governor_limited_command.hpp

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/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
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/*
 * 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_LIMITED_COMMAND_HPP_
#define TAPROOT_GOVERNOR_LIMITED_COMMAND_HPP_
 
#include <array>
#include <cassert>
#include <vector>
 
#include "../command.hpp"
 
#include "command_governor_interface.hpp"
 
namespace tap::control::governor
{
template <size_t NUM_CONDITIONS>
class GovernorLimitedCommand : public Command
{
public:
    GovernorLimitedCommand(
        const std::vector<Subsystem *> &subRequirements,
        Command &command,
        const std::array<CommandGovernorInterface *, NUM_CONDITIONS> &commandGovernorList)
        : command(command),
          commandGovernorList(commandGovernorList)
    {
        std::for_each(subRequirements.begin(), subRequirements.end(), [&](auto sub) {
            addSubsystemRequirement(sub);
        });
        assert(command.getRequirementsBitwise() == this->getRequirementsBitwise());
    }
 
    const char *getName() const override { return command.getName(); }
 
    bool isReady() override
    {
        return std::all_of(
                   commandGovernorList.begin(),
                   commandGovernorList.end(),
                   [](auto governor) { return governor->isReady(); }) &&
               command.isReady();
    }
 
    void initialize() override
    {
        command.initialize();
 
        for (auto governor : commandGovernorList)
        {
            governor->onGovernedCommandInitialized();
        }
    }
 
    void execute() override { command.execute(); }
 
    void end(bool interrupted) override { command.end(interrupted); }
 
    bool isFinished() const override
    {
        return std::any_of(
                   commandGovernorList.begin(),
                   commandGovernorList.end(),
                   [](auto governor) { return governor->isFinished(); }) ||
               command.isFinished();
    }
 
private:
    Command &command;
 
    std::array<CommandGovernorInterface *, NUM_CONDITIONS> commandGovernorList;
};
}  // namespace tap::control::governor
 
#endif  // TAPROOT_GOVERNOR_LIMITED_COMMAND_HPP_