signal_generator_machine.h

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#pragma once
 
#include <chrono>
#include <future>
 
#include "core/containers/thread_safe_queue.h"
#include "machine.h"
#include "motion-master.pb.h"
#include "motion_master_error.h"
#include "profile.h"
#include "step_response.h"
 
class Cia402Drive;
 
class SignalGeneratorMachine : public Machine {
 public:
  SignalGeneratorMachine(
      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_;
 
    IncomingMachineMessage set_parameters_incoming_machine_message_;
    IncomingMachineMessage start_incoming_machine_message_;
    std::optional<IncomingMachineMessage> stop_incoming_machine_message_;
 
    std::unique_ptr<StepResponse> step_response_;
    std::unique_ptr<Profile> profile_;
 
    std::future<MotionMasterError> future_;
 
    uint32_t timeout_counter_ = 0;
 
    // A queue of status messages generated during signal execution (e.g.
    // warnings)
    mm::core::containers::ThreadSafeQueue<
        motionmaster::MotionMasterMessage::Status*>
        outgoing_status_message_queue_;
 
    void start();
  };
 
  std::map<uint32_t, Axis> axis_map_;
 
  void send_status(
      const IncomingMachineMessage& incoming_machine_message,
      motionmaster::MotionMasterMessage::MotionMasterMessage::Status* status);
};