51 lines
1.5 KiB
C
51 lines
1.5 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#ifndef __SUBSYSTEM_H__
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#define __SUBSYSTEM_H__
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#include "ErrorBase.h"
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#include "SmartDashboard/NamedSendable.h"
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#include <string>
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#include <memory>
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class Command;
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class Subsystem : public ErrorBase, public NamedSendable {
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friend class Scheduler;
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public:
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Subsystem(const std::string &name);
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virtual ~Subsystem() = default;
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void SetDefaultCommand(Command *command);
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Command *GetDefaultCommand();
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void SetCurrentCommand(Command *command);
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Command *GetCurrentCommand() const;
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virtual void InitDefaultCommand();
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private:
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void ConfirmCommand();
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Command *m_currentCommand = nullptr;
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bool m_currentCommandChanged = true;
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Command *m_defaultCommand = nullptr;
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std::string m_name;
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bool m_initializedDefaultCommand = false;
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public:
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virtual std::string GetName() const;
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virtual void InitTable(std::shared_ptr<ITable> table);
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virtual std::shared_ptr<ITable> GetTable() const;
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virtual std::string GetSmartDashboardType() const;
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protected:
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std::shared_ptr<ITable> m_table;
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};
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#endif
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