From 2b134b829fe6cb832e4a5b9976bca73b010f7f3a Mon Sep 17 00:00:00 2001
From: Pedro Lopes da Silva Mariano <pedro@pena>
Date: Mon, 7 Dec 2015 18:47:11 +0000
Subject: [PATCH 1/4] Circular camera message.

---
 dev_msgs.proto | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/dev_msgs.proto b/dev_msgs.proto
index 50c7b6d..fa64ea9 100644
--- a/dev_msgs.proto
+++ b/dev_msgs.proto
@@ -163,3 +163,13 @@ message ObjectArray
   repeated string type = 7;
 
 }  
+
+message CircularCamera
+{
+  // Message header.
+  optional Header header = 1;
+
+  repeated float distance;
+
+  repeated Color image;
+}

From 4fa0ea0c807d0cee674c42b9ac473bd308335672 Mon Sep 17 00:00:00 2001
From: Pedro Lopes da Silva Mariano <pedro@pena>
Date: Mon, 14 Dec 2015 12:40:22 +0000
Subject: [PATCH 2/4] Message with circular camera image.

---
 dev_msgs.proto | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/dev_msgs.proto b/dev_msgs.proto
index e03f6a5..6d3e8cd 100644
--- a/dev_msgs.proto
+++ b/dev_msgs.proto
@@ -127,14 +127,15 @@ message ObjectArray
 
 }  
 
-message CircularCamera
+// Image captured by a circular camera
+message CircularCameraImage
 {
   // Message header.
   optional Header header = 1;
 
   repeated float distance;
 
-  repeated Color image;
+  repeated Color pixel;
 }
 
 // Airflow properties

From da9e225dcbe11a3c23c1c8f7370df0b1aac6b4f4 Mon Sep 17 00:00:00 2001
From: Pedro Lopes da Silva Mariano <pedro@pena>
Date: Tue, 5 Jan 2016 19:06:31 +0000
Subject: [PATCH 3/4] Fixed circular camera message properties.

---
 dev_msgs.proto | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/dev_msgs.proto b/dev_msgs.proto
index 6d3e8cd..6ef460e 100644
--- a/dev_msgs.proto
+++ b/dev_msgs.proto
@@ -133,9 +133,9 @@ message CircularCameraImage
   // Message header.
   optional Header header = 1;
 
-  repeated float distance;
+  repeated float distance = 2;
 
-  repeated Color pixel;
+  repeated Color pixel = 3;
 }
 
 // Airflow properties

From 1418fb65d807644087c909feddad4901d2817829 Mon Sep 17 00:00:00 2001
From: Pedro Mariano <mariano.pedro@gmail.com>
Date: Sat, 16 Jan 2016 20:35:46 +0000
Subject: [PATCH 4/4] Changed circular message attributes to better reflect
 naming convention of enki class CircularCam.

---
 dev_msgs.proto | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/dev_msgs.proto b/dev_msgs.proto
index 7381c6a..8cd0032 100644
--- a/dev_msgs.proto
+++ b/dev_msgs.proto
@@ -142,14 +142,15 @@ message ObjectArray
 }  
 
 // Image captured by a circular camera
+// Message contains pixel information: colour and distance to detected object
 message CircularCameraImage
 {
   // Message header.
   optional Header header = 1;
-
-  repeated float distance = 2;
-
-  repeated Color pixel = 3;
+  // Distances at square (array of size pixel count)
+  repeated float zbuffer = 2;
+  // Image (array of size pixel count)
+  repeated Color image = 3;
 }
 
 // Airflow properties