Allowed sharing of common C++ code between RoboRIO and Simulation.

Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8

wpilibc/wpilibC++/src/Commands/Subsystem.cpp

@@ -0,0 +1,179 @@
+/*----------------------------------------------------------------------------*/
+/* 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.  */
+/*----------------------------------------------------------------------------*/
+
+#include "Commands/Subsystem.h"
+
+#include "Commands/Command.h"
+#include "Commands/Scheduler.h"
+#include "WPIErrors.h"
+
+/**
+ * Creates a subsystem with the given name
+ * @param name the name of the subsystem
+ */
+Subsystem::Subsystem(const char *name) :
+	m_currentCommand(NULL),
+	m_defaultCommand(NULL),
+	m_initializedDefaultCommand(false)
+{
+	m_name = name;
+	Scheduler::GetInstance()->RegisterSubsystem(this);
+	m_table = NULL;
+	m_currentCommandChanged = true;
+}
+/**
+ * Initialize the default command for this subsystem
+ * This is meant to be the place to call SetDefaultCommand in a subsystem and will be called
+ * on all the subsystems by the CommandBase method before the program starts running by using
+ * the list of all registered Subsystems inside the Scheduler.
+ * 
+ * This should be overridden by a Subsystem that has a default Command
+ */
+void Subsystem::InitDefaultCommand() {
+
+}
+
+/**
+ * Sets the default command.  If this is not called or is called with null,
+ * then there will be no default command for the subsystem.
+ *
+ * <p><b>WARNING:</b> This should <b>NOT</b> be called in a constructor if the subsystem is a
+ * singleton.</p>
+ *
+ * @param command the default command (or null if there should be none)
+ */
+void Subsystem::SetDefaultCommand(Command *command)
+{
+	if (command == NULL)
+	{
+		m_defaultCommand = NULL;
+	}
+	else
+	{
+		bool found = false;
+		Command::SubsystemSet requirements = command->GetRequirements();
+		Command::SubsystemSet::iterator iter = requirements.begin();
+		for (; iter != requirements.end(); iter++)
+		{
+			if (*iter == this)
+			{
+				found = true;
+				break;
+			}
+		}
+
+		if (!found)
+		{
+			wpi_setWPIErrorWithContext(CommandIllegalUse, "A default command must require the subsystem");
+			return;
+		}
+		
+		m_defaultCommand = command;
+	}
+	if (m_table != NULL)
+	{
+		if (m_defaultCommand != NULL)
+		{
+			m_table->PutBoolean("hasDefault", true);
+			m_table->PutString("default", m_defaultCommand->GetName());
+		}
+		else
+		{
+			m_table->PutBoolean("hasDefault", false);
+		}
+	}
+}
+
+/**
+ * Returns the default command (or null if there is none).
+ * @return the default command
+ */
+Command *Subsystem::GetDefaultCommand()
+{
+	if (!m_initializedDefaultCommand) {
+		m_initializedDefaultCommand = true;
+		InitDefaultCommand();
+	}
+	return m_defaultCommand;
+}
+
+/**
+ * Sets the current command
+ * @param command the new current command
+ */
+void Subsystem::SetCurrentCommand(Command *command)
+{
+	m_currentCommand = command;
+	m_currentCommandChanged = true;
+}
+
+/**
+ * Returns the command which currently claims this subsystem.
+ * @return the command which currently claims this subsystem
+ */
+Command *Subsystem::GetCurrentCommand()
+{
+	return m_currentCommand;
+}
+
+/**
+ * Call this to alert Subsystem that the current command is actually the command.
+ * Sometimes, the {@link Subsystem} is told that it has no command while the {@link Scheduler}
+ * is going through the loop, only to be soon after given a new one.  This will avoid that situation.
+ */
+void Subsystem::ConfirmCommand()
+{
+	if (m_currentCommandChanged) {
+		if (m_table != NULL)
+		{
+			if (m_currentCommand != NULL)
+			{
+				m_table->PutBoolean("hasCommand", true);
+				m_table->PutString("command", m_currentCommand->GetName());
+			}
+			else
+			{
+				m_table->PutBoolean("hasCommand", false);
+			}
+		}
+		m_currentCommandChanged = false;
+	}
+}
+
+
+
+std::string Subsystem::GetName()
+{
+	return m_name;
+}
+
+std::string Subsystem::GetSmartDashboardType()
+{
+	return "Subsystem";
+}
+
+void Subsystem::InitTable(ITable* table)
+{
+    m_table = table;
+    if(m_table!=NULL){
+        if (m_defaultCommand != NULL) {
+        	m_table->PutBoolean("hasDefault", true);
+        	m_table->PutString("default", m_defaultCommand->GetName());
+        } else {
+        	m_table->PutBoolean("hasDefault", false);
+        }
+        if (m_currentCommand != NULL) {
+        	m_table->PutBoolean("hasCommand", true);
+            m_table->PutString("command", m_currentCommand->GetName());
+        } else {
+        	m_table->PutBoolean("hasCommand", false);
+        }
+    }
+}
+
+ITable* Subsystem::GetTable(){
+	return m_table;
+}