PS4Controller.hpp

#pragma once

#include <iostream>
#include <fstream>
#include <unistd.h>
#include <iomanip>
#include "cluon/OD4Session.hpp"
#include "Messages.hpp"

static constexpr float MIN_AXES_VALUE = -32768.0f;              
static constexpr float MAX_AXES_VALUE = 32767.0f;               
static constexpr float m_MAX_DECELERATION = -1.0f;               
static constexpr float m_MAX_ACCELERATION = 0.16f;               
//static constexpr float m_MAX_STEERING_ANGLE_RIGHT = 45.0f;      /**< Max Steering Angle, must be positive.*/
//static constexpr float m_MAX_STEERING_ANGLE_LEFT = 28.0f;       /**< Max Steering Angle, must be positive.*/
//static constexpr float m_OFFSET = -0.12f;

opendlv::proxy::PedalPositionReading pedalPositionReading;
opendlv::proxy::GroundSteeringReading steeringReading;
opendlv::proxy::ButtonPressed buttonPressed;

typedef enum {
    Square = 0,
    X = 1,
    Circle = 2,
    Triangle = 3,
    L1 = 4,
    R1 = 5,
    L2 = 6,
    R2 = 7,
    Share = 8,
    Options = 9,
    LStick = 10,
    RStick = 11,
    PS = 12,
} PS4Button;

typedef enum {
    LStickX = 0,
    LStickY = 1,
    RStickX = 2,
    L2Y = 3,
    R2Y = 4,
    RStickY = 5,
    PadX = 6,
    PadY = 7
} PS4Axis;

typedef struct {
    uint32_t timestamp;
    int16_t  data;
    uint8_t  type;
    uint8_t  id;
} PS4Event;

uint16_t findButton(PS4Event* event);

void sendButtonPressed(uint16_t button, cluon::OD4Session* od4Session);

void roundValue(float* number);