Make the purple light turn on when we accept images
Drop some of the other colors to make it clearer
Change-Id: I498333523de222888b29d106f276d2f1570e35e6
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index 8ca5395..4b0588c 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -1109,6 +1109,7 @@
output_builder.add_y(model_based_.xytheta()(1));
output_builder.add_theta(model_based_.xytheta()(2));
output_builder.add_zeroed(zeroer_.Zeroed());
+ output_builder.add_image_accepted_count(model_based_.total_accepted());
const Eigen::Quaterniond &orientation = model_based_.orientation();
Quaternion quaternion;
quaternion.mutate_x(orientation.x());
diff --git a/y2022/localizer/localizer.h b/y2022/localizer/localizer.h
index 5620a4d..fc15e9f 100644
--- a/y2022/localizer/localizer.h
+++ b/y2022/localizer/localizer.h
@@ -150,6 +150,8 @@
std::array<LedOutput, kNumPis> led_outputs() const { return led_outputs_; }
+ int total_accepted() const { return statistics_.total_accepted; }
+
private:
struct CombinedState {
AccelState accel_state = AccelState::Zero();
diff --git a/y2022/localizer/localizer_output.fbs b/y2022/localizer/localizer_output.fbs
index ec3302a..ff25c31 100644
--- a/y2022/localizer/localizer_output.fbs
+++ b/y2022/localizer/localizer_output.fbs
@@ -34,6 +34,9 @@
// Whether each led should be on.
// Indices correspond to pi number.
led_outputs:[LedOutput] (id: 6);
+
+ // Cumulative number of accepted images.
+ image_accepted_count:uint (id: 7);
}
root_type LocalizerOutput;