#ifndef FACT_HeadersLid
#define FACT_HeadersLid

namespace Lid
{

    // this describes the single dim service this server is emitting.
    struct dim_service_t{
        float inner_current_mean;
        float outer_current_mean;

        float inner_position_mean;
        float outer_position_mean;

        int32_t inner_speed;
        int32_t outer_speed;
    } __attribute__((__packed__));

    // The following two structures describe the message as it is sent
    // from the arduino via USB to the PC.
    struct mean_var_samples_t {
        uint32_t mean;
        uint32_t var;
        uint16_t samples;
    }__attribute__((packed));

    struct message_t {
        mean_var_samples_t inner_motor_current;
        mean_var_samples_t outer_motor_current;

        mean_var_samples_t inner_motor_position;
        mean_var_samples_t outer_motor_position;

        int16_t inner_motor_speed;
        int16_t outer_motor_speed;

        char current_cmd;
        uint8_t system_state;
    }__attribute__((packed));

    struct complete_message_t {
        char start_flag[6];  // the string "start:"
        message_t msg;
        uint16_t checksum;
    }__attribute__((packed));


    namespace State
    {
       enum states_t
       {
           kClosed = 1,
           kUpperOpening,
           kHalfOpen,
           kLowerOpening,
           kOpen,
           kLowerClosing,
           kUpperClosing,
           kUnknown,
       };
    }
}

#endif