y2020/control_loops/drivetrain/localizer_debug.fbs

namespace y2020.control_loops.drivetrain;

enum RejectionReason : byte {
  IMAGE_FROM_FUTURE = 0,
  NO_CALIBRATION = 1,
  TURRET_TOO_FAST = 2,
  NO_RESULTS = 3,
  NO_TRANSFORMS = 4,
  HIGH_THETA_DIFFERENCE = 5,
  IMAGE_TOO_OLD = 6,
  NONFINITE_MEASUREMENT = 7,
  CORRECTION_TOO_LARGE = 8,
  MESSAGE_BRIDGE_DISCONNECTED = 9,
}

table ImageMatchDebug {
  camera:uint8 (id: 0);
  pose_index: uint8 (id: 1);
  local_image_capture_time_ns:long (id: 2);
  roborio_image_capture_time_ns:long (id: 3);
  camera_x:float (id: 11);
  camera_y:float (id: 12);
  camera_theta:float (id: 13);
  implied_robot_x:float (id: 4);
  implied_robot_y:float (id: 5);
  implied_robot_theta:float (id: 6);
  implied_turret_goal:float (id: 7);
  accepted:bool (id: 8);
  rejection_reason:RejectionReason  (id: 9);
  // Image age (more human-readable than trying to interpret roborio_image_capture_time_ns).
  image_age_sec:float (id: 10);
}

table CumulativeStatistics {
  total_accepted:int (id: 0);
  total_candidates:int (id: 1);
  // Indexed by integer value of RejectionReason enum.
  rejection_reason_count:[int] (id: 2);
}

table LocalizerDebug {
  matches:[ImageMatchDebug] (id: 0);
  statistics:CumulativeStatistics (id: 1);
}

root_type LocalizerDebug;