void-sentry-esp32/status__fields_8h_source.html

#pragma once


#include "aim_map.h"

#include "control_status.h"


#include <cstdint>


namespace hud

{

constexpr float kReturningMarginDeg = 1.0f;


struct HomeState {

    bool ai_mode = false;

    bool homed = false;

    uint32_t home_remaining_ms = 0;

};


int16_t round_pixel(float v);


void fill_pose_fields(ControlStatus& st, const aiming::AimMap& map, const HomeState& home);

} // namespace hud

aim_map.h
Maps a target's image position to turret angles (pure C++20, natively tested).

control_status.h
Read-only view of the controller state for the HUD and stats line.

hud::fill_pose_fields
void fill_pose_fields(ControlStatus &st, const aiming::AimMap &map, const HomeState &home)
Fills aim_x, aim_y, lim, rx0, ry0, rx1, ry1, home_ms and returning of st from st.angles (which must a...
Definition status_fields.cpp:24

hud::kReturningMarginDeg
constexpr float kReturningMarginDeg
A pose further than this from home on either axis counts as "travelling home" after a Home command.
Definition status_fields.h:20

hud::round_pixel
int16_t round_pixel(float v)
Rounds a pixel coordinate to int16, saturating at the int16 range (a nearly flat map can put the inve...
Definition status_fields.cpp:7

ControlStatus
Snapshot of the controller, published once per control pass.
Definition control_status.h:17

aiming::AimMap
pan = pan_a * x + pan_b, tilt = tilt_a * y + tilt_b.
Definition aim_map.h:50

hud::HomeState
AI return-home state read from the aiming::AimPolicy. Ignored unless ai_mode is set.
Definition status_fields.h:23

hud::HomeState::homed
bool homed
aiming::AimPolicy::homed(): Home has fired since the last lock or reset.
Definition status_fields.h:25

hud::HomeState::home_remaining_ms
uint32_t home_remaining_ms
aiming::AimPolicy::home_remaining_ms() at this pass.
Definition status_fields.h:26

hud::HomeState::ai_mode
bool ai_mode
The controller is in ControlMode::Ai.
Definition status_fields.h:24