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Alex Perrycb7da4b2019-08-28 19:35:56 -07001namespace y2016.vision;
Brian Silverman2ccf8c52016-03-15 00:22:26 -04002
Austin Schuh1bf8a212019-05-26 22:13:14 -07003// Published on ".y2016.vision.vision_status"
Alex Perrycb7da4b2019-08-28 19:35:56 -07004table VisionStatus {
Ravago Jonesfb6a7a52020-11-14 13:47:46 -08005 left_image_valid:bool (id: 0);
6 right_image_valid:bool (id: 1);
Brian Silverman2ccf8c52016-03-15 00:22:26 -04007 // Times when the images were taken as nanoseconds on CLOCK_MONOTONIC on the
8 // TK1.
Ravago Jonesfb6a7a52020-11-14 13:47:46 -08009 left_image_timestamp:long (id: 2);
10 right_image_timestamp:long (id: 3);
Brian Silverman2ccf8c52016-03-15 00:22:26 -040011 // Times when the images were sent from the TK1 as nanoseconds on the TK1's
12 // CLOCK_MONOTONIC.
Ravago Jonesfb6a7a52020-11-14 13:47:46 -080013 left_send_timestamp:long (id: 4);
14 right_send_timestamp:long (id: 5);
Brian Silverman2ccf8c52016-03-15 00:22:26 -040015
16 // Horizontal angle of the goal in radians.
17 // TODO(Brian): Figure out which way is positive.
Ravago Jonesfb6a7a52020-11-14 13:47:46 -080018 horizontal_angle:double (id: 6);
Brian Silverman2ccf8c52016-03-15 00:22:26 -040019 // Vertical angle of the goal in radians.
20 // TODO(Brian): Figure out which way is positive.
Ravago Jonesfb6a7a52020-11-14 13:47:46 -080021 vertical_angle:double (id: 7);
Brian Silverman2ccf8c52016-03-15 00:22:26 -040022 // Distance to the target in meters.
Ravago Jonesfb6a7a52020-11-14 13:47:46 -080023 distance:double (id: 8);
Austin Schuh6bf73052016-04-20 20:20:25 -070024 // The angle in radians of the bottom of the target.
Ravago Jonesfb6a7a52020-11-14 13:47:46 -080025 angle:double (id: 9);
Austin Schuh11945742016-04-13 22:18:36 -070026
Austin Schuhf2a50ba2016-12-24 16:16:26 -080027 // Capture time of the angle using the clock behind monotonic_clock::now().
Ravago Jonesfb6a7a52020-11-14 13:47:46 -080028 target_time:long (id: 10);
Brian Silvermanbc831182016-04-16 02:06:09 -040029
30 // The estimated positions of both sides of the drivetrain when the frame
31 // was captured.
32 // These are the estimated_left_position and estimated_right_position members
33 // of the drivetrain queue.
Ravago Jonesfb6a7a52020-11-14 13:47:46 -080034 drivetrain_left_position:double (id: 11);
35 drivetrain_right_position:double (id: 12);
Alex Perrycb7da4b2019-08-28 19:35:56 -070036}
37
38root_type VisionStatus;