/home/travis/build/lis-epfl/MAVRIC_Library/manual_control/joystick.hpp

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/*******************************************************************************
 * \file joystick.hpp
 *
 * \author MAV'RIC Team
 * \author Basil Huber
 *
 * \brief This file is to decode the set manual command message from MAVLink
 *
 ******************************************************************************/


#ifndef JOYSTICK_HPP_
#define JOYSTICK_HPP_

#include "status/state.hpp"
#include "control/control_command.hpp"
#include "control/controller.hpp"



#define MAX_JOYSTICK_RANGE 0.8  ///< Scale down the joystick channel amplitude, as done in remote


class Joystick
{
public:

    typedef enum
    {
        BUTTON_UNPRESSED = 0,
        BUTTON_PRESSED = 1,
    } button_pressed_t;

    enum class throttle_mode_t
    {
        ZERO_CENTER = 0,    //< throttle stick in center is zero throttle
        ZERO_DOWN           //< throttle stick all the way down is zero throttle
    };



    typedef union
    {
        uint16_t button_mask;
        // unamed bitfield structure, use to access directly the flags
        struct
        {
            button_pressed_t        button_16   : 1;
            button_pressed_t        button_15   : 1;
            button_pressed_t        button_14   : 1;
            button_pressed_t        button_13   : 1;
            button_pressed_t        button_12   : 1;
            button_pressed_t        button_11   : 1;
            button_pressed_t        button_10   : 1;
            button_pressed_t        button_9    : 1;
            button_pressed_t        button_8    : 1;
            button_pressed_t        button_7    : 1;
            button_pressed_t        button_6    : 1;
            button_pressed_t        button_5    : 1;
            button_pressed_t        button_4    : 1;
            button_pressed_t        button_3    : 1;
            button_pressed_t        button_2    : 1;
            button_pressed_t        button_1    : 1;
        };
        // identical bitfield, but named (useful for initialisation)
        struct
        {
            button_pressed_t        button_16   : 1;
            button_pressed_t        button_15   : 1;
            button_pressed_t        button_14   : 1;
            button_pressed_t        button_13   : 1;
            button_pressed_t        button_12   : 1;
            button_pressed_t        button_11   : 1;
            button_pressed_t        button_10   : 1;
            button_pressed_t        button_9    : 1;
            button_pressed_t        button_8    : 1;
            button_pressed_t        button_7    : 1;
            button_pressed_t        button_6    : 1;
            button_pressed_t        button_5    : 1;
            button_pressed_t        button_4    : 1;
            button_pressed_t        button_3    : 1;
            button_pressed_t        button_2    : 1;
            button_pressed_t        button_1    : 1;
        } button;
    } button_t;

    struct channels_t
    {
        float x;    // Longitudinal (pitch)
        float y;    // Lateral      (roll)
        float z;    // Vertical     (thrust)
        float r;    // Rotation     (yaw)
    };


    struct conf_t
    {
        throttle_mode_t    throttle_mode;  
        channels_t         scale_attitude; 
        channels_t         scale_velocity; 
    };


    Joystick(conf_t conf = default_config());

    float throttle() const;


    float roll() const;


    float pitch() const;


    float yaw() const;


    Mav_mode get_mode(const Mav_mode current_mode) ;

    void button_update(uint16_t buttons);


    static inline conf_t default_config();


    button_t                    buttons_;            
    channels_t                  channels_;           
    Mav_mode                    mav_mode_desired_;   

private:
    arm_action_t                arm_action_;
    throttle_mode_t             throttle_mode_;      
};


Joystick::conf_t Joystick::default_config()
{
    conf_t conf;
    conf.throttle_mode = throttle_mode_t::ZERO_DOWN;
    return conf;
}

#endif // JOYSTICK_HPP_