commit 94b3c175e7613e5f335ec008a93811898bede445
author James Kuszmaul <jabukuszmaul@gmail.com> Sun Mar 24 14:31:48 2019 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Mar 24 14:33:14 2019 -0700
tree eb40f4d2bc5a21396d73887274cfef916a64c197
parent cb94024740a4f617603a5e5553017c7c3cc7d2d3

Correctly draw vision target

This also makes it so that we always display the target
we are aimed at, but change the color to blue when it locks (due to
driver pressing the button).

Change-Id: I803c64e68d6ac89c853fde3ee16249e749476ecc

y2019/vision/server/server.cc

diff --git a/y2019/vision/server/server.cc b/y2019/vision/server/server.cc
index 8dd4e85..54eb399 100644
--- a/y2019/vision/server/server.cc
+++ b/y2019/vision/server/server.cc
@@ -159,14 +159,17 @@
       stream << "\"x\": " << drivetrain_status->x << ",";
       stream << "\"y\": " << drivetrain_status->y << ",";
       stream << "\"theta\": " << drivetrain_status->theta;
-      if (drivetrain_status->line_follow_logging.frozen) {
-        stream << ",\"target\": {";
-        stream << "\"x\": " << drivetrain_status->line_follow_logging.x << ",";
-        stream << "\"y\": " << drivetrain_status->line_follow_logging.y << ",";
-        stream << "\"theta\": " << drivetrain_status->line_follow_logging.theta;
-        stream << "} ";
-      }
       stream << "}\n";
+      stream << ",\"target\": {";
+      stream << "\"x\": " << drivetrain_status->line_follow_logging.x << ",";
+      stream << "\"y\": " << drivetrain_status->line_follow_logging.y << ",";
+      stream << "\"theta\": " << drivetrain_status->line_follow_logging.theta
+             << ",";
+      stream << "\"frozen\": " << drivetrain_status->line_follow_logging.frozen
+             << ",";
+      stream << "\"have_target\": "
+             << drivetrain_status->line_follow_logging.have_target;
+      stream << "} ";
 
       stream << "}";
       server->execute(