offset_detection.h

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#pragma once
 
#include <atomic>
#include <chrono>
#include <map>
 
class Cia402Drive;
class MotionMasterError;
 
class OffsetDetection {
 public:
  enum class State { kMissing, kInProgress, kFound };
 
  explicit OffsetDetection(Cia402Drive &cia402_drive);
 
  MotionMasterError start();
 
  MotionMasterError wait();
 
  int32_t get_commutation_offset();
 
 private:
  Cia402Drive &cia402_drive_;
  std::atomic_bool running_;
 
  MotionMasterError init();
 
  MotionMasterError deinit();
};