Work on sensor

main/include/LoopManager.h

@@ -8,19 +8,25 @@
 #include <memory>
 
 #include "MessagingInterface.h"
+#include "control/ActuatorFactory.h"
+#include "control/IActuator.h"
 
 class LoopManager {
 public:
     LoopManager() : m_config_manager(ConfigManager::get_instance()),
-        m_messaging_interface(std::make_unique<MessagingInterface>()) {}
+        m_messaging_interface(std::make_unique<MessagingInterface>()),
+       m_actuator(ActuatorFactory::create_actuator(m_config_manager.get_module_type())) {}
     [[noreturn]] void control_loop() const;                     // gets control commands
-    [[noreturn]] void sensor_loop() const;                      // sends sensor data commands continually
+    [[noreturn]] static void sensor_loop(char * args);          // sends sensor data commands continually
     [[noreturn]] static void metadata_tx_loop(char * args);     // sends metadata continually (low duty cycle)
     [[noreturn]] static void metadata_rx_loop(char * args);     // gets other commands from PC (ie. f/w updates, nvs updates)
 
 private:
     ConfigManager& m_config_manager;
     std::unique_ptr<MessagingInterface> m_messaging_interface;
+    std::unique_ptr<IActuator> m_actuator;
+
+    void send_sensor_reading(bool durable) const;
 };
 
 #endif //LOOPMANAGER_H

main/include/control/DCMotorActuator.h

@@ -12,10 +12,12 @@ public:
     DCMotorActuator();
     ~DCMotorActuator() override;
     void actuate(uint8_t *cmd) override;
+    std::vector<Flatbuffers::SensorValueInstance> get_sensor_data() override;
 private:
     void setup_encoder();
     static void pid_task(char* args);
 
+    double m_current_angle;
     int64_t m_target_angle;
     TaskHandle_t m_pid_task;
 

main/include/control/IActuator.h

@@ -5,10 +5,16 @@
 #ifndef IACTUATOR_H
 #define IACTUATOR_H
 
+#include <vector>
+
+#include "SensorMessageBuilder.h"
+
+
 class IActuator {
 public:
     virtual ~IActuator() {}
     virtual void actuate(uint8_t *cmd) = 0;
+    virtual std::vector<Flatbuffers::SensorValueInstance> get_sensor_data() = 0;
 };
 
 #endif //IACTUATOR_H

main/include/control/Servo1Actuator.h

@@ -15,6 +15,9 @@ class Servo1Actuator final : public IActuator {
 public:
     Servo1Actuator();
     void actuate(std::uint8_t *cmd) override;
+    std::vector<Flatbuffers::SensorValueInstance> get_sensor_data() override;
+private:
+    uint16_t m_target = 90;
 };
 
 #endif //SERVO1ACTUATOR_H