tap::control::governor::GovernorLimitedCommand< NUM_CONDITIONS > Class Template Reference

#include <governor_limited_command.hpp>

Inheritance diagram for tap::control::governor::GovernorLimitedCommand< NUM_CONDITIONS >:

Collaboration diagram for tap::control::governor::GovernorLimitedCommand< NUM_CONDITIONS >:

Public Member Functions
	GovernorLimitedCommand (const std::vector< Subsystem * > &subRequirements, Command &command, const std::array< CommandGovernorInterface *, NUM_CONDITIONS > &commandGovernorList)
const char *	getName () const override
bool	isReady () override
void	initialize () override
void	execute () override
void	end (bool interrupted) override
bool	isFinished () const override
Public Member Functions inherited from tap::control::Command
	Command ()
virtual	~Command ()
mockable subsystem_scheduler_bitmap_t	getRequirementsBitwise () const
int	getGlobalIdentifier () const
mockable void	addSubsystemRequirement (Subsystem *requirement)

Additional Inherited Members
Protected Attributes inherited from tap::control::Command
command_scheduler_bitmap_t	commandRequirementsBitwise = 0

Detailed Description

template<size_t NUM_CONDITIONS>
class tap::control::governor::GovernorLimitedCommand< NUM_CONDITIONS >

A command that runs another command, but will only execute the command when some list of governors all allow it to. All governors also have control over ending the command. If one of the governors believes the command should be finished, the command will be finished.

Template Parameters

NUM_CONDITIONS

The number of governors in the governor list.

Constructor & Destructor Documentation

GovernorLimitedCommand()

template<size_t NUM_CONDITIONS>

tap::control::governor::GovernorLimitedCommand< NUM_CONDITIONS >::GovernorLimitedCommand ( const std::vector< Subsystem * > &  subRequirements, Command &  command, const std::array< CommandGovernorInterface *, NUM_CONDITIONS > &  commandGovernorList  )

inline

Member Function Documentation

end()

template<size_t NUM_CONDITIONS>

void tap::control::governor::GovernorLimitedCommand< NUM_CONDITIONS >::end ( bool  interrupted )

inlineoverridevirtual

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Parameters

[in]

interrupted

whether the command was interrupted/canceled.

Implements tap::control::Command.

execute()

template<size_t NUM_CONDITIONS>

void tap::control::governor::GovernorLimitedCommand< NUM_CONDITIONS >::execute ( )

inlineoverridevirtual

The main body of a command. Called repeatedly while the command is scheduled by a CommandScheduler.

Implements tap::control::Command.

getName()

template<size_t NUM_CONDITIONS>

const char * tap::control::governor::GovernorLimitedCommand< NUM_CONDITIONS >::getName ( ) const

inlineoverridevirtual

Returns

the name of the command, to be implemented by derived classes.

Implements tap::control::Command.

initialize()

template<size_t NUM_CONDITIONS>

void tap::control::governor::GovernorLimitedCommand< NUM_CONDITIONS >::initialize ( )

inlineoverridevirtual

The initial subroutine of a command. Called once when the command is initially scheduled by a CommandScheduler.

Note that command instances are re-used: a single command could be initialized, run, finished, then later initialized again. Ensure that initialize() resets any state stored in the command!

Implements tap::control::Command.

isFinished()

template<size_t NUM_CONDITIONS>

bool tap::control::governor::GovernorLimitedCommand< NUM_CONDITIONS >::isFinished ( ) const

inlineoverridevirtual

Whether the command has finished. Once a Command finishes, the scheduler will call the end() function and un-schedule it. If a Command is naturally finished (i.e. isFinished() == true), then the CommandScheduler will pass in false to end(). If, for example, another Command is added that in turn stops the Command from executing, then the CommandScheduler will pass in true to end().

Returns

whether the command has finished.

Implements tap::control::Command.

isReady()

template<size_t NUM_CONDITIONS>

bool tap::control::governor::GovernorLimitedCommand< NUM_CONDITIONS >::isReady ( )

inlineoverridevirtual

A check called right before a command is scheduled to determine whether or not a command should be scheduled. If return is true then the command is scheduled, if false then the command is not scheduled.

Not forced to be overridden, returns true by default.

Reimplemented from tap::control::Command.

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The documentation for this class was generated from the following file:

• fang-mcb-project/taproot/src/tap/control/governor/governor_limited_command.hpp