commit 5ff8a86aba204725c79ab3debfd1809911f1c65b
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Sep 25 17:29:43 2021 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Sep 26 07:15:17 2021 -0700
tree 4df7262d3641d7069161618e01bec2de9be923af
parent 9cbdb023faeca23cfb6ec58a7114156eea77ee18

Add y2020 LocalizerDebug message

Add a bunch of debugging information for every image match that the
localizer processes.

Change-Id: Ic09df456972952f3ed4c7227eb70cda638e348a2
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2020/control_loops/drivetrain/BUILD

diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 89d8044..b2a5901 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -56,13 +56,22 @@
     ],
 )
 
+flatbuffer_cc_library(
+    name = "localizer_debug_fbs",
+    srcs = ["localizer_debug.fbs"],
+    gen_reflections = 1,
+    visibility = ["//visibility:public"],
+)
+
 cc_library(
     name = "localizer",
     srcs = ["localizer.cc"],
     hdrs = ["localizer.h"],
     target_compatible_with = ["@platforms//os:linux"],
     deps = [
+        ":localizer_debug_fbs",
         "//aos/containers:ring_buffer",
+        "//aos/containers:sized_array",
         "//aos/network:message_bridge_server_fbs",
         "//frc971/control_loops:profiled_subsystem_fbs",
         "//frc971/control_loops/drivetrain:hybrid_ekf",