/*
 * cmd_adapter模组
 */

#pragma once

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ----------------------------------------------------------------- */
#include "component\user_math.h"
#include "gimbal.h"
#include "remote_control.h"
#include "chassis.h"
#include "shoot.h"
#include "dr16.h"
#include "module\cmd\cmd_types.h"

#define CMD_OK (0)
#define CMD_ERR (-1)
#define CMD_ERR_NULL (-2)
#define CMD_ERR_INITED (-3)
#define CMD_ERR_NO_DEV (-4)




/* ========================================================================== */
/*                           适配器接口定义                                     */
/* ========================================================================== */

/* 适配器操作函数指针类型 */
typedef int8_t (*CMD_AdapterInitFunc)(void *device_data);
typedef int8_t (*CMD_AdapterGetInputFunc)(void *device_data, CMD_RawInput_t *output);
typedef bool   (*CMD_AdapterIsOnlineFunc)(void *device_data);

typedef struct {
    const char *name;                   /* 适配器名称 */
    CMD_InputSource_t source;           /* 对应的输入源 */
    void *device_data;                  /* 设备数据指针 */
    CMD_AdapterInitFunc init;           /* 初始化函数 */
    CMD_AdapterGetInputFunc get_input;  /* 获取输入函数 */
    CMD_AdapterIsOnlineFunc is_online;  /* 在线检测函数 */
} CMD_InputAdapter_t;






#ifdef __cplusplus
}
#endif