🚚 Renames controller data

esp32/include/communication/proto_helpers.h

@@ -32,7 +32,7 @@ DEFINE_MESSAGE_TRAITS(KinematicData, kinematic_data)
 DEFINE_MESSAGE_TRAITS(IMUCalibrateData, imu_calibrate)
 DEFINE_MESSAGE_TRAITS(I2CScanData, i2c_scan)
 DEFINE_MESSAGE_TRAITS(PeripheralSettingsData, peripheral_settings)
-DEFINE_MESSAGE_TRAITS(HumanInputData, human_input_data)
+DEFINE_MESSAGE_TRAITS(ControllerData, controller_data)
 DEFINE_MESSAGE_TRAITS(WalkGaitData, walk_gait)
 DEFINE_MESSAGE_TRAITS(IMUCalibrateExecute, imu_calibrate_execute)
 DEFINE_MESSAGE_TRAITS(I2CScanDataRequest, i2c_scan_data_request)

esp32/include/message_types.h

@@ -5,7 +5,7 @@
 struct CommandMsg {
     float lx, ly, rx, ry, h, s, s1;
 
-    void fromProto(const socket_message_HumanInputData& data) {
+    void fromProto(const socket_message_ControllerData& data) {
         lx = data.has_left ? data.left.x : 0;
         ly = data.has_left ? data.left.y : 0;
         rx = data.has_right ? data.right.x : 0;

esp32/include/motion.h

@@ -23,7 +23,7 @@ class MotionService {
 
     void handleAngles(const socket_message_AnglesData& data);
 
-    void handleInput(const socket_message_HumanInputData& data);
+    void handleInput(const socket_message_ControllerData& data);
 
     void handleWalkGait(const socket_message_WalkGaitData& data);
 

esp32/src/main.cpp

@@ -136,8 +136,8 @@ void setupServer() {
 }
 
 void setupEventSocket() {
-    socket.on<socket_message_HumanInputData>(
-        [&](const socket_message_HumanInputData &data, int clientId) { motionService.handleInput(data); });
+    socket.on<socket_message_ControllerData>(
+        [&](const socket_message_ControllerData &data, int clientId) { motionService.handleInput(data); });
 
     socket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
         servoController.setMode(SERVO_CONTROL_STATE::ANGLE);

esp32/src/motion.cpp

@@ -18,7 +18,7 @@ void MotionService::setState(MotionState* newState) {
     }
 }
 
-void MotionService::handleInput(const socket_message_HumanInputData& data) {
+void MotionService::handleInput(const socket_message_ControllerData& data) {
     command.fromProto(data);
     if (state) state->handleCommand(command);
 }