namespace frc971.controls;

// This provides a minimal output from the localizer that can be forwarded to
// the roborio and used for corrections to its (simpler) localizer.

struct Quaternion {
  w:double (id: 0);
  x:double (id: 1);
  y:double (id: 2);
  z:double (id: 3);
}

// Used to tell different LEDs to be on or off
enum LedOutput : byte {
  ON,
  OFF
}

table LocalizerOutput {
  // Timestamp (on the source node) that this sample corresponds with. This
  // may be older than the sent time to account for delays in sensor readings.
  monotonic_timestamp_ns:int64 (id: 0);
  // Current x/y position estimate, in meters.
  x:double (id: 1);
  y:double (id: 2);
  // Current heading, in radians.
  theta:double (id: 3);
  // Current estimate of the robot's 3-D rotation.
  orientation:Quaternion (id: 4);
  // Whether we have zeroed the IMU (may go false if we observe a fault with the
  // IMU).
  zeroed:bool (id: 5);

  // 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;