RCGamepadMessageSource Class Reference

Message source for remote control via a virtual gamepad. More...

#include <RCGamepadMessageSource.h>

Inheritance diagram for RCGamepadMessageSource:

Collaboration diagram for RCGamepadMessageSource:

Public Member Functions
	RCGamepadMessageSource (NetworkServer &server)
bool	begin (ControlScenario scenario=ControlScenario::Car)
	Start the message source and connect to the gamepad server.
void	end ()
	Stop the message source and disconnect from the gamepad server.
void	update ()
void	setCallback (bool(*cb)(const GamepadState &, MessageSource &source))
	Add a callback to receive and publish additional messages.
Public Member Functions inherited from MessageSource
void	subscribe (MessageHandler &handler, MessageOrigin origin=MessageOrigin::Undefined, MessageContent content=MessageContent::Undefined)
	Subscribe a message handler to this source, with optional filtering.
void	unsubscribeAll ()
	Remove all registered message handlers.
void	sendMessage (Message< float > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< Coordinate< float > > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< GPSCoordinate > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< MotionState3D > &msg)
	Overload for MotionState3D messages.

Protected Member Functions
void	publish (const GamepadState &state)
void	publish (const Message< float > &msg)
void	publishCar (const GamepadState &state)
void	publishDrone (const GamepadState &state)
void	publishPlane (const GamepadState &state)
void	publishBoat (const GamepadState &state)

Protected Attributes
GamepadServer	gamepad
ControlScenario	scenario
bool(*	callback )(const GamepadState &, MessageSource &source) = nullptr
bool	is_active_ = false
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

Message source for remote control via a virtual gamepad.

Note

This class depends on the VirtualGamePadArduino library: https://github.com/pschatzmann/VirtualGamePadArduino

this is an optional class, so it must be included in your sketch with: #include "TinyRobotics/communication/RCGamepadMessageSource.h"

This class connects to a GamepadServer and translates gamepad input into TinyRobotics Message objects for remote control scenarios (Car, Boat, etc). It supports different navigation scenarios and publishes control messages (steering, throttle, turn, etc) based on the selected scenario.

Usage: RCGamepadMessageSource source(server); source.begin(NaviationScenario::Car); // In loop: source.update();

Callback Mechanism

You can register a custom callback using setCallback(). The callback is invoked whenever a new GamepadState is received. If the callback returns false, the default message publishing is skipped, allowing you to publish custom messages instead. If the callback returns true (or is not set), the default messages for the selected scenario are published.

Example: source.setCallback([](const GamepadState& state, MessageSource& src) { // Custom message publishing logic return false; // skip default publishing });

The class is designed for integration with the TinyRobotics message bus and remote control framework.

Member Function Documentation

update()

void update ( )

inline

Call this in your main loop to handle incoming gamepad messages and publish control messages

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The documentation for this class was generated from the following file:

• src/TinyRobotics/communication/RCGamepadMessageSource.h