Program Listing for File subsystem.hpp

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/*
 * 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_