1 files changed, 57 insertions, 3 deletions
diff --git a/lua/clever_f/sequence_coordinator.lua b/lua/clever_f/sequence_coordinator.lua
index 5a05f53..ee50fbd 100644
--- a/lua/clever_f/sequence_coordinator.lua
+++ b/lua/clever_f/sequence_coordinator.lua
@@ -1,6 +1,7 @@
 local acquisition_service_factory = require("clever_f.acquisition_service")
 local domain = require("clever_f.domain")
 local feedback_service_factory = require("clever_f.feedback_service")
+local motion_executor_factory = require("clever_f.motion_executor")
 local motion_plan_factory = require("clever_f.motion_plan")
 local policy = require("clever_f.policy")
 local repeat_resolver_factory = require("clever_f.repeat_resolver")
@@ -100,6 +101,17 @@ function SequenceCoordinator.new(options)
   if type(acquisition) ~= "table" or type(acquisition.acquire) ~= "function" then
     fail("SequenceCoordinator acquisition service must provide acquire", 2)
   end
+  local executor = options.motion_executor
+    or options.executor
+    or motion_executor_factory.new({
+      host = host,
+      state = state,
+      transitions = transitions,
+      feedback = feedback,
+    })
+  if type(executor) ~= "table" or type(executor.execute) ~= "function" then
+    fail("SequenceCoordinator motion executor must provide execute", 2)
+  end
 
   local coordinator = setmetatable({}, SequenceCoordinator)
   coordinator_records[coordinator] = {
@@ -112,6 +124,8 @@ function SequenceCoordinator.new(options)
     target_factory = target_factory,
     motion_factory = motion_factory,
     acquisition = acquisition,
+    motion_executor = executor,
+    last_primary_resolution = nil,
   }
   return coordinator
 end
@@ -410,6 +424,36 @@ function SequenceCoordinator:stored_primary_resolution(
   return resolution
 end
 
+function SequenceCoordinator:execute_primary_resolution(resolution)
+  if type(resolution) ~= "table"
+    or not domain.ModeContext.is(resolution.invocation.context)
+    or not domain.ResolvedMotionPlan.is(resolution.motion_plan)
+  then
+    fail("primary execution requires a resolved motion", 2)
+  end
+  local record = coordinator_records[self]
+  record.last_primary_resolution = resolution
+  if resolution.skip_destination then
+    return domain.ActionOutcome.empty(resolution.invocation.position)
+  end
+  local view = resolution.text_view or text_topology.from_host(record.host)
+  local outcome = record.motion_executor:execute(
+    view,
+    resolution.invocation.context,
+    resolution.motion_plan,
+    resolution.invocation.count,
+    resolution.first_move
+  )
+  if not domain.ActionOutcome.is(outcome) then
+    fail("MotionExecutor must return an ActionOutcome", 2)
+  end
+  return outcome
+end
+
+function SequenceCoordinator:last_primary_resolution()
+  return coordinator_records[self].last_primary_resolution
+end
+
 function SequenceCoordinator:primary(value)
   local descriptor = self:validate_primary_descriptor(value)
   local invocation = self:read_primary_invocation()
@@ -420,7 +464,11 @@ function SequenceCoordinator:primary(value)
   )
   invocation.repeat_decision = self:decide_primary(invocation)
   if invocation.repeat_decision == repeat_resolver_factory.Decision.ACQUIRE then
-    return self:resolve_acquisition(descriptor, invocation)
+    local acquired = self:resolve_acquisition(descriptor, invocation)
+    if domain.ActionOutcome.is(acquired) then
+      return acquired
+    end
+    return self:execute_primary_resolution(acquired)
   end
   local timeout = self:evaluate_repeat_timeout(invocation)
   if timeout.decision == repeat_resolver_factory.Decision.ACQUIRE then
@@ -431,9 +479,15 @@ function SequenceCoordinator:primary(value)
       end
       record.feedback:release_transition_cleanup(timeout.cleanup)
     end
-    return self:resolve_acquisition(descriptor, invocation)
+    local acquired = self:resolve_acquisition(descriptor, invocation)
+    if domain.ActionOutcome.is(acquired) then
+      return acquired
+    end
+    return self:execute_primary_resolution(acquired)
   end
-  return self:stored_primary_resolution(invocation, descriptor, timeout)
+  return self:execute_primary_resolution(
+    self:stored_primary_resolution(invocation, descriptor, timeout)
+  )
 end
 
 function M.new(options)