command.hpp

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/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * Copyright (c) 2020-2021 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_COMMAND_HPP_
#define TAPROOT_COMMAND_HPP_
 
#include "tap/util_macros.hpp"
 
#include "command_scheduler_types.hpp"
 
namespace tap
{
namespace control
{
class Subsystem;
 
class Command
{
public:
    Command();
 
    virtual ~Command();
 
    mockable inline subsystem_scheduler_bitmap_t getRequirementsBitwise() const
    {
        return commandRequirementsBitwise;
    }
 
    // This shouldn't be mockable
    inline int getGlobalIdentifier() const { return globalIdentifier; }
 
    mockable void addSubsystemRequirement(Subsystem* requirement);
 
    virtual const char* getName() const = 0;
 
    virtual bool isReady();
 
    virtual void initialize() = 0;
 
    virtual void execute() = 0;
 
    virtual void end(bool interrupted) = 0;
 
    virtual bool isFinished() const = 0;
 
private:
    const int globalIdentifier;
 
protected:
    command_scheduler_bitmap_t commandRequirementsBitwise = 0;
};  // class Command
 
}  // namespace control
 
}  // namespace tap
 
#endif  // TAPROOT_COMMAND_HPP_