.. _program_listing_file_src_tap_control_toggle_command_mapping.cpp:

Program Listing for File toggle_command_mapping.cpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_control_toggle_command_mapping.cpp>` (``src/tap/control/toggle_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 "toggle_command_mapping.hpp"
   
   namespace tap
   {
   namespace control
   {
   void ToggleCommandMapping::executeCommandMapping(const RemoteMapState &currState)
   {
       // Neg keys are weird in this mapping and must be handled as such. If neg keys of the
       // map state are a subset of the currState's neg keys, the mapping must be reset
       // and commands removed.
       if (noCommandsScheduled() && toggled)
       {
           // If all commands have naturally finished on their own, this command mapping's state should
           // not be toggled. Instead, it should automatically transition to not toggled.
           toggled = false;
           pressed = false;
       }
   
       if (mapState.getNegKeysUsed() && negKeysSubset(mapState, currState))
       {
           if (toggled)
           {
               removeCommands();
           }
           toggled = false;
           pressed = false;
       }
       else if (mappingSubset(currState))
       {
           if (!pressed)
           {
               if (!toggled)
               {
                   addCommands();
               }
               else
               {
                   removeCommands();
               }
               toggled = !toggled;
               pressed = true;
           }
       }
       else
       {
           pressed = false;
       }
   }
   }  // namespace control
   }  // namespace tap