| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2011. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #include "Commands/Subsystem.h"
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| 8 |
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| 9 | #include "Commands/Command.h"
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| 10 | #include "Commands/Scheduler.h"
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| 11 | #include "WPIErrors.h"
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| 12 |
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| 13 | /**
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| 14 | * Creates a subsystem with the given name
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| 15 | * @param name the name of the subsystem
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| 16 | */
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| 17 | Subsystem::Subsystem(const char *name) :
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| 18 | m_currentCommand(NULL),
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| 19 | m_defaultCommand(NULL),
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| 20 | m_initializedDefaultCommand(false)
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| 21 | {
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| 22 | m_name = name;
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| 23 | Scheduler::GetInstance()->RegisterSubsystem(this);
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| 24 | m_table = NULL;
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| 25 | }
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| 26 | /**
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| 27 | * Initialize the default command for this subsystem
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| 28 | * This is meant to be the place to call SetDefaultCommand in a subsystem and will be called
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| 29 | * on all the subsystems by the CommandBase method before the program starts running by using
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| 30 | * the list of all registered Subsystems inside the Scheduler.
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| 31 | *
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| 32 | * This should be overridden by a Subsystem that has a default Command
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| 33 | */
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| 34 | void Subsystem::InitDefaultCommand() {
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| 35 |
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| 36 | }
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| 37 |
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| 38 | /**
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| 39 | * Sets the default command. If this is not called or is called with null,
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| 40 | * then there will be no default command for the subsystem.
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| 41 | *
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| 42 | * <p><b>WARNING:</b> This should <b>NOT</b> be called in a constructor if the subsystem is a
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| 43 | * singleton.</p>
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| 44 | *
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| 45 | * @param command the default command (or null if there should be none)
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| 46 | */
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| 47 | void Subsystem::SetDefaultCommand(Command *command)
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| 48 | {
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| 49 | if (command == NULL)
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| 50 | {
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| 51 | m_defaultCommand = NULL;
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| 52 | }
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| 53 | else
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| 54 | {
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| 55 | bool found = false;
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| 56 | Command::SubsystemSet requirements = command->GetRequirements();
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| 57 | Command::SubsystemSet::iterator iter = requirements.begin();
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| 58 | for (; iter != requirements.end(); iter++)
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| 59 | {
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| 60 | if (*iter == this)
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| 61 | {
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| 62 | found = true;
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| 63 | break;
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| 64 | }
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| 65 | }
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| 66 |
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| 67 | if (!found)
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| 68 | {
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| 69 | wpi_setWPIErrorWithContext(CommandIllegalUse, "A default command must require the subsystem");
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| 70 | return;
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| 71 | }
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| 72 |
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| 73 | m_defaultCommand = command;
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| 74 | }
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| 75 | if (m_table != NULL)
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| 76 | {
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| 77 | if (m_defaultCommand != NULL)
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| 78 | {
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| 79 | m_table->PutBoolean("hasDefault", true);
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| 80 | m_table->PutString("default", m_defaultCommand->GetName());
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| 81 | }
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| 82 | else
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| 83 | {
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| 84 | m_table->PutBoolean("hasDefault", false);
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| 85 | }
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| 86 | }
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| 87 | }
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| 88 |
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| 89 | /**
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| 90 | * Returns the default command (or null if there is none).
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| 91 | * @return the default command
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| 92 | */
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| 93 | Command *Subsystem::GetDefaultCommand()
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| 94 | {
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| 95 | if (!m_initializedDefaultCommand) {
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| 96 | m_initializedDefaultCommand = true;
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| 97 | InitDefaultCommand();
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| 98 | }
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| 99 | return m_defaultCommand;
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| 100 | }
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| 101 |
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| 102 | /**
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| 103 | * Sets the current command
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| 104 | * @param command the new current command
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| 105 | */
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| 106 | void Subsystem::SetCurrentCommand(Command *command)
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| 107 | {
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| 108 | m_currentCommand = command;
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| 109 | }
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| 110 |
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| 111 | /**
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| 112 | * Returns the command which currently claims this subsystem.
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| 113 | * @return the command which currently claims this subsystem
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| 114 | */
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| 115 | Command *Subsystem::GetCurrentCommand()
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| 116 | {
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| 117 | return m_currentCommand;
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| 118 | }
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| 119 |
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| 120 | /**
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| 121 | * Call this to alert Subsystem that the current command is actually the command.
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| 122 | * Sometimes, the {@link Subsystem} is told that it has no command while the {@link Scheduler}
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| 123 | * is going through the loop, only to be soon after given a new one. This will avoid that situation.
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| 124 | */
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| 125 | void Subsystem::ConfirmCommand()
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| 126 | {
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| 127 | if (m_table != NULL)
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| 128 | {
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| 129 | if (m_currentCommand != NULL)
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| 130 | {
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| 131 | m_table->PutBoolean("hasCommand", true);
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| 132 | m_table->PutString("command", m_currentCommand->GetName());
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| 133 | }
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| 134 | else
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| 135 | {
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| 136 | m_table->PutBoolean("hasCommand", false);
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| 137 | }
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| 138 | }
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| 139 | }
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| 140 |
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| 141 |
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| 142 |
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| 143 | std::string Subsystem::GetName()
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| 144 | {
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| 145 | return m_name;
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| 146 | }
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| 147 |
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| 148 | std::string Subsystem::GetSmartDashboardType()
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| 149 | {
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| 150 | return "Subsystem";
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| 151 | }
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| 152 |
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| 153 | void Subsystem::InitTable(ITable* table)
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| 154 | {
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| 155 | m_table = table;
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| 156 | if(m_table!=NULL){
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| 157 | if (m_defaultCommand != NULL) {
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| 158 | m_table->PutBoolean("hasDefault", true);
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| 159 | m_table->PutString("default", m_defaultCommand->GetName());
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| 160 | } else {
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| 161 | m_table->PutBoolean("hasDefault", false);
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| 162 | }
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| 163 | if (m_currentCommand != NULL) {
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| 164 | m_table->PutBoolean("hasCommand", true);
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| 165 | m_table->PutString("command", m_currentCommand->GetName());
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| 166 | } else {
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| 167 | m_table->PutBoolean("hasCommand", false);
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| 168 | }
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| 169 | }
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| 170 | }
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| 171 |
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| 172 | ITable* Subsystem::GetTable(){
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| 173 | return m_table;
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| 174 | }
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