io.silverspoon.bulldog.devices.motor.AbstractStepper Maven / Gradle / Ivy
package io.silverspoon.bulldog.devices.motor;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.Future;
import io.silverspoon.bulldog.devices.actuators.Actuator;
import io.silverspoon.bulldog.devices.actuators.movement.Move;
public abstract class AbstractStepper implements Actuator {
private ExecutorService executor = Executors.newSingleThreadExecutor();
private Future currentMove = null;
public abstract void forward();
public abstract void backward();
public abstract void stop();
public void move(Move move) {
move.execute(this);
}
public void moveAsync(final Move move) {
currentMove = executor.submit(new Runnable() {
@Override
public void run() {
move(move);
}
});
}
public void awaitMoveCompleted() {
if (currentMove != null) {
try {
currentMove.get();
} catch (Exception e) {
throw new RuntimeException(e);
}
}
}
}