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FRC2016-old/wpilib/cpp/current/include/Commands/Subsystem.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#ifndef __SUBSYSTEM_H__
#define __SUBSYSTEM_H__
#include "ErrorBase.h"
#include "SmartDashboard/NamedSendable.h"
#include <string>
#include <memory>
class Command;
class Subsystem : public ErrorBase, public NamedSendable {
friend class Scheduler;
public:
Subsystem(const std::string &name);
virtual ~Subsystem() = default;
void SetDefaultCommand(Command *command);
Command *GetDefaultCommand();
void SetCurrentCommand(Command *command);
Command *GetCurrentCommand() const;
virtual void InitDefaultCommand();
private:
void ConfirmCommand();
Command *m_currentCommand = nullptr;
bool m_currentCommandChanged = true;
Command *m_defaultCommand = nullptr;
std::string m_name;
bool m_initializedDefaultCommand = false;
public:
virtual std::string GetName() const;
virtual void InitTable(std::shared_ptr<ITable> table);
virtual std::shared_ptr<ITable> GetTable() const;
virtual std::string GetSmartDashboardType() const;
protected:
std::shared_ptr<ITable> m_table;
};
#endif