include "y2024/localizer/status.fbs";

namespace y2024.localizer;

attribute "static_length";

table Measurement {
  heading:double (id: 0);
  distance:double (id: 1);
  skew:double (id: 2);
}

table TargetEstimateDebug {
  camera:uint8 (id: 0);
  camera_x:double (id: 1);
  camera_y:double (id: 2);
  camera_theta:double (id: 3);
  implied_robot_x:double (id: 4);
  implied_robot_y:double (id: 5);
  implied_robot_theta:double (id: 6);
  accepted:bool (id: 7);
  rejection_reason:RejectionReason  (id: 8);
  // Image age (more human-readable than trying to interpret raw nanosecond
  // values).
  image_age_sec:double (id: 9);
  // Time at which the image was captured.
  image_monotonic_timestamp_ns:uint64 (id: 10);
  // April tag ID used for this image detection.
  april_tag:uint (id: 11);
  // If the image was accepted, the total correction that occurred as a result.
  // These numbers will be equal to the value after the correction - the value
  // before.
  correction_x: double (id: 12);
  correction_y: double (id: 13);
  correction_theta: double (id: 14);
  // The expected observation given the current estimate of the robot pose.
  expected_observation:Measurement (id: 15);
  actual_observation:Measurement (id: 16);
  modeled_noise:Measurement (id: 17);
}

table Visualization {
  targets:[TargetEstimateDebug] (id: 0, static_length: 20);
  statistics:CumulativeStatistics (id: 1);
}

root_type Visualization;