Commands/Command.h

/*----------------------------------------------------------------------------*/
/* 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.  */
/*----------------------------------------------------------------------------*/

#ifndef __COMMAND_H__
#define __COMMAND_H__

#include "ErrorBase.h"
#include "NetworkTables/NetworkTableChangeListener.h"
#include "SmartDashboard/SmartDashboardNamedData.h"
#include <set>
#include <string>

class CommandGroup;
class NetworkTable;
class Subsystem;

class Command : public SmartDashboardNamedData, public NetworkTableChangeListener, public ErrorBase
{
        friend class CommandGroup;
        friend class Scheduler;
public:
        Command();
        Command(const char *name);
        Command(double timeout);
        Command(const char *name, double timeout);
        virtual ~Command();
        double TimeSinceInitialized();
        void Requires(Subsystem *s);
        bool IsCanceled();
        void Start();
        bool Run();
        void Cancel();
        bool IsRunning();
        bool IsInterruptible();
        void SetInterruptible(bool interruptible);
        bool DoesRequire(Subsystem *subsystem);
        typedef std::set<Subsystem *> SubsystemSet;
        SubsystemSet GetRequirements();
        CommandGroup *GetGroup();
        void SetRunWhenDisabled(bool run);
        bool WillRunWhenDisabled();

        virtual std::string GetName();
        virtual std::string GetType();
        virtual NetworkTable *GetTable();

        virtual void ValueChanged(NetworkTable *table, const char *name, NetworkTables_Types type);
        virtual void ValueConfirmed(NetworkTable *table, const char *name, NetworkTables_Types type) {}

protected:
        void SetTimeout(double timeout);
        bool IsTimedOut();
        bool AssertUnlocked(const char *message);
        void SetParent(CommandGroup *parent);
        virtual void Initialize() = 0;
        virtual void Execute() = 0;
        virtual bool IsFinished() = 0;
        virtual void End() = 0;
        virtual void Interrupted() = 0;
        virtual void _Initialize();
        virtual void _Interrupted();
        virtual void _Execute();
        virtual void _End();
        virtual void _Cancel();

private:
        void InitCommand(const char *name, double timeout);
        void LockChanges();
        /*synchronized*/ void Removed();
        void StartRunning();
        void StartTiming();

        std::string m_name;
        double m_startTime;
        double m_timeout;
        bool m_initialized;
        SubsystemSet m_requirements;
        bool m_running;
        bool m_interruptible;
        bool m_canceled;
        bool m_locked;
        bool m_runWhenDisabled;
        CommandGroup *m_parent;

        NetworkTable *m_table;
};

#endif