.. _program_listing_file_src_tap_control_command.hpp:

Program Listing for File command.hpp
====================================

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

.. |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/>.
    */
   
   #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_