.. _program_listing_file_src_tap_control_concurrent_command.hpp:

Program Listing for File concurrent_command.hpp
===============================================

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

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

.. code-block:: cpp

   /*
    * Copyright (c) 2024-2025 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_CONCURRENT_COMMAND_HPP_
   #define TAPROOT_CONCURRENT_COMMAND_HPP_
   
   #include <array>
   
   #include "modm/architecture/interface/assert.hpp"
   
   #include "command.hpp"
   #include "command_scheduler_types.hpp"
   
   namespace tap
   {
   namespace control
   {
   template <size_t COMMANDS, bool RACE>
   class ConcurrentTemplateCommand : public Command
   {
   public:
       ConcurrentTemplateCommand(std::array<Command*, COMMANDS> commands, const char* name)
           : Command(),
             commands(commands),
             name(name),
             finishedCommands(0),
             allCommands(0)
       {
           for (Command* command : commands)
           {
               modm_assert(
                   command != nullptr,
                   "ConcurrentCommand::ConcurrentCommand",
                   "Null pointer command passed into concurrent command.");
               auto requirements = command->getRequirementsBitwise();
               modm_assert(
                   (this->commandRequirementsBitwise & requirements) == 0,
                   "ConcurrentCommand::ConcurrentCommand",
                   "Multiple commands to concurrent command have overlapping requirements.");
               this->commandRequirementsBitwise |= requirements;
               this->allCommands |= (1ull << command->getGlobalIdentifier());
           }
       }
   
       const char* getName() const override { return this->name; }
   
       bool isReady() override
       {
           for (Command* command : commands)
           {
               if (!command->isReady())
               {
                   return false;
               }
           }
           return true;
       }
   
       void initialize() override
       {
           for (Command* command : commands)
           {
               command->initialize();
           }
       }
   
       void execute() override
       {
           for (Command* command : commands)
           {
               if (!(this->finishedCommands & (1ull << command->getGlobalIdentifier())))
               {
                   command->execute();
                   if (command->isFinished())
                   {
                       command->end(false);
                       this->finishedCommands |= 1ull << command->getGlobalIdentifier();
                   }
               }
           }
       }
   
       void end(bool interrupted) override
       {
           for (Command* command : commands)
           {
               if (!(this->finishedCommands & (1ull << command->getGlobalIdentifier())))
               {
                   if (RACE)
                   {
                       command->end(true);
                   }
                   else
                   {
                       command->end(interrupted);
                   }
               }
           }
       }
   
       bool isFinished() const override
       {
           if (RACE)
           {
               return this->finishedCommands != 0;
           }
           return this->finishedCommands == this->allCommands;
       }
   
   private:
       std::array<Command*, COMMANDS> commands;
       const char* name;
       command_scheduler_bitmap_t finishedCommands;
       command_scheduler_bitmap_t allCommands;
   };  // class ConcurrentTemplateCommand
   
   template <size_t COMMANDS>
   using ConcurrentCommand = ConcurrentTemplateCommand<COMMANDS, false>;
   
   template <size_t COMMANDS>
   using ConcurrentRaceCommand = ConcurrentTemplateCommand<COMMANDS, true>;
   
   }  // namespace control
   
   }  // namespace tap
   
   #endif  // TAPROOT_CONCURRENT_COMMAND_HPP_