.. _program_listing_file_src_tap_control_scheduler_terminal_handler.cpp:

Program Listing for File scheduler_terminal_handler.cpp
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_control_scheduler_terminal_handler.cpp>` (``src/tap/control/scheduler_terminal_handler.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 "scheduler_terminal_handler.hpp"
   
   #include <algorithm>
   
   #include "tap/algorithms/strtok.hpp"
   #include "tap/drivers.hpp"
   
   #include "command.hpp"
   #include "subsystem.hpp"
   
   namespace tap
   {
   namespace control
   {
   constexpr char SchedulerTerminalHandler::HEADER[];
   constexpr char SchedulerTerminalHandler::USAGE[];
   
   SchedulerTerminalHandler::SchedulerTerminalHandler(Drivers* driver) : drivers(driver) {}
   
   void SchedulerTerminalHandler::init() { drivers->terminalSerial.addHeader(HEADER, this); }
   
   void SchedulerTerminalHandler::terminalSerialStreamCallback(modm::IOStream& outputStream)
   {
       printInfo(outputStream);
   }
   
   bool SchedulerTerminalHandler::terminalSerialCallback(
       char* inputLine,
       modm::IOStream& outputStream,
       bool streamingEnabled)
   {
       char* arg = strtokR(inputLine, communication::serial::TerminalSerial::DELIMITERS, &inputLine);
   
       if (arg != nullptr && strcmp(arg, "allsubcmd") == 0)
       {
           printInfo(outputStream);
           return true;
       }
       else
       {
           outputStream << USAGE;
           return (arg != nullptr) && !streamingEnabled && (strcmp(arg, "-H") == 0);
       }
   }
   
   void SchedulerTerminalHandler::printInfo(modm::IOStream& outputStream)
   {
       outputStream << "Subsystems:" << modm::endl;
       std::for_each(
           drivers->commandScheduler.subMapBegin(),
           drivers->commandScheduler.subMapEnd(),
           [&](Subsystem* sub) { outputStream << " " << sub->getName() << modm::endl; });
   
       outputStream << "Commands:" << modm::endl;
       std::for_each(
           drivers->commandScheduler.cmdMapBegin(),
           drivers->commandScheduler.cmdMapEnd(),
           [&](Command* cmd) { outputStream << " " << cmd->getName() << modm::endl; });
   }
   }  // namespace control
   
   }  // namespace tap