.. _program_listing_file_src_tap_control_subsystem.cpp:

Program Listing for File subsystem.cpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_control_subsystem.cpp>` (``src/tap/control/subsystem.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 "subsystem.hpp"
   
   #include "tap/drivers.hpp"
   
   #include "command_scheduler.hpp"
   
   namespace tap
   {
   namespace control
   {
   Subsystem::Subsystem(Drivers* drivers)
       : drivers(drivers),
         defaultCommand(nullptr),
         testCommand(nullptr),
         globalIdentifier(CommandScheduler::constructSubsystem(this))
   {
   }
   
   Subsystem::~Subsystem() { CommandScheduler::destructSubsystem(this); }
   
   void Subsystem::registerAndInitialize()
   {
       initialize();
       drivers->commandScheduler.registerSubsystem(this);
   }
   
   void Subsystem::setDefaultCommand(Command* command)
   {
       if (command != nullptr)
       {
           defaultCommand = command;
       }
   }
   
   void Subsystem::setTestCommand(Command* command)
   {
       if (command != nullptr)
       {
           testCommand = command;
       }
   }
   
   const char* Subsystem::getName() const { return "Subsystem"; }
   
   #if defined(PLATFORM_HOSTED) && defined(ENV_UNIT_TESTS)
   Subsystem::Subsystem()
       : drivers(nullptr),
         defaultCommand(nullptr),
         testCommand(nullptr),
         globalIdentifier(CommandScheduler::constructSubsystem(this))
   {
   }
   #endif
   }  // namespace control
   
   }  // namespace tap