.. _program_listing_file_src_tap_control_command_mapping.cpp:

Program Listing for File command_mapping.cpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_control_command_mapping.cpp>` (``src/tap/control/command_mapping.cpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #include "command_mapping.hpp"
   
   #include <algorithm>
   
   #include "tap/drivers.hpp"
   
   namespace tap
   {
   namespace control
   {
   CommandMapping::CommandMapping(
       Drivers *drivers,
       const std::vector<Command *> cmds,
       const RemoteMapState &rms)
       : mapState(rms),
         mappedCommands(cmds),
         drivers(drivers)
   {
       std::remove_if(
           mappedCommands.begin(),
           mappedCommands.end(),
           [](Command *c) { return c == nullptr; });
   }
   
   bool operator==(const CommandMapping &cm1, const CommandMapping &cm2)
   {
       return (cm1.mapState == cm2.mapState) && (cm1.mappedCommands == cm2.mappedCommands);
   }
   
   bool mapStateEqual(const CommandMapping &cm1, const CommandMapping &cm2)
   {
       return cm1.mapState == cm2.mapState;
   }
   
   bool CommandMapping::mappingSubset(const RemoteMapState &mapState)
   {
       return this->mapState.stateSubsetOf(mapState);
   }
   
   void CommandMapping::addCommands()
   {
       std::for_each(
           mappedCommands.begin(),
           mappedCommands.end(),
           [this](auto cmd) { drivers->commandScheduler.addCommand(cmd); });
   }
   
   void CommandMapping::removeCommands()
   {
       std::for_each(
           mappedCommands.begin(),
           mappedCommands.end(),
           [this](auto cmd) { drivers->commandScheduler.removeCommand(cmd, false); });
   }
   
   bool CommandMapping::noCommandsScheduled() const
   {
       for (auto cmd : mappedCommands)
       {
           if (drivers->commandScheduler.isCommandScheduled(cmd))
           {
               return false;
           }
       }
       return true;
   }
   }  // namespace control
   }  // namespace tap