aim_policy.h

Go to the documentation of this file.

 
#pragma once
 
#include "aim_map.h"
#include "tracking_types.h"
 
#include <cstdint>
 
namespace aiming
{
struct TrackView {
    tracking::TrackPhase state = tracking::TrackPhase::Idle;
    float x = 0.0f; 
    float y = 0.0f;
};
 
enum class AimKind : uint8_t { Hold, Aim, Home };
 
struct AimCommand {
    AimKind kind = AimKind::Hold;
    Angles angles;
};
 
struct PolicyConfig {
    float deadband_deg = 1.0f;
    uint32_t home_delay_ms = 2000;
};
 
class AimPolicy
{
public:
    explicit AimPolicy(const AimMap& map, const PolicyConfig& config = PolicyConfig{});
 
    void set_map(const AimMap& map) { map_ = map; }
    const AimMap& map() const { return map_; } 
    AimCommand update(const TrackView& track, uint32_t now_ms);
    void reset(); 
 
    uint32_t home_remaining_ms(uint32_t now_ms) const;
 
    bool homed() const { return homed_; }
 
private:
    AimMap map_;
    PolicyConfig config_;
    bool have_setpoint_ = false; 
    Angles setpoint_{0.0f, kTiltHomeDeg}; 
    bool seen_ = false;
    bool homed_ = false;
    bool searching_ = false; 
    uint32_t last_seen_ms_ = 0;
};
} // namespace aiming