Convert aos over to flatbuffers
Everything builds, and all the tests pass. I suspect that some entries
are missing from the config files, but those will be found pretty
quickly on startup.
There is no logging or live introspection of queue messages.
Change-Id: I496ee01ed68f202c7851bed7e8786cee30df29f5
diff --git a/y2016/vision/vision.fbs b/y2016/vision/vision.fbs
new file mode 100644
index 0000000..4394b10
--- /dev/null
+++ b/y2016/vision/vision.fbs
@@ -0,0 +1,38 @@
+namespace y2016.vision;
+
+// Published on ".y2016.vision.vision_status"
+table VisionStatus {
+ left_image_valid:bool;
+ right_image_valid:bool;
+ // Times when the images were taken as nanoseconds on CLOCK_MONOTONIC on the
+ // TK1.
+ left_image_timestamp:long;
+ right_image_timestamp:long;
+ // Times when the images were sent from the TK1 as nanoseconds on the TK1's
+ // CLOCK_MONOTONIC.
+ left_send_timestamp:long;
+ right_send_timestamp:long;
+
+ // Horizontal angle of the goal in radians.
+ // TODO(Brian): Figure out which way is positive.
+ horizontal_angle:double;
+ // Vertical angle of the goal in radians.
+ // TODO(Brian): Figure out which way is positive.
+ vertical_angle:double;
+ // Distance to the target in meters.
+ distance:double;
+ // The angle in radians of the bottom of the target.
+ angle:double;
+
+ // Capture time of the angle using the clock behind monotonic_clock::now().
+ target_time:long;
+
+ // The estimated positions of both sides of the drivetrain when the frame
+ // was captured.
+ // These are the estimated_left_position and estimated_right_position members
+ // of the drivetrain queue.
+ drivetrain_left_position:double;
+ drivetrain_right_position:double;
+}
+
+root_type VisionStatus;