hexapod-robot/2026-current/remote/RemoteState.h

#pragma once
#include "UiTypes.h"
#include "Sticks.h"
#include "RemoteIMU.h"
#include "SmoothedValue.h"
#include "Config.h"

// Operator-facing state of the remote: every toggle the touchscreen can
// flip, the interlocks around them, and the smoothed setpoints. It does not
// know the wire format - PacketBuilder turns this into a CmdPacket.
class RemoteState {
public:
  void begin();

  // Applies one operator request. Sticks are needed for the arm interlock
  // and calibration, the IMU for re-zeroing. Returns true if accepted;
  // rejections leave an explanation in message().
  bool handle(const UiEvent& e, Sticks& sticks, RemoteIMU& imu, uint32_t now_ms);

  // Advances smoothers and link-loss handling. Call once per TX tick.
  void update(float dt, bool link_ok, uint32_t now_ms);

  bool armed() const        { return armed_; }
  bool standRequested() const { return stand_; }
  bool gaitWave() const     { return gait_wave_; }
  bool modeB() const        { return mode_b_; }
  bool rstickXlate() const  { return rstick_xlate_; }
  bool remoteGyro() const   { return remote_gyro_; }
  bool robotGyro() const    { return robot_gyro_; }

  uint8_t speedTarget() const  { return speed_target_; }
  int16_t height() const       { return height_; }        // -1000..1000, 0 = default
  uint8_t speedCurrent() const { return (uint8_t)lroundf(speed_.current); }
  float remoteTiltBlend() const { return tilt_blend_.current; }   // 0..1, fades on the gyro toggle

  const char* message(uint32_t now_ms) const { return now_ms < message_until_ms_ ? message_ : ""; }
  void setMessage(const char* msg, uint32_t now_ms);

  void fillView(UiView& v, uint32_t now_ms) const;

private:
  bool armed_ = false;
  bool stand_ = false;
  bool gait_wave_ = false;
  bool mode_b_ = false;
  bool rstick_xlate_ = false;
  bool remote_gyro_ = false;
  bool robot_gyro_ = false;
  bool calibrating_ = false;

  uint8_t speed_target_ = SPEED_SCALE_DEFAULT;
  int16_t height_ = 0;
  SmoothedValue speed_{SPEED_SCALE_RATE_PER_SEC};
  SmoothedValue tilt_blend_{REMOTE_TILT_FADE_PER_SEC};

  bool link_was_ok_ = false;
  const char* message_ = "";
  uint32_t message_until_ms_ = 0;

  void disarm();
};