Program Listing for File command_mapping.hpp

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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/>.
 */

#ifndef TAPROOT_COMMAND_MAPPING_HPP_
#define TAPROOT_COMMAND_MAPPING_HPP_

#include <vector>

#include "remote_map_state.hpp"

namespace tap
{
namespace control
{
class Command;
class CommandMapping
{
public:
    CommandMapping(Drivers *drivers, const std::vector<Command *> cmds, const RemoteMapState &rms);

    DISALLOW_COPY_AND_ASSIGN(CommandMapping)


    friend bool operator==(const CommandMapping &cm1, const CommandMapping &cm2);

    friend bool mapStateEqual(const CommandMapping &cm1, const CommandMapping &cm2);

    virtual ~CommandMapping() = default;

    virtual void executeCommandMapping(const RemoteMapState &currState) = 0;

    virtual bool mappingSubset(const RemoteMapState &mapState);

    static inline bool negKeysSubset(const RemoteMapState &state1, const RemoteMapState &state2)
    {
        return state1.getNegKeys() == (state1.getNegKeys() & state2.getKeys());
    }

    const RemoteMapState &getAssociatedRemoteMapState() const { return mapState; }

    const std::vector<Command *> &getAssociatedCommands() const { return mappedCommands; }

protected:
    const RemoteMapState mapState;

    std::vector<Command *> mappedCommands;

    Drivers *drivers;

    void addCommands();

    void removeCommands();

    bool noCommandsScheduled() const;
};  // class CommandMapping
}  // namespace control
}  // namespace tap

#endif  // TAPROOT_COMMAND_MAPPING_HPP_