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

#pragma once
#include <Arduino.h>

// Operator commands. Produced by the Nextion touchscreen (NextionUI) and by
// the USB serial console (SerialConsole) through the same path, so the
// remote can be fully exercised on the bench without the display attached.
enum class UiCmd : uint8_t {
  None = 0,
  ToggleArm,
  Disarm,              // unconditional - the big red button
  ToggleStand,
  ToggleGait,          // tripod <-> wave
  ToggleWalkMode,      // direct (A) <-> heading-hold (B)
  ToggleRStickXlate,   // right stick: rotation <-> translation
  ToggleRemoteGyro,
  ToggleRobotGyro,
  SetSpeed,            // value = 0..255
  SpeedUp,             // serial console only
  SpeedDown,           // serial console only
  SetHeight,           // value = 0..200, 100 = default standing height
  HeightUp,            // serial console only
  HeightDown,          // serial console only
  ZeroGyro,            // capture the handset's current attitude as "level"
  CalStartSave,        // start sweep calibration, or save it if running
  CalCancel,
  NextionUpload,       // USB <-> display passthrough for Nextion Editor (handled in remote.ino)
};

struct UiEvent {
  UiCmd cmd = UiCmd::None;
  uint8_t value = 0;
};

// Everything the display shows. The remote is authoritative: the Nextion
// only sends requests, and always renders what's in here.
struct UiView {
  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 = 0;
  int16_t height = 0;          // -1000..1000, 0 = default
  bool link_ok = false;
  uint8_t link_pct = 0;
  const char* message = "";   // always a string literal - NextionUI diffs it by pointer
};