CommandBase.h

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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.
 
#pragma once
 
#include <initializer_list>
#include <span>
#include <string>
#include <string_view>
 
#include <wpi/SmallSet.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
 
#include "frc2/command/Command.h"
 
namespace frc2 {
/**
 * A Sendable base class for Commands.
 *
 * This class is provided by the NewCommands VendorDep
 */
class CommandBase : public Command,
                    public wpi::Sendable,
                    public wpi::SendableHelper<CommandBase> {
 public:
  /**
   * Adds the specified Subsystem requirements to the command.
   *
   * The scheduler will prevent two commands that require the same subsystem
   * from being scheduled simultaneously.
   *
   * Note that the scheduler determines the requirements of a command when it
   * is scheduled, so this method should normally be called from the command's
   * constructor.
   *
   * @param requirements the Subsystem requirements to add
   */
  void AddRequirements(std::initializer_list<Subsystem*> requirements);
 
  /**
   * Adds the specified Subsystem requirements to the command.
   *
   * The scheduler will prevent two commands that require the same subsystem
   * from being scheduled simultaneously.
   *
   * Note that the scheduler determines the requirements of a command when it
   * is scheduled, so this method should normally be called from the command's
   * constructor.
   *
   * @param requirements the Subsystem requirements to add
   */
  void AddRequirements(std::span<Subsystem* const> requirements);
 
  /**
   * Adds the specified Subsystem requirements to the command.
   *
   * The scheduler will prevent two commands that require the same subsystem
   * from being scheduled simultaneously.
   *
   * Note that the scheduler determines the requirements of a command when it
   * is scheduled, so this method should normally be called from the command's
   * constructor.
   *
   * @param requirements the Subsystem requirements to add
   */
  void AddRequirements(wpi::SmallSet<Subsystem*, 4> requirements);
 
  /**
   * Adds the specified Subsystem requirement to the command.
   *
   * The scheduler will prevent two commands that require the same subsystem
   * from being scheduled simultaneously.
   *
   * Note that the scheduler determines the requirements of a command when it
   * is scheduled, so this method should normally be called from the command's
   * constructor.
   *
   * @param requirement the Subsystem requirement to add
   */
  void AddRequirements(Subsystem* requirement);
 
  /**
   * Gets the Subsystem requirements of the command.
   *
   * @return the Command's Subsystem requirements
   */
  wpi::SmallSet<Subsystem*, 4> GetRequirements() const override;
 
  /**
   * Sets the name of this Command.
   *
   * @param name name
   */
  void SetName(std::string_view name) override;
 
  /**
   * Gets the name of this Command.
   *
   * @return Name
   */
  std::string GetName() const override;
 
  /**
   * Gets the subsystem name of this Command.
   *
   * @return Subsystem name
   */
  std::string GetSubsystem() const;
 
  /**
   * Sets the subsystem name of this Command.
   *
   * @param subsystem subsystem name
   */
  void SetSubsystem(std::string_view subsystem);
 
  void InitSendable(wpi::SendableBuilder& builder) override;
 
 protected:
  CommandBase();
  wpi::SmallSet<Subsystem*, 4> m_requirements;
};
}  // namespace frc2