include "y2022/localizer/localizer_status.fbs";

namespace frc971.controls;

table TargetEstimateDebug {
  camera:uint8 (id: 0);
  camera_x:double (id: 1);
  camera_y:double (id: 2);
  camera_theta:double (id: 3);
  implied_robot_x:double (id: 4);
  implied_robot_y:double (id: 5);
  implied_robot_theta:double (id: 6);
  implied_turret_goal:double (id: 7);
  accepted:bool (id: 8);
  rejection_reason:RejectionReason  (id: 9);
  // Image age (more human-readable than trying to interpret raw nanosecond
  // values).
  image_age_sec:double (id: 10);
}

table LocalizerVisualization {
  targets:[TargetEstimateDebug] (id: 0);
  statistics:CumulativeStatistics (id: 1);
}

root_type LocalizerVisualization;