Program Listing for File hold_repeat_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_HOLD_REPEAT_COMMAND_MAPPING_HPP_
#define TAPROOT_HOLD_REPEAT_COMMAND_MAPPING_HPP_

#include "command_mapping.hpp"

namespace tap
{
namespace control
{
class Command;
class RemoteMapState;

class HoldRepeatCommandMapping : public CommandMapping
{
public:
    HoldRepeatCommandMapping(
        Drivers *drivers,
        const std::vector<Command *> cmds,
        const RemoteMapState &rms,
        bool endCommandsWhenNotHeld,
        int maxTimesToSchedule = -1)
        : CommandMapping(drivers, cmds, rms),
          held(false),
          endCommandsWhenNotHeld(endCommandsWhenNotHeld),
          maxTimesToSchedule(maxTimesToSchedule),
          rescheduleCounts(mappedCommands.size(), 0)
    {
    }

    ~HoldRepeatCommandMapping() override = default;

    void executeCommandMapping(const RemoteMapState &currState) override;

    inline mockable void setMaxTimesToSchedule(int maxTimes) { maxTimesToSchedule = maxTimes; }

protected:
    bool held;
    bool endCommandsWhenNotHeld;
    int maxTimesToSchedule;
    std::vector<int> rescheduleCounts;

    inline void incrementRescheduleCount(int cmdIndex)
    {
        if (maxTimesToSchedule != -1)
        {
            rescheduleCounts[cmdIndex] += 1;
        }
    }

    inline bool okToScheduleCommand(int cmdIndex) const
    {
        return (maxTimesToSchedule == -1) || (rescheduleCounts[cmdIndex] < maxTimesToSchedule);
    }
};  // class HoldRepeatCommandMapping
}  // namespace control
}  // namespace tap

#endif  // TAPROOT_HOLD_REPEAT_COMMAND_MAPPING_HPP_