mirror of
https://github.com/wpilibsuite/allwpilib
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57 lines
1.6 KiB
C
57 lines
1.6 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <frc/smartdashboard/Sendable.h>
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#include <string>
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#include <wpi/SmallSet.h>
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#include <wpi/SmallVector.h>
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#include "Command.h"
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namespace frc2 {
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/**
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* A Sendable base class for Commands.
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*/
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class CommandBase : public frc::Sendable, public Command {
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public:
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CommandBase(CommandBase&& other) = default;
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CommandBase(const CommandBase& other);
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/**
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* Adds the specified requirements to the command.
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*
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* @param requirements the requirements to add
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*/
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void AddRequirements(std::initializer_list<Subsystem*> requirements);
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void AddRequirements(wpi::SmallSet<Subsystem*, 4> requirements);
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wpi::SmallSet<Subsystem*, 4> GetRequirements() const override;
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void SetName(const wpi::Twine& name) override;
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std::string GetName() const override;
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std::string GetSubsystem() const override;
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void SetSubsystem(const wpi::Twine& subsystem) override;
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void InitSendable(frc::SendableBuilder& builder) override;
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protected:
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CommandBase();
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std::string m_name;
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std::string m_subsystem;
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wpi::SmallSet<Subsystem*, 4> m_requirements;
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};
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} // namespace frc2
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