Resurgence (PY2022)
Codebase for the Husky Robotics 2021-2022 rover Resurgence
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MissionControlMessages.h
1#pragma once
2
3namespace net::mc {
4
5// TODO: possibly use frozen::string for this so we don't have to use raw char ptrs
6// TODO: MOTOR_POS_REQ, MOTOR_STATUS_REP are unimplemented, do we want to remove or implement?
7// request keys
8constexpr const char* EMERGENCY_STOP_REQ_TYPE = "emergencyStopRequest";
9constexpr const char* OPERATION_MODE_REQ_TYPE = "operationModeRequest";
10constexpr const char* DRIVE_MODE_REQ_TYPE = "swerveDriveModeRequest";
11constexpr const char* DRIVE_REQ_TYPE = "driveRequest";
12constexpr const char* DRIVE_TANK_REQ_TYPE = "tankDriveRequest";
13constexpr const char* DRIVE_TURN_IN_PLACE_REQ_TYPE = "turnInPlaceDriveRequest";
14constexpr const char* DRIVE_CRAB_REQ_TYPE = "crabDriveRequest";
15constexpr const char* ARM_IK_ENABLED_TYPE = "requestArmIKEnabled";
16constexpr const char* JOINT_POWER_REQ_TYPE = "jointPowerRequest";
17constexpr const char* MOTOR_POSITION_REQ_TYPE = "motorPositionRequest";
18constexpr const char* JOINT_POSITION_REQ_TYPE = "jointPositionRequest";
19constexpr const char* CAMERA_STREAM_OPEN_REQ_TYPE = "cameraStreamOpenRequest";
20constexpr const char* CAMERA_STREAM_CLOSE_REQ_TYPE = "cameraStreamCloseRequest";
21constexpr const char* WAYPOINT_NAV_REQ_TYPE = "waypointNavRequest";
22
23// report keys
24constexpr const char* MOTOR_STATUS_REP_TYPE = "motorStatusReport";
25constexpr const char* CAMERA_STREAM_REP_TYPE = "cameraStreamReport";
26constexpr const char* MOUNTED_PERIPHERAL_REP_TYPE = "mountedPeripheralReport";
27constexpr const char* JOINT_POSITION_REP_TYPE = "jointPositionReport";
28constexpr const char* ROVER_POS_REP_TYPE = "roverPositionReport";
29constexpr const char* ARM_IK_ENABLED_REP_TYPE = "armIKEnabledReport";
30
31} // namespace net::mc
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