control_motion_executor.hpp

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#pragma once
 
#include <pulp/inspect/control_main_thread_executor.hpp>
#include <pulp/inspect/control_identity.hpp>
 
#include <functional>
#include <memory>
#include <optional>
#include <string>
 
namespace pulp::inspect {
 
class MotionInspector;
class MotionScrubber;

struct ControlMotionTarget {
    ControlRegistrationId registration_id;
    ControlHostTier host_tier = ControlHostTier::Standalone;
    std::string session_id;
    std::string instance_id;
    std::string publication_id;
    std::string instance_generation;
    std::function<bool()> authority_live;
    std::function<std::shared_ptr<void>(std::function<void()>)> subscribe_authority_end;
    MotionInspector* inspector = nullptr;
    MotionScrubber* scrubber = nullptr;
};
 
using ControlMotionTargetResolver =
    std::function<std::optional<ControlMotionTarget>(const ControlAdmissionPlan&)>;
 
struct ControlMotionExecutorConfig {
    std::shared_ptr<InspectorMainThreadRpc> main_thread_rpc;
    ControlMotionTargetResolver resolve_target;
};

class ControlMotionExecutor {
  public:
    static std::unique_ptr<ControlMotionExecutor> create(ControlMotionExecutorConfig config);
 
    ControlMotionExecutor(const ControlMotionExecutor&) = delete;
    ControlMotionExecutor& operator=(const ControlMotionExecutor&) = delete;
 
    ControlOperationExecutor executor() const;
 
  private:
    explicit ControlMotionExecutor(ControlMainThreadExecutor main_thread);
    ControlMainThreadExecutor main_thread_;
};
 
} // namespace pulp::inspect