Gamepad.hpp

/*
 * Copyright 2021 Marcus Behel
 *
 * This file is part of ArPiRobot-CoreLib.
 * 
 * ArPiRobot-CoreLib is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * ArPiRobot-CoreLib is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with ArPiRobot-CoreLib.  If not, see <https://www.gnu.org/licenses/>. 
 */
 
#pragma once
 
#include <arpirobot/core/device/BaseDevice.hpp>
#include <arpirobot/core/drive/BaseAxisTransform.hpp>
#include <arpirobot/core/action/BaseActionTrigger.hpp>
 
#include <unordered_map>
 
namespace arpirobot{
 
    class Gamepad : public BaseDevice{
    public:
        Gamepad(int controllerNum);
 
        Gamepad(const Gamepad &other) = delete;
        Gamepad &operator=(const Gamepad &other) = delete;
 
        int getControllerNum();
 
        double getAxis(int axisNum, double deadband = 0);
 
        bool getButton(int buttonNum);
 
        int getDpad(int dpadNum);
 
        void setAxisTransform(int axisNum, BaseAxisTransform &transform);
 
        void setAxisTransform(int axisNum, std::shared_ptr<BaseAxisTransform> transform);
 
        void clearAxisTransform(int axisNum);
    
    protected:
        void begin() override;
 
        bool isEnabled() override;
 
        bool shouldMatchRobotState() override;
 
        bool shouldDisableWithWatchdog() override;
 
        void enable() override;
 
        void disable() override;
 
    private:
        int controllerNum;
        std::unordered_map<int, std::shared_ptr<BaseAxisTransform>> axisTransforms;
    };
 
}