Initial commit

srcs/RobotNet10/Shared/RobotNet10.Shared/Sensor/Joy.cs

@@ -0,0 +1,95 @@
+namespace RobotNet10.Shared.Sensor;
+
+/// <summary>
+/// Joy message (sensor_msgs/Joy)
+/// Reports the state of a joystick's axes and buttons
+/// </summary>
+public struct Joy
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// The axes measurements from a joystick
+    /// </summary>
+    public double[] Axes { get; set; }
+
+    /// <summary>
+    /// The buttons measurements from a joystick
+    /// </summary>
+    public int[] Buttons { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Joy()
+    {
+        Header = new Header();
+        Axes = [];
+        Buttons = [];
+    }
+}
+
+/// <summary>
+/// JoyFeedback message (sensor_msgs/JoyFeedback)
+/// Reports the state of a joystick's axes and buttons
+/// </summary>
+public struct JoyFeedback
+{
+    /// <summary>
+    /// Type constants
+    /// </summary>
+    public const byte TypeLed = 0;
+    public const byte TypeRumble = 1;
+    public const byte TypeBuzzer = 2;
+
+    /// <summary>
+    /// Type of feedback (Type constants)
+    /// </summary>
+    public byte Type { get; set; }
+
+    /// <summary>
+    /// This will hold an id number for each type of each feedback.
+    /// Example, the first led would be id=0, the second would be id=1
+    /// </summary>
+    public byte Id { get; set; }
+
+    /// <summary>
+    /// Intensity of the feedback, from 0.0 to 1.0, inclusive.  If device is
+    /// actually binary, driver should treat 0<=x<0.5 as off, 0.5<=x<=1.0 as on.
+    /// </summary>
+    public double Intensity { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public JoyFeedback()
+    {
+        Type = TypeLed;
+        Id = 0;
+        Intensity = 0.0;
+    }
+}
+
+/// <summary>
+/// JoyFeedbackArray message (sensor_msgs/JoyFeedbackArray)
+/// Array of JoyFeedback
+/// </summary>
+public struct JoyFeedbackArray
+{
+    /// <summary>
+    /// Array of feedback
+    /// </summary>
+    public JoyFeedback[] Array { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public JoyFeedbackArray()
+    {
+        Array = System.Array.Empty<JoyFeedback>();
+    }
+}
+