control_logic.h File Reference

The controller's decisions: button gestures, HUD requests, modes, calibration and jog arbitration (pure C++20, natively tested). More...

#include "aim_policy.h"
#include "button_classifier.h"
#include "calibration_session.h"
#include "control_status.h"
#include "remote_inbox.h"
#include "system_control_types.h"
#include "track_snapshot.h"
#include <cstdint>
#include <optional>

Go to the source code of this file.

Classes
struct	control::StickDeflection
	Joystick deflection per axis, -255..255 (Joystick::get_speed_x / get_speed_y); y positive = up. More...
struct	control::HudRequests
	The HUD's one-shot requests, taken from the inbox together once per pass. More...
struct	control::LogRecord
	One log event and its arguments; fields other than the event's own are left at their defaults. More...
class	control::ControlPorts
	Everything ControlLogic reads from or commands on the device, called from the loop task. More...
class	control::ControlLogic
	The control loop's decisions, one pass per run() call: button gestures, HUD requests, the three modes and the status counters. More...

Enumerations
enum class	control::LogEvent : uint8_t {   ModeChanged , CalStarted , CalCancelled , CalSaveFailed ,   CalComplete , CalFailed , CalRestarted , CalMiss ,   CalPointRecorded , HudPoseTimeout , PressPoseFallback }
	Something worth a log line; the glue picks the level and the text. More...

Variables
constexpr uint32_t	control::kJogPeriodMs = 40
	Minimum time between jog passes in User and Calibrate (25 Hz).
constexpr uint32_t	control::kHudRecordTimeoutMs = 1000
	Longest wait for the pan to stop before a HUD cal:point records the current pose anyway.

Detailed Description

The controller's decisions: button gestures, HUD requests, modes, calibration and jog arbitration (pure C++20, natively tested).

Controller (lib/controller) is the device glue around this class: it owns the clock, the HUD inbox and its spinlock, NVS, logging and the published status, and implements control::ControlPorts over the turret, the detection module and the joystick. ControlLogic makes every read and command through the ports at the point where the decision needs it, so the joystick ADC is read only on a jog pass, the HUD jog's clock is read inside the inbox lock, and the turret's latest-wins mailbox receives its writes in decision order. Single-threaded: run() belongs to the loop task.

Enumeration Type Documentation

LogEvent

enum class control::LogEvent : uint8_t

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Something worth a log line; the glue picks the level and the text.

Enumerator
ModeChanged	info; LogRecord::mode is the new mode
CalStarted	info; LogRecord::mode is the mode calibration was started from
CalCancelled	info; LogRecord::mode is the restored mode
CalSaveFailed	error: the NVS write failed, the fit stays active until reboot
CalComplete	info: the fit is active, back to Ai
CalFailed	warning; LogRecord::failure is the session's reason (may be null)
CalRestarted	info: a record after a failed fit restarted at point 1
CalMiss	warning: record ignored, no target visible
CalPointRecorded	info; LogRecord::points is the number of points now recorded
HudPoseTimeout	warning: the pan still moved kHudRecordTimeoutMs after cal:point, current pose used
PressPoseFallback	warning: no stationary pose was captured during the press, current pose used