governor_with_fallback_command.hpp

Go to the documentation of this file.

/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * Copyright (c) 2022 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_GOVERNOR_WITH_FALLBACK_COMMAND_HPP_
#define TAPROOT_GOVERNOR_WITH_FALLBACK_COMMAND_HPP_
 
#include <algorithm>
#include <array>
#include <cassert>
#include <cinttypes>
#include <vector>
 
#include "../command.hpp"
 
#include "command_governor_interface.hpp"
 
namespace tap::control::governor
{
template <std::size_t NUM_CONDITIONS>
class GovernorWithFallbackCommand : public Command
{
public:
    GovernorWithFallbackCommand(
        std::vector<Subsystem *> subRequirements,
        Command &commandWhenGovernorsReady,
        Command &fallbackCommand,
        const std::array<CommandGovernorInterface *, NUM_CONDITIONS> &commandGovernorList,
        const bool stopFallbackCommandIfGovernorsReady = false)
        : commandWhenGovernorsReady(commandWhenGovernorsReady),
          fallbackCommand(fallbackCommand),
          commandGovernorList(commandGovernorList),
          stopFallbackCommandIfGovernorsReady(stopFallbackCommandIfGovernorsReady)
    {
        std::for_each(subRequirements.begin(), subRequirements.end(), [&](auto sub) {
            addSubsystemRequirement(sub);
        });
 
        assert(
            commandWhenGovernorsReady.getRequirementsBitwise() == this->getRequirementsBitwise());
        assert(fallbackCommand.getRequirementsBitwise() == this->getRequirementsBitwise());
    }
 
    const char *getName() const override
    {
        return governedCommandSelected ? commandWhenGovernorsReady.getName()
                                       : fallbackCommand.getName();
    }
 
    bool isReady() override
    {
        governedCommandSelected = checkGovernorReadiness();
 
        return (governedCommandSelected && commandWhenGovernorsReady.isReady()) ||
               (!governedCommandSelected && fallbackCommand.isReady());
    }
 
    void initialize() override
    {
        if (governedCommandSelected)
        {
            commandWhenGovernorsReady.initialize();
        }
        else
        {
            fallbackCommand.initialize();
        }
    }
 
    void execute() override
    {
        if (governedCommandSelected)
        {
            commandWhenGovernorsReady.execute();
        }
        else
        {
            fallbackCommand.execute();
        }
    }
 
    void end(bool interrupted) override
    {
        if (governedCommandSelected)
        {
            commandWhenGovernorsReady.end(interrupted);
        }
        else
        {
            fallbackCommand.end(interrupted);
        }
    }
 
    bool isFinished() const override
    {
        if (governedCommandSelected)
        {
            return commandWhenGovernorsReady.isFinished() || checkAnyGovernorFinished();
        }
        return fallbackCommand.isFinished() ||
               (stopFallbackCommandIfGovernorsReady && checkGovernorReadiness());
    }
 
private:
    bool governedCommandSelected = false;
    Command &commandWhenGovernorsReady;
    Command &fallbackCommand;
 
    std::array<CommandGovernorInterface *, NUM_CONDITIONS> commandGovernorList;
    const bool stopFallbackCommandIfGovernorsReady;
 
    bool checkGovernorReadiness() const
    {
        return std::all_of(
            commandGovernorList.begin(),
            commandGovernorList.end(),
            [](auto governor) { return governor->isReady(); });
    }
 
    bool checkAnyGovernorFinished() const
    {
        return std::any_of(
            commandGovernorList.begin(),
            commandGovernorList.end(),
            [](auto governor) { return governor->isFinished(); });
    }
};
}  // namespace tap::control::governor
 
#endif  // TAPROOT_GOVERNOR_WITH_FALLBACK_COMMAND_HPP_