.. _program_listing_file_src_tap_control_sequential_command.hpp:

Program Listing for File sequential_command.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_control_sequential_command.hpp>` (``src/tap/control/sequential_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_SEQUENTIAL_COMMAND_HPP_
   #define TAPROOT_SEQUENTIAL_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>
   class SequentialCommand : public Command
   {
   public:
       SequentialCommand(std::array<Command*, COMMANDS> commands)
           : Command(),
             commands(commands),
             currentCommand(0)
       {
           for (Command* command : commands)
           {
               modm_assert(
                   command != nullptr,
                   "SequentialCommand::SequentialCommand",
                   "Null pointer command passed into sequential command.");
               this->commandRequirementsBitwise |= (command->getRequirementsBitwise());
           }
       }
   
       const char* getName() const override
       {
           return this->currentCommand == COMMANDS ? ""
                                                   : this->commands[this->currentCommand]->getName();
       }
   
       bool isReady() override { return this->commands[0]->isReady(); }
   
       void initialize() override
       {
           this->currentCommand = 0;
           this->commandInitialized = false;
       }
   
       void execute() override
       {
           if (!this->commandInitialized)
           {
               if (this->commands[this->currentCommand]->isReady())
               {
                   this->commands[this->currentCommand]->initialize();
                   this->commandInitialized = true;
               }
           }
   
           if (this->commandInitialized)
           {
               this->commands[this->currentCommand]->execute();
   
               if (this->commands[this->currentCommand]->isFinished())
               {
                   this->commands[this->currentCommand]->end(false);
                   this->commandInitialized = false;
                   this->currentCommand++;
               }
           }
       }
   
       void end(bool interrupted) override
       {
           if (this->currentCommand != COMMANDS)
           {
               this->commands[this->currentCommand]->end(interrupted);
           }
       }
   
       bool isFinished() const override { return this->currentCommand == COMMANDS; }
   
   private:
       std::array<Command*, COMMANDS> commands;
       size_t currentCommand;
       bool commandInitialized;
   };  // class SequentialCommand
   
   }  // namespace control
   
   }  // namespace tap
   
   #endif  // TAPROOT_SEQUENTIAL_COMMAND_HPP_