/*
 * Copyright (C) 2017 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

syntax = "proto3";
package gz.msgs;
option java_package = "com.gz.msgs";
option java_outer_classname = "HydraProtos";

/// \ingroup gz.msgs
/// \interface Hydra
/// \brief Message that contains information about a Hydra Razer controller

import "gz/msgs/pose.proto";
import "gz/msgs/header.proto";

message Hydra
{
  message Paddle
  {
    // Pose of the paddle
    Pose pose          = 1;

    // The button labeled LB
    bool button_bumper = 2;

    // Button 1
    bool button_1      = 3;

    // Button 2
    bool button_2      = 4;

    // Button 3
    bool button_3      = 5;

    // Button 4
    bool button_4      = 6;

    // Button that is activated by pressing down on the joystick.
    bool button_joy    = 7;

    // The button located between button 1 and 2.
    bool button_center = 8;

    // Range(-1, 1) where -1 == back, and +1 == forward.
    double joy_x       = 9;

    // Range(-1, 1) where -1 == left, and +1 == right.
    double joy_y       = 10;

    // Range(0, 1) where 0 is no press, and 1 is full press.
    double trigger     = 11;
  }

  /// \brief Optional header data
  Header header = 1;

  // Info for the right paddle
  Paddle right = 2;

  // Info for the left paddle
  Paddle left  = 3;
}
