Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/shared/include/Commands/Subsystem.h b/wpilibc/shared/include/Commands/Subsystem.h
new file mode 100644
index 0000000..3121098
--- /dev/null
+++ b/wpilibc/shared/include/Commands/Subsystem.h
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include "ErrorBase.h"
+#include "SmartDashboard/NamedSendable.h"
+
+namespace frc {
+
+class Command;
+
+class Subsystem : public ErrorBase, public NamedSendable {
+ friend class Scheduler;
+
+ public:
+ explicit 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:
+ std::string GetName() const override;
+ void InitTable(std::shared_ptr<ITable> subtable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+ std::string GetSmartDashboardType() const override;
+
+ protected:
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc