Commands/Subsystem.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 __SUBSYSTEM_H__
#define __SUBSYSTEM_H__

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

class NetworkTable;
class Command;

class Subsystem : public SmartDashboardNamedData, public ErrorBase
{
        friend class Scheduler;
public:
        Subsystem(const char *name);
        virtual ~Subsystem() {}

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

        void SetDefaultCommand(Command *command);
        Command *GetDefaultCommand();
        void SetCurrentCommand(Command *command);
        Command *GetCurrentCommand();
        virtual void InitDefaultCommand();
        
private:
        void ConfirmCommand();

        NetworkTable *m_table;
        Command *m_currentCommand;
        Command *m_defaultCommand;
        std::string m_name;
        bool m_initializedDefaultCommand;
};

#endif