machine_procedure.h

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#pragma once
 
#include <optional>
 
#include "core/containers/thread_safe_queue.h"
#include "motion-master.pb.h"
 
class Cia402Drive;
class MotionMasterError;
 
class MachineProcedure {
 public:
  virtual std::optional<MotionMasterError> execute(
      uint64_t pending_signals) = 0;
 
  virtual ~MachineProcedure() = default;
 
  motionmaster::MotionMasterMessage::Status* dequeue_status_message();
 
  void enqueue_status_message(
      motionmaster::MotionMasterMessage::Status* message);
 
 protected:
  MachineProcedure(uint32_t device_address, Cia402Drive& cia402_drive);
 
  uint32_t device_address_;
  Cia402Drive& cia402_drive_;
 
 private:
  mm::core::containers::ThreadSafeQueue<
      motionmaster::MotionMasterMessage::Status*>
      outgoing_status_message_queue_;
};