controlpad.h

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#pragma once
#include <cstdint>
#include <cstddef>
#include <string>
 
#include "base.hpp"
#include "core/logger.h"
#include "utils/callback.hpp"
 
namespace roboctrl::device{
 
enum class control_channel : std::size_t { ch0 = 0, ch1, ch2, ch3, gimbal_pitch_wheel };
enum class switch_position : std::int32_t { unknown = 0, up = 1, down = 2, middle = 3 };
 
struct control_pad_state {
    std::int32_t ch0 {};
    std::int32_t ch1 {};
    std::int32_t ch2 {};
    std::int32_t ch3 {};
    std::int32_t ch4 {};
    std::int32_t s1 {};
    std::int32_t s2 {};
    std::int32_t mouse_x {};
    std::int32_t mouse_y {};
    std::int32_t mouse_z {};
    std::int32_t mouse_l {};
    std::int32_t mouse_r {};
    std::int32_t key {};
 
    std::int32_t channel(control_channel c) const noexcept {
        switch (c) {
        case control_channel::ch0: return ch0;
        case control_channel::ch1: return ch1;
        case control_channel::ch2: return ch2;
        case control_channel::ch3: return ch3;
        case control_channel::gimbal_pitch_wheel: return ch4;
        }
        return 0;
    }
    std::int32_t gimbal_pitch_wheel() const noexcept { return ch4; }
};
 
static_assert(sizeof(control_pad_state) == 52);
 
class control_pad:public device_base,public logable<control_pad>{
public:
    struct info_type{
        std::string name;
        std::string serial_name;
 
        using key_type = std::string;
        using owner_type = control_pad;
 
        inline const std::string& key()const{return name;}
    };
 
    inline std::string desc()const{
        return std::format("Control pad {} on serial:{}", info_.name, info_.serial_name);
    }
 
    control_pad(const info_type& info);
 
    control_pad_state state() const noexcept { return state_; }
 
    fp32 pitch_wheel() const noexcept { return static_cast<fp32>(state_.ch4); }
 
    template<callback_fn<control_pad_state> F>
    void on_update(F&& callback) {
        on_update_.add(std::forward<F>(callback));
    }
private:
    info_type info_;
    control_pad_state state_ {};
    roboctrl::callback<control_pad_state> on_update_;
};
 
static_assert(device<control_pad>);
 
}