Fold y2019 localizer into drivetrain
Change-Id: Icc192ae9f910741b54f114ec9a27559cc289b29b
diff --git a/y2019/control_loops/drivetrain/camera.q b/y2019/control_loops/drivetrain/camera.q
new file mode 100644
index 0000000..5add759
--- /dev/null
+++ b/y2019/control_loops/drivetrain/camera.q
@@ -0,0 +1,27 @@
+package y2019.control_loops.drivetrain;
+
+// These structures have a nearly one-to-one correspondence to those in
+// //y2019/jevois:structures.h. Please refer to that file for details.
+struct CameraTarget {
+ float distance;
+ float height;
+ float heading;
+ float skew;
+};
+
+message CameraFrame {
+ // monotonic time in nanoseconds at which frame was taken (note structure.h
+ // uses age).
+ int64_t timestamp;
+
+ // Number of targets actually in this frame.
+ uint8_t num_targets;
+
+ // Buffer for the targets
+ CameraTarget[3] targets;
+
+ // Index of the camera with which this frame was taken:
+ uint8_t camera;
+};
+
+queue CameraFrame camera_frames;