.. _program_listing_file_src_tap_control_command.cpp:

Program Listing for File command.cpp
====================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_control_command.cpp>` (``src/tap/control/command.cpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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/>.
    */
   
   #include "command.hpp"
   
   #include "command_scheduler.hpp"
   #include "subsystem.hpp"
   
   namespace tap
   {
   namespace control
   {
   Command::Command() : globalIdentifier(CommandScheduler::constructCommand(this)) {}
   
   Command::~Command() { CommandScheduler::destructCommand(this); }
   
   void Command::addSubsystemRequirement(Subsystem* requirement)
   {
       if (requirement == nullptr)
       {
           return;
       }
       commandRequirementsBitwise |= (1UL << requirement->getGlobalIdentifier());
   }
   
   bool Command::isReady() { return true; }
   
   }  // namespace control
   }  // namespace tap