SmartMotorControllerCommandRegistry.hpp

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// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <functional>
#include <string>
#include <unordered_map>
#include <vector>
#include <wpi/commands2/CommandPtr.hpp>
#include <wpi/commands2/SubsystemBase.hpp>
 
namespace yams::motorcontrollers {
 
class SmartMotorControllerCommandRegistry {
 public:
  static void AddCommand(const std::string& cmdName, wpi::cmd::SubsystemBase* subsystem,
                         std::function<void()> callback);
 
  static void AddCommand(const std::string& cmdName, wpi::cmd::SubsystemBase* subsystem,
                         std::function<void()> callback, std::function<void()> onEnd);
 
  static wpi::cmd::Command* GetCommand(const std::string& cmdName,
                                       wpi::cmd::SubsystemBase* subsystem);
 
  static bool CommandExists(const std::string& cmdName, wpi::cmd::SubsystemBase* subsystem);
 
  static void RemoveCommands(wpi::cmd::SubsystemBase* subsystem);
 
  static void Clear();
 
 private:
  static std::unordered_map<std::string, wpi::cmd::CommandPtr> s_commands;
  static std::unordered_map<std::string, std::vector<std::function<void()>>> s_callbacks;
  static std::unordered_map<std::string, std::vector<std::function<void()>>> s_endCallbacks;
  static std::unordered_map<std::string, wpi::cmd::SubsystemBase*> s_owners;
 
  static std::string MakeKey(const std::string& cmdName, wpi::cmd::SubsystemBase* subsystem);
  static void PublishToNT(const std::string& cmdName, wpi::cmd::SubsystemBase* subsystem);
};
 
}  // namespace yams::motorcontrollers