage.contour:type_name -> robocar.events.Point
-	14, // 11: robocar.events.RoadMessage.ellipse:type_name -> robocar.events.Ellipse
-	3,  // 12: robocar.events.RoadMessage.frame_ref:type_name -> robocar.events.FrameRef
-	13, // 13: robocar.events.Ellipse.center:type_name -> robocar.events.Point
-	4,  // 14: robocar.events.RecordMessage.frame:type_name -> robocar.events.FrameMessage
-	5,  // 15: robocar.events.RecordMessage.steering:type_name -> robocar.events.SteeringMessage
-	5,  // 16: robocar.events.RecordMessage.autopilot_steering:type_name -> robocar.events.SteeringMessage
-	8,  // 17: robocar.events.RecordMessage.drive_mode:type_name -> robocar.events.DriveModeMessage
-	18, // [18:18] is the sub-list for method output_type
-	18, // [18:18] is the sub-list for method input_type
-	18, // [18:18] is the sub-list for extension type_name
-	18, // [18:18] is the sub-list for extension extendee
-	0,  // [0:18] is the sub-list for field type_name
+	3,  // 2: robocar.events.DisparityMessage.frame_ref:type_name -> robocar.events.FrameRef
+	3,  // 3: robocar.events.SteeringMessage.frame_ref:type_name -> robocar.events.FrameRef
+	3,  // 4: robocar.events.ThrottleMessage.frame_ref:type_name -> robocar.events.FrameRef
+	0,  // 5: robocar.events.SpeedZoneMessage.speed_zone:type_name -> robocar.events.SpeedZone
+	3,  // 6: robocar.events.SpeedZoneMessage.frame_ref:type_name -> robocar.events.FrameRef
+	1,  // 7: robocar.events.DriveModeMessage.drive_mode:type_name -> robocar.events.DriveMode
+	11, // 8: robocar.events.ObjectsMessage.objects:type_name -> robocar.events.Object
+	3,  // 9: robocar.events.ObjectsMessage.frame_ref:type_name -> robocar.events.FrameRef
+	2,  // 10: robocar.events.Object.type:type_name -> robocar.events.TypeObject
+	14, // 11: robocar.events.RoadMessage.contour:type_name -> robocar.events.Point
+	15, // 12: robocar.events.RoadMessage.ellipse:type_name -> robocar.events.Ellipse
+	3,  // 13: robocar.events.RoadMessage.frame_ref:type_name -> robocar.events.FrameRef
+	14, // 14: robocar.events.Ellipse.center:type_name -> robocar.events.Point
+	4,  // 15: robocar.events.RecordMessage.frame:type_name -> robocar.events.FrameMessage
+	6,  // 16: robocar.events.RecordMessage.steering:type_name -> robocar.events.SteeringMessage
+	6,  // 17: robocar.events.RecordMessage.autopilot_steering:type_name -> robocar.events.SteeringMessage
+	9,  // 18: robocar.events.RecordMessage.drive_mode:type_name -> robocar.events.DriveModeMessage
+	19, // [19:19] is the sub-list for method output_type
+	19, // [19:19] is the sub-list for method input_type
+	19, // [19:19] is the sub-list for extension type_name
+	19, // [19:19] is the sub-list for extension extendee
+	0,  // [0:19] is the sub-list for field type_name
 }
 
 func init() { file_events_events_proto_init() }
@@ -1218,7 +1305,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[2].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*SteeringMessage); i {
+			switch v := v.(*DisparityMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1230,7 +1317,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[3].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*ThrottleMessage); i {
+			switch v := v.(*SteeringMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1242,7 +1329,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[4].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*SpeedZoneMessage); i {
+			switch v := v.(*ThrottleMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1254,7 +1341,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[5].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*DriveModeMessage); i {
+			switch v := v.(*SpeedZoneMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1266,7 +1353,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[6].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*ObjectsMessage); i {
+			switch v := v.(*DriveModeMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1278,7 +1365,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[7].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*Object); i {
+			switch v := v.(*ObjectsMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1290,7 +1377,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[8].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*SwitchRecordMessage); i {
+			switch v := v.(*Object); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1302,7 +1389,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[9].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*RoadMessage); i {
+			switch v := v.(*SwitchRecordMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1314,7 +1401,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[10].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*Point); i {
+			switch v := v.(*RoadMessage); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1326,7 +1413,7 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[11].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*Ellipse); i {
+			switch v := v.(*Point); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1338,6 +1425,18 @@ func file_events_events_proto_init() {
 			}
 		}
 		file_events_events_proto_msgTypes[12].Exporter = func(v interface{}, i int) interface{} {
+			switch v := v.(*Ellipse); i {
+			case 0:
+				return &v.state
+			case 1:
+				return &v.sizeCache
+			case 2:
+				return &v.unknownFields
+			default:
+				return nil
+			}
+		}
+		file_events_events_proto_msgTypes[13].Exporter = func(v interface{}, i int) interface{} {
 			switch v := v.(*RecordMessage); i {
 			case 0:
 				return &v.state
@@ -1356,7 +1455,7 @@ func file_events_events_proto_init() {
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: file_events_events_proto_rawDesc,
 			NumEnums:      3,
-			NumMessages:   13,
+			NumMessages:   14,
 			NumExtensions: 0,
 			NumServices:   0,
 		},
diff --git a/python/events/events_pb2.py b/python/events/events_pb2.py
index f7ee089..2ea7ef5 100644
--- a/python/events/events_pb2.py
+++ b/python/events/events_pb2.py
@@ -14,7 +14,7 @@ _sym_db = _symbol_database.Default()
 from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x82\x01\n\x10SpeedZoneMessage\x12-\n\nspeed_zone\x18\x01 \x01(\x0e\x32\x19.robocar.events.SpeedZone\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x02\x12\x0b\n\x03top\x18\x03 \x01(\x02\x12\r\n\x05right\x18\x04 \x01(\x02\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x02\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\"\x8c\x01\n\x0bRoadMessage\x12&\n\x07\x63ontour\x18\x01 \x03(\x0b\x32\x15.robocar.events.Point\x12(\n\x07\x65llipse\x18\x02 \x01(\x0b\x32\x17.robocar.events.Ellipse\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x1d\n\x05Point\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\"r\n\x07\x45llipse\x12%\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x15.robocar.events.Point\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12\r\n\x05\x61ngle\x18\x04 \x01(\x02\x12\x12\n\nconfidence\x18\x05 \x01(\x02\"\xf5\x01\n\rRecordMessage\x12+\n\x05\x66rame\x18\x01 \x01(\x0b\x32\x1c.robocar.events.FrameMessage\x12\x31\n\x08steering\x18\x02 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12;\n\x12\x61utopilot_steering\x18\x04 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12\x34\n\ndrive_mode\x18\x05 \x01(\x0b\x32 .robocar.events.DriveModeMessage\x12\x11\n\trecordSet\x18\x03 \x01(\t*8\n\tSpeedZone\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x08\n\x04SLOW\x10\x01\x12\n\n\x06NORMAL\x10\x02\x12\x08\n\x04\x46\x41ST\x10\x03*:\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02\x12\x0b\n\x07\x43OPILOT\x10\x03*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\nZ\x08./eventsb\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"\x8a\x01\n\x10\x44isparityMessage\x12+\n\tframe_ref\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\x11\n\tdisparity\x18\x02 \x01(\x0c\x12\x1e\n\x16\x66ocal_length_in_pixels\x18\x03 \x01(\x01\x12\x16\n\x0e\x62\x61seline_in_mm\x18\x04 \x01(\x01\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x82\x01\n\x10SpeedZoneMessage\x12-\n\nspeed_zone\x18\x01 \x01(\x0e\x32\x19.robocar.events.SpeedZone\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x02\x12\x0b\n\x03top\x18\x03 \x01(\x02\x12\r\n\x05right\x18\x04 \x01(\x02\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x02\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\"\x8c\x01\n\x0bRoadMessage\x12&\n\x07\x63ontour\x18\x01 \x03(\x0b\x32\x15.robocar.events.Point\x12(\n\x07\x65llipse\x18\x02 \x01(\x0b\x32\x17.robocar.events.Ellipse\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x1d\n\x05Point\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\"r\n\x07\x45llipse\x12%\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x15.robocar.events.Point\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12\r\n\x05\x61ngle\x18\x04 \x01(\x02\x12\x12\n\nconfidence\x18\x05 \x01(\x02\"\xf5\x01\n\rRecordMessage\x12+\n\x05\x66rame\x18\x01 \x01(\x0b\x32\x1c.robocar.events.FrameMessage\x12\x31\n\x08steering\x18\x02 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12;\n\x12\x61utopilot_steering\x18\x04 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12\x34\n\ndrive_mode\x18\x05 \x01(\x0b\x32 .robocar.events.DriveModeMessage\x12\x11\n\trecordSet\x18\x03 \x01(\t*8\n\tSpeedZone\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x08\n\x04SLOW\x10\x01\x12\n\n\x06NORMAL\x10\x02\x12\x08\n\x04\x46\x41ST\x10\x03*:\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02\x12\x0b\n\x07\x43OPILOT\x10\x03*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\nZ\x08./eventsb\x06proto3')
 
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'events.events_pb2', globals())
@@ -22,36 +22,38 @@ if _descriptor._USE_C_DESCRIPTORS == False:
 
   DESCRIPTOR._options = None
   DESCRIPTOR._serialized_options = b'Z\010./events'
-  _SPEEDZONE._serialized_start=1444
-  _SPEEDZONE._serialized_end=1500
-  _DRIVEMODE._serialized_start=1502
-  _DRIVEMODE._serialized_end=1560
-  _TYPEOBJECT._serialized_start=1562
-  _TYPEOBJECT._serialized_end=1612
+  _SPEEDZONE._serialized_start=1585
+  _SPEEDZONE._serialized_end=1641
+  _DRIVEMODE._serialized_start=1643
+  _DRIVEMODE._serialized_end=1701
+  _TYPEOBJECT._serialized_start=1703
+  _TYPEOBJECT._serialized_end=1753
   _FRAMEREF._serialized_start=72
   _FRAMEREF._serialized_end=156
   _FRAMEMESSAGE._serialized_start=158
   _FRAMEMESSAGE._serialized_end=225
-  _STEERINGMESSAGE._serialized_start=227
-  _STEERINGMESSAGE._serialized_end=327
-  _THROTTLEMESSAGE._serialized_start=329
-  _THROTTLEMESSAGE._serialized_end=429
-  _SPEEDZONEMESSAGE._serialized_start=432
-  _SPEEDZONEMESSAGE._serialized_end=562
-  _DRIVEMODEMESSAGE._serialized_start=564
-  _DRIVEMODEMESSAGE._serialized_end=629
-  _OBJECTSMESSAGE._serialized_start=631
-  _OBJECTSMESSAGE._serialized_end=733
-  _OBJECT._serialized_start=736
-  _OBJECT._serialized_end=864
-  _SWITCHRECORDMESSAGE._serialized_start=866
-  _SWITCHRECORDMESSAGE._serialized_end=904
-  _ROADMESSAGE._serialized_start=907
-  _ROADMESSAGE._serialized_end=1047
-  _POINT._serialized_start=1049
-  _POINT._serialized_end=1078
-  _ELLIPSE._serialized_start=1080
-  _ELLIPSE._serialized_end=1194
-  _RECORDMESSAGE._serialized_start=1197
-  _RECORDMESSAGE._serialized_end=1442
+  _DISPARITYMESSAGE._serialized_start=228
+  _DISPARITYMESSAGE._serialized_end=366
+  _STEERINGMESSAGE._serialized_start=368
+  _STEERINGMESSAGE._serialized_end=468
+  _THROTTLEMESSAGE._serialized_start=470
+  _THROTTLEMESSAGE._serialized_end=570
+  _SPEEDZONEMESSAGE._serialized_start=573
+  _SPEEDZONEMESSAGE._serialized_end=703
+  _DRIVEMODEMESSAGE._serialized_start=705
+  _DRIVEMODEMESSAGE._serialized_end=770
+  _OBJECTSMESSAGE._serialized_start=772
+  _OBJECTSMESSAGE._serialized_end=874
+  _OBJECT._serialized_start=877
+  _OBJECT._serialized_end=1005
+  _SWITCHRECORDMESSAGE._serialized_start=1007
+  _SWITCHRECORDMESSAGE._serialized_end=1045
+  _ROADMESSAGE._serialized_start=1048
+  _ROADMESSAGE._serialized_end=1188
+  _POINT._serialized_start=1190
+  _POINT._serialized_end=1219
+  _ELLIPSE._serialized_start=1221
+  _ELLIPSE._serialized_end=1335
+  _RECORDMESSAGE._serialized_start=1338
+  _RECORDMESSAGE._serialized_end=1583
 # @@protoc_insertion_point(module_scope)
diff --git a/python/events/events_pb2.pyi b/python/events/events_pb2.pyi
index 610cc4b..cc4388e 100644
--- a/python/events/events_pb2.pyi
+++ b/python/events/events_pb2.pyi
@@ -47,12 +47,14 @@ class _DriveModeEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._Enum
     INVALID: _DriveMode.ValueType  # 0
     USER: _DriveMode.ValueType  # 1
     PILOT: _DriveMode.ValueType  # 2
+    COPILOT: _DriveMode.ValueType  # 3
 
 class DriveMode(_DriveMode, metaclass=_DriveModeEnumTypeWrapper): ...
 
 INVALID: DriveMode.ValueType  # 0
 USER: DriveMode.ValueType  # 1
 PILOT: DriveMode.ValueType  # 2
+COPILOT: DriveMode.ValueType  # 3
 global___DriveMode = DriveMode
 
 class _TypeObject:
@@ -117,6 +119,33 @@ class FrameMessage(google.protobuf.message.Message):
 
 global___FrameMessage = FrameMessage
 
+@typing_extensions.final
+class DisparityMessage(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    FRAME_REF_FIELD_NUMBER: builtins.int
+    DISPARITY_FIELD_NUMBER: builtins.int
+    FOCAL_LENGTH_IN_PIXELS_FIELD_NUMBER: builtins.int
+    BASELINE_IN_MM_FIELD_NUMBER: builtins.int
+    @property
+    def frame_ref(self) -> global___FrameRef: ...
+    disparity: builtins.bytes
+    focal_length_in_pixels: builtins.float
+    baseline_in_mm: builtins.float
+    """the distance between two mono cameras"""
+    def __init__(
+        self,
+        *,
+        frame_ref: global___FrameRef | None = ...,
+        disparity: builtins.bytes = ...,
+        focal_length_in_pixels: builtins.float = ...,
+        baseline_in_mm: builtins.float = ...,
+    ) -> None: ...
+    def HasField(self, field_name: typing_extensions.Literal["frame_ref", b"frame_ref"]) -> builtins.bool: ...
+    def ClearField(self, field_name: typing_extensions.Literal["baseline_in_mm", b"baseline_in_mm", "disparity", b"disparity", "focal_length_in_pixels", b"focal_length_in_pixels", "frame_ref", b"frame_ref"]) -> None: ...
+
+global___DisparityMessage = DisparityMessage
+
 @typing_extensions.final
 class SteeringMessage(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor