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/y2019/control_loops/drivetrain/camera.fbs b/y2019/control_loops/drivetrain/camera.fbs
new file mode 100644
index 0000000..154dd2e
--- /dev/null
+++ b/y2019/control_loops/drivetrain/camera.fbs
@@ -0,0 +1,24 @@
+namespace y2019.control_loops.drivetrain;
+
+// See the Target structure in //y2019/jevois:structures.h for documentation.
+table CameraTarget {
+ distance:float;
+ height:float;
+ heading:float;
+ skew:float;
+}
+
+// Frames from a camera.
+table CameraFrame {
+ // Number of nanoseconds since the aos::monotonic_clock epoch at which this
+ // frame was captured.
+ timestamp:long;
+
+ // Buffer for the 3 targets.
+ targets:[CameraTarget];
+
+ // Index of the camera position (not serial number) which this frame is from.
+ camera:ubyte;
+}
+
+root_type CameraFrame;