###########################################################################
#
# Copyright (c) 2021-2024 Diality Inc. - All Rights Reserved.
#
# THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
# WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
#
# @file    closed_loop_signals.py
#
# @author  (last)      Sameer
# @date    (last)      15-Jun-2026
# @author  (original)  Sameer
# @date    (original)  15-Jun-2026
#
############################################################################

# Module imports
from dataclasses import dataclass


@dataclass
class ControllerSignals:
    """Equivalent to PI_CONTROLLER_SIGNALS_DATA"""
    control_signal_reference: float                 = 0.0       # ///< Reference value
    control_signal_measured: float                  = 0.0       # ///< Measured value
    control_signal_error: float                     = 0.0       # ///< Error value
    control_signal_error_sum: float                 = 0.0       # ///< Error sum before anti-windup
    control_signal_error_sum_after_windup: float    = 0.0       # ///< Error sum after anti-windup
    control_signal_proportional_output: float       = 0.0       # ///< P portion
    control_signal_integral_output: float           = 0.0       # ///< I portion
    control_signal_feed_forward_output: float       = 0.0       # ///< Feed forward portion
    control_signal_control: float                   = 0.0       # ///< Controller output signal