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include/okapi/api/control/async/asyncController.hpp

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+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/control/closedLoopController.hpp"
+
+namespace okapi {
+/**
+ * Closed-loop controller that steps on its own in another thread and automatically writes to the
+ * output.
+ */
+template <typename Input, typename Output>
+class AsyncController : public ClosedLoopController<Input, Output> {
+  public:
+  /**
+   * Blocks the current task until the controller has settled. Determining what settling means is
+   * implementation-dependent.
+   */
+  virtual void waitUntilSettled() = 0;
+};
+} // namespace okapi