motion_control_machine.h

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#pragma once
 
#include <chrono>
#include <future>
 
#include "core/containers/thread_safe_queue.h"
#include "machine.h"
#include "motion_filter.h"
#include "motion_master_error.h"
 
class Cia402Drive;
 
class MotionControlMachine : public Machine {
 public:
  MotionControlMachine(
      VirtualDeviceManager& vdm, ctpl::thread_pool& thread_pool,
      Notifier& notifier,
      mm::core::containers::ThreadSafeQueue<OutgoingMachineMessage>&
          outgoing_machine_message_queue);
 
  void execute(uint64_t pending_signals) override;
  void abort_client_requests(const std::string& connection_id) override;
  bool done() override;
 
 private:
  class Axis {
   public:
    Axis(VirtualDeviceManager& vdm,
         IncomingMachineMessage& incoming_machine_message);
 
    std::unique_ptr<Cia402Drive> cia402_drive_;
    std::unique_ptr<MotionFilter> motion_filter_;
 
    IncomingMachineMessage incoming_machine_message_;
 
    bool processed = false;
    std::future<MotionMasterError> init_controller_future_;
    std::function<void(int32_t)> set = nullptr;
    std::function<void(uint64_t)> execute = nullptr;
  };
 
  class DisableController {
   public:
    DisableController(VirtualDeviceManager& vdm,
                      IncomingMachineMessage& incoming_machine_message);
 
    IncomingMachineMessage incoming_machine_message_;
 
    uint32_t device_address_;
    std::unique_ptr<Cia402Drive> cia402_drive_;
    std::future<MotionMasterError> deinit_controller_future_;
  };
 
  std::map<uint32_t, Axis> axis_map_;
  std::vector<DisableController> disable_controller_requests_;
 
  void send_status(
      const IncomingMachineMessage& incoming_machine_message,
      motionmaster::MotionMasterMessage::MotionMasterMessage::Status* status);
};