Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/shared/include/Commands/Subsystem.h b/wpilibc/shared/include/Commands/Subsystem.h
new file mode 100644
index 0000000..8762ec8
--- /dev/null
+++ b/wpilibc/shared/include/Commands/Subsystem.h
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011. All Rights Reserved.
+ */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef __SUBSYSTEM_H__
+#define __SUBSYSTEM_H__
+
+#include "ErrorBase.h"
+#include "SmartDashboard/NamedSendable.h"
+#include <string>
+#include <memory>
+
+class Command;
+
+class Subsystem : public ErrorBase, public NamedSendable {
+ friend class Scheduler;
+
+ public:
+ Subsystem(const std::string &name);
+ virtual ~Subsystem() = default;
+
+ void SetDefaultCommand(Command *command);
+ Command *GetDefaultCommand();
+ void SetCurrentCommand(Command *command);
+ Command *GetCurrentCommand() const;
+ virtual void InitDefaultCommand();
+
+ private:
+ void ConfirmCommand();
+
+ Command *m_currentCommand = nullptr;
+ bool m_currentCommandChanged = true;
+ Command *m_defaultCommand = nullptr;
+ std::string m_name;
+ bool m_initializedDefaultCommand = false;
+
+ public:
+ virtual std::string GetName() const;
+ virtual void InitTable(std::shared_ptr<ITable> table);
+ virtual std::shared_ptr<ITable> GetTable() const;
+ virtual std::string GetSmartDashboardType() const;
+
+ protected:
+ std::shared_ptr<ITable> m_table;
+};
+
+#endif