DJIRemote.h

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#include "mbed.h"
 
#ifndef DJI_REMOTE
#define DJI_REMOTE
 
// I don't like constants being here but also they're robot independent (?)
// DEGREES PER SECOND AT MAX
// constexpr float JOYSTICK_SENSITIVITY_YAW_DPS = 180.0;
// constexpr float JOYSTICK_SENSITIVITY_PITCH_DPS = 180.0;
 
// Mouse sensitivity initialized
// constexpr float MOUSE_SENSITIVITY_YAW_DPS = 10.0;
// constexpr float MOUSE_SENSITIVITY_PITCH_DPS = 10.0;
 
class Remote
 
{
public:
    Remote(PinName dbus);
 
    enum class Channel
    {
        RIGHT_HORIZONTAL,
        RIGHT_VERTICAL,
        LEFT_HORIZONTAL,
        LEFT_VERTICAL
    };
 
    enum class Switch
    {
        LEFT_SWITCH,
        RIGHT_SWITCH
    };
 
    enum class SwitchState
    {
        UNKNOWN,
        DOWN,
        MID,
        UP
    };
 
    enum class Key
    {
        W = 0,
        S,
        A,
        D,
        SHIFT,
        CTRL,
        Q,
        E,
        R,
        F,
        G,
        Z,
        X,
        C,
        V,
        B
    };
 
    void initialize();
 
    void read();
 
    __attribute__((unused)) bool isConnected() const;
 
    float getChannel(Channel ch) const;
 
    int16_t getChannelInt(Channel ch) const;
 
    void printAxisData() const;
 
    void dumpInfo() const;
 
    SwitchState getSwitch(Switch sw) const;
 
    int16_t getMouseX() const;
 
    int16_t getMouseY() const;
 
    int16_t getMouseZ() const;
 
    bool getMouseL() const;
 
    bool getMouseR() const;
 
    bool keyPressed(Key key) const;
 
    int16_t getWheel() const;
 
    uint32_t getUpdateCounter() const;
 
    long badDataChainNumber = 0;
    long goodDataChainNumber = 0;
    bool unfiltered = false;
 
    inline float leftX() const
    {
        return remote.leftHorizontal / 660.0;
    }
 
    inline float leftY() const
    {
        return remote.leftVertical / 660.0;
    }
 
    inline float rightX() const
    {
        return remote.rightHorizontal / 660.0;
    }
 
    inline float rightY() const
    {
        return remote.rightVertical / 660.0;
    }
 
    inline Remote::SwitchState leftSwitch() const
    {
        return remote.leftSwitch;
    }
 
    inline Remote::SwitchState rightSwitch() const
    {
        return remote.rightSwitch;
    }
 
private:
    BufferedSerial receiver;
    Timer readTimer;
 
    static const int REMOTE_BUF_LEN = 18;             
    static const int REMOTE_READ_TIMEOUT = 6;         
    static const int REMOTE_DISCONNECT_TIMEOUT = 200; 
    static const int REMOTE_INT_PRI = 12;             
    static constexpr float STICK_MAX_VALUE = 660.0f;  
 
    struct RemoteInfo
    {
        uint32_t updateCounter = 0;
        int16_t rightHorizontal = 0;
        int16_t rightVertical = 0;
        int16_t leftHorizontal = 0;
        int16_t leftVertical = 0;
        SwitchState leftSwitch = SwitchState::UNKNOWN;
        SwitchState rightSwitch = SwitchState::UNKNOWN;
        struct
        { 
            int16_t x = 0;
            int16_t y = 0;
            int16_t z = 0;
            bool l = false;
            bool r = false;
        } mouse;
        uint16_t key = 0;  
        int16_t wheel = 0; 
    };
 
    RemoteInfo remote;
 
    static void switchToState(RemoteInfo *remote);
 
    bool badData(const uint8_t rxBuffer[], RemoteInfo *remote);
 
    bool connected = false;
 
    uint8_t rxBuffer[REMOTE_BUF_LEN]{0};
 
    uint32_t lastRead = 0;
 
    uint8_t currentBufferIndex = 0;
 
    void parseBuffer();
 
    void clearRxBuffer();
 
    void reset();
 
}; // class Remote
#endif