fly_sky.hpp

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#pragma once
 
#include "util/math/linear/cool_lerp.hpp"
#include "tap/communication/serial/remote.hpp"
#include "tap/control/command_mapper.hpp"
#include "communication/i_bus/i_bus_channel_data.hpp"
#include "communication/i_bus/dynamic_i_bus_parser/ichannel_data_found_listener.hpp"
#include "communication/i_bus/dynamic_i_bus_parser/dynamic_i_bus_parser.hpp"
 
namespace fang::remote
{
 
class FlySky : communication::ibus::IChannelDataFoundListener
{
public:
    using TapRemote = tap::communication::serial::Remote;
    // So that it can store then as normalzied decimals
    using ChannelValues = std::array<double, communication::ibus::kChannelCount>;
 
    enum class Channel 
    {
        rightHorizontal = 0,
        rightVertical = 1,
        leftVertical = 2,
        leftHorizontal = 3,
        wheelA = 4,
        wheelB = 5,
        switchC = 6,
        switchD = 7,
        switchA = 8,
        switchB = 9 
    };
 
    enum class Switch
    {
        A,
        B,
        C,
        D,
        wheelA,
        wheelB
    };
 
    FlySky(tap::control::CommandMapper& commandMapper, coolSerial::ByteQueue& byteQueue);
    void update();
 
    void channelDataFound(const communication::ibus::ChannelData& channelData);
 
    TapRemote::SwitchState getTaprootSwitch(TapRemote::Switch switchId) const;
 
    TapRemote::SwitchState getSwitch(Switch switchId) const;
    double getChannel(Channel channel) const;
private:
    static const math::CoolLerp kNormalizer;
    static constexpr int kBaudrate{115200};
    void setChannels(communication::ibus::ChannelData channelData);
    TapRemote::SwitchState channelToSwitchState(double channelData) const;
 
    tap::control::CommandMapper& commandMapper_;
    communication::ibus::DynamicParser ibusParser_;
    ChannelValues channelValues_{};
};
}