ControlMessages.hpp

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#ifndef DAQ_CONTROL_MESSAGES_HPP
#define DAQ_CONTROL_MESSAGES_HPP
 
#include <cstdint>
 
#include "../../CommsMessage.hpp"
 
namespace comms {
namespace messages {
namespace control {
 
// Import CommsMessage from parent namespace
using comms::CommsMessage;
 
/**
 * @brief Actuator command message
 *
 * Contains commands sent to actuators (valves, igniters, etc.).
 */
using ActuatorCommandMessage =
    CommsMessage<uint64_t,  // (0) timestamp_ns - monotonic timestamp
                 uint8_t,   // (1) actuator_id - Actuator identifier
                 uint8_t,   // (2) command_type - Command type (OPEN, CLOSE, PULSE, etc.)
                 float,     // (3) value - Command value (duration, duty cycle, etc.)
                 uint8_t    // (4) status - Command status/acknowledgment
                 >;
 
/**
 * @brief Control state message
 *
 * Contains current control system state (PID terms, setpoints, etc.).
 */
using ControlStateMessage = CommsMessage<uint64_t,  // (0) timestamp_ns - monotonic timestamp
                                         double,    // (1) setpoint_x - X-axis setpoint
                                         double,    // (2) setpoint_y - Y-axis setpoint
                                         double,    // (3) setpoint_z - Z-axis setpoint
                                         double,    // (4) pid_p_x - X-axis proportional term
                                         double,    // (5) pid_i_x - X-axis integral term
                                         double,    // (6) pid_d_x - X-axis derivative term
                                         double,    // (7) pid_p_y - Y-axis proportional term
                                         double,    // (8) pid_i_y - Y-axis integral term
                                         double,    // (9) pid_d_y - Y-axis derivative term
                                         double,    // (10) pid_p_z - Z-axis proportional term
                                         double,    // (11) pid_i_z - Z-axis integral term
                                         double     // (12) pid_d_z - Z-axis derivative term
                                         >;
 
}  // namespace control
}  // namespace messages
using comms::CommsMessage;
}  // namespace comms
 
#endif  // DAQ_CONTROL_MESSAGES_HPP