Send frames out on the queue
This also required passing the camera index through the Teensy.
Change-Id: I73d380a01fd129919dba5ccfa04e41b0f02da767
diff --git a/y2019/control_loops/drivetrain/camera.q b/y2019/control_loops/drivetrain/camera.q
index 5add759..6ef6f49 100644
--- a/y2019/control_loops/drivetrain/camera.q
+++ b/y2019/control_loops/drivetrain/camera.q
@@ -1,7 +1,6 @@
package y2019.control_loops.drivetrain;
-// These structures have a nearly one-to-one correspondence to those in
-// //y2019/jevois:structures.h. Please refer to that file for details.
+// See the Target structure in //y2019/jevois:structures.h for documentation.
struct CameraTarget {
float distance;
float height;
@@ -10,17 +9,17 @@
};
message CameraFrame {
- // monotonic time in nanoseconds at which frame was taken (note structure.h
- // uses age).
+ // Number of nanoseconds since the aos::monotonic_clock epoch at which this
+ // frame was captured.
int64_t timestamp;
// Number of targets actually in this frame.
uint8_t num_targets;
- // Buffer for the targets
+ // Buffer for the targets.
CameraTarget[3] targets;
- // Index of the camera with which this frame was taken:
+ // Index of the camera position (not serial number) which this frame is from.
uint8_t camera;
};