Improve localizer update debugging
* Only send LocalizerDebug messages when something interesting happens.
* On debug field, draw both the implied robot position of the update as
well as the camera position.
* Indicate accepted vs. rejected images via red/green colors.
* Leave old corrections on the display for 2 seconds and gradually fade
them out.
* Add aggregate statistics about why we are rejecting image corrections
to the readouts table.
Change-Id: Ibc3397cb5654aacbc6cce4e5f3eb71f0371692cc
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index edec5c2..b12cdc3 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -1,4 +1,4 @@
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_ts_library")
load("//aos:config.bzl", "aos_config")
load("//tools/build_rules:select.bzl", "compiler_select", "cpu_select")
load("@npm_bazel_typescript//:defs.bzl", "ts_library")
@@ -64,6 +64,13 @@
visibility = ["//visibility:public"],
)
+flatbuffer_ts_library(
+ name = "localizer_debug_ts_fbs",
+ srcs = ["localizer_debug.fbs"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
cc_library(
name = "localizer",
srcs = ["localizer.cc"],