AppController.hpp

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#pragma once
 
#include "CameraCapture.hpp"
#include "MotionController.hpp"
 
class AppController {
public:
    enum class SmokeJoint {
        All,    
        Base,   
        Lower,  
        Upper,  
        Grip,   
    };
 
    struct LiveTestOptions {
        int camera_index = 0;  
        int expected_marker_id = 23;  
        bool auto_ack = false;  
        CameraCapture::BackendPreference backend_preference =
            CameraCapture::BackendPreference::Auto;  
    };
 
    struct MotionSmokeTestOptions {
        SmokeJoint joint = SmokeJoint::All;  
    };
 
    AppController() noexcept;
 
    ~AppController() noexcept;
 
    int runGuardianScenarioDemo();
 
    int runButtonTest();
 
    int runServoCalibration();
 
    int runInteractiveServoConsole();
 
    int runMotionHomePose();
 
    int runMotionSmokeTest(const MotionSmokeTestOptions& options);
 
    int runCameraBackendCheck(const LiveTestOptions& options);
 
    int runLiveMarkerTest(const LiveTestOptions& options);
 
private:
    MotionController motion_controller_;
};