controller_state.hpp

// Copyright (C) 2024 Avular Holding B.V. - All Rights Reserved
// You may use this code under the terms of the Avular
// Software End-User License Agreement.
//
// You should have received a copy of the Avular
// Software End-User License Agreement license with
// this file, or download it from: avular.com/eula
//
/*****************************************************************************
 * Created on: 2024 July 18
 * Author: Robbert-Jan de Jager
 *
 * @file Remote control message containing the remote controller state
 ****************************************************************************/
#pragma once
 
#include <compare>
#include <creos/robot_clock.hpp>
#include <nlohmann/json.hpp>
#include <vector>
 
#include "generic.hpp"
 
namespace creos_messages {
 
struct ControllerState {
 
    enum ButtonState {
        kLeft = -1,
        kDown = -1,  // Same as left
        kMiddle = 0,
        kReleased = 0,  // Same as middle
        kRight = 1,
        kPressed = 1,  // Same as right
        kUp = 1,       // Same as right
        kLongPress = 2,
    };
 
    creos::RobotClock::time_point timestamp;
 
    std::vector<float> axes;
 
    std::vector<ButtonState> buttons;
 
    auto operator<=>(const ControllerState& other) const = default;
};
 
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(ControllerState, timestamp, axes, buttons)
 
}  // namespace creos_messages