.. _program_listing_file_src_tap_control_subsystem.hpp:

Program Listing for File subsystem.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_control_subsystem.hpp>` (``src/tap/control/subsystem.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_SUBSYSTEM_HPP_
   #define TAPROOT_SUBSYSTEM_HPP_
   
   #include <cstdint>
   
   #include "tap/util_macros.hpp"
   
   namespace tap
   {
   class Drivers;
   namespace control
   {
   class Command;
   
   class Subsystem
   {
   public:
       Subsystem(Drivers* drivers);
   
       virtual ~Subsystem();
   
       virtual void initialize() {}
   
       void registerAndInitialize();
   
       mockable void setDefaultCommand(Command* defaultCommand);
   
       mockable inline Command* getDefaultCommand() const { return defaultCommand; }
   
       virtual void refresh() {}
   
       virtual void refreshSafeDisconnect() {}
   
       mockable void setTestCommand(Command* testCommand);
   
       mockable inline Command* getTestCommand() const { return testCommand; }
   
       virtual const char* getName() const;
   
       mockable inline int getGlobalIdentifier() const { return globalIdentifier; }
   
   protected:
       Drivers* drivers;
   
   private:
       Command* defaultCommand;
   
       Command* testCommand;
   
       const int globalIdentifier;
   
   #if defined(PLATFORM_HOSTED) && defined(ENV_UNIT_TESTS)
       //> Testing Related Stuff ---
   public:
       // Define default constructor to allow NiceMocks to call default constructor and actually
       // construct :/, because setpoint subsystem inherits virtually from Subsystem *sigh*
       Subsystem();
   #endif
   };  // class Subsystem
   
   }  // namespace control
   
   }  // namespace tap
   
   #endif  // TAPROOT_SUBSYSTEM_HPP_