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commandsv2/src/main/java/org/wpilib/command2/SubsystemBase.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj2.command;
+
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+
+/**
+ * A base for subsystems that handles registration in the constructor, and provides a more intuitive
+ * method for setting the default command.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
+public abstract class SubsystemBase implements Subsystem, Sendable {
+  /** Constructor. Telemetry/log name defaults to the classname. */
+  @SuppressWarnings("this-escape")
+  public SubsystemBase() {
+    String name = this.getClass().getSimpleName();
+    name = name.substring(name.lastIndexOf('.') + 1);
+    SendableRegistry.add(this, name, name);
+    CommandScheduler.getInstance().registerSubsystem(this);
+  }
+
+  /**
+   * Constructor.
+   *
+   * @param name Name of the subsystem for telemetry and logging.
+   */
+  @SuppressWarnings("this-escape")
+  public SubsystemBase(String name) {
+    SendableRegistry.add(this, name, name);
+    CommandScheduler.getInstance().registerSubsystem(this);
+  }
+
+  /**
+   * Gets the name of this Subsystem.
+   *
+   * @return Name
+   */
+  @Override
+  public String getName() {
+    return SendableRegistry.getName(this);
+  }
+
+  /**
+   * Sets the name of this Subsystem.
+   *
+   * @param name name
+   */
+  public void setName(String name) {
+    SendableRegistry.setName(this, name);
+  }
+
+  /**
+   * Gets the subsystem name of this Subsystem.
+   *
+   * @return Subsystem name
+   */
+  public String getSubsystem() {
+    return SendableRegistry.getSubsystem(this);
+  }
+
+  /**
+   * Sets the subsystem name of this Subsystem.
+   *
+   * @param subsystem subsystem name
+   */
+  public void setSubsystem(String subsystem) {
+    SendableRegistry.setSubsystem(this, subsystem);
+  }
+
+  /**
+   * Associates a {@link Sendable} with this Subsystem. Also update the child's name.
+   *
+   * @param name name to give child
+   * @param child sendable
+   */
+  public void addChild(String name, Sendable child) {
+    SendableRegistry.add(child, getSubsystem(), name);
+  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("Subsystem");
+
+    builder.addBooleanProperty(".hasDefault", () -> getDefaultCommand() != null, null);
+    builder.addStringProperty(
+        ".default",
+        () -> getDefaultCommand() != null ? getDefaultCommand().getName() : "none",
+        null);
+    builder.addBooleanProperty(".hasCommand", () -> getCurrentCommand() != null, null);
+    builder.addStringProperty(
+        ".command",
+        () -> getCurrentCommand() != null ? getCurrentCommand().getName() : "none",
+        null);
+  }
+}