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pub mod axis;
pub mod led;
pub mod spindle;
use alloc::boxed::Box;
use crate::error::{BoxError, Error};
use core::task::Poll;
pub trait Actuator {
type Action;
type Error: Error;
fn run(&mut self, action: &Self::Action);
fn poll(&mut self) -> Poll<Result<(), Self::Error>>;
}
pub type BoxActuator<Action> = Box<dyn Actuator<Action = Action, Error = BoxError>>;
pub struct BoxifyActuator<A: Actuator>(A);
impl<A: Actuator> BoxifyActuator<A> {
pub fn new(actuator: A) -> Self {
Self(actuator)
}
}
impl<A: Actuator> Actuator for BoxifyActuator<A>
where
A::Error: 'static,
{
type Action = A::Action;
type Error = BoxError;
fn run(&mut self, action: &Self::Action) {
self.0.run(action)
}
fn poll(&mut self) -> Poll<Result<(), Self::Error>> {
self.0
.poll()
.map_err(|error| (Box::new(error) as Box<dyn Error>).into())
}
}