Program Listing for File command_mapper.cpp

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/*
 * 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_mapper.hpp"

#include "tap/drivers.hpp"
#include "tap/errors/create_errors.hpp"

#include "command_mapping.hpp"
#include "remote_map_state.hpp"

using namespace tap::errors;
using namespace tap::communication::serial;

namespace tap
{
namespace control
{
void CommandMapper::handleKeyStateChange(
    uint16_t key,
    Remote::SwitchState leftSwitch,
    Remote::SwitchState rightSwitch,
    bool mouseL,
    bool mouseR)
{
    // Make a new map state that represents the current state of the remote,
    // to be passed in to each of the CommandMappings.
    RemoteMapState mapstate;
    mapstate.initLSwitch(leftSwitch);
    mapstate.initRSwitch(rightSwitch);
    mapstate.initKeys(key);
    if (mouseL)
    {
        mapstate.initLMouseButton();
    }
    if (mouseR)
    {
        mapstate.initRMouseButton();
    }

    for (CommandMapping *cmdMap : commandsToRun)
    {
        cmdMap->executeCommandMapping(mapstate);
    }
}

void CommandMapper::addMap(CommandMapping *mapping) { commandsToRun.push_back(mapping); }

const CommandMapping *CommandMapper::getAtIndex(std::size_t index) const
{
    if (index >= commandsToRun.size())
    {
        return nullptr;
    }
    return commandsToRun[index];
}
}  // namespace control
}  // namespace tap