subsystem.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_SUBSYSTEM_HPP_
#define TAPROOT_SUBSYSTEM_HPP_
 
#include <cstdint>
 
#include "tap/util_macros.hpp"
 
namespace tap
{
class Drivers;
namespace control
{
class Command;
 
class Subsystem
{
public:
    Subsystem(Drivers* drivers);
 
    virtual ~Subsystem();
 
    virtual void initialize() {}
 
    void registerAndInitialize();
 
    mockable void setDefaultCommand(Command* defaultCommand);
 
    mockable inline Command* getDefaultCommand() const { return defaultCommand; }
 
    virtual void refresh() {}
 
    virtual void refreshSafeDisconnect() {}
 
    mockable void setTestCommand(Command* testCommand);
 
    mockable inline Command* getTestCommand() const { return testCommand; }
 
    virtual const char* getName() const;
 
    mockable inline int getGlobalIdentifier() const { return globalIdentifier; }
 
protected:
    Drivers* drivers;
 
private:
    Command* defaultCommand;
 
    Command* testCommand;
 
    const int globalIdentifier;
 
#if defined(PLATFORM_HOSTED) && defined(ENV_UNIT_TESTS)
    //> Testing Related Stuff ---
public:
    // Define default constructor to allow NiceMocks to call default constructor and actually
    // construct :/, because setpoint subsystem inherits virtually from Subsystem *sigh*
    Subsystem();
#endif
};  // class Subsystem
 
}  // namespace control
 
}  // namespace tap
 
#endif  // TAPROOT_SUBSYSTEM_HPP_