Program Listing for File command.cpp

↰ Return to documentation for file (src/tap/control/command.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 "command.hpp"

#include "command_scheduler.hpp"
#include "subsystem.hpp"

namespace tap
{
namespace control
{
Command::Command() : globalIdentifier(CommandScheduler::constructCommand(this)) {}

Command::~Command() { CommandScheduler::destructCommand(this); }

void Command::addSubsystemRequirement(Subsystem* requirement)
{
    if (requirement == nullptr)
    {
        return;
    }
    commandRequirementsBitwise |= (1UL << requirement->getGlobalIdentifier());
}

bool Command::isReady() { return true; }

}  // namespace control
}  // namespace tap