[commands] Add static Trigger factories for robot mode changes (#5902)

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/RobotModeTriggers.java

@@ -0,0 +1,52 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.DriverStation;
+
+/**
+ * A class containing static {@link Trigger} factories for running callbacks when the robot mode
+ * changes.
+ */
+public final class RobotModeTriggers {
+  // Utility class
+  private RobotModeTriggers() {}
+
+  /**
+   * Returns a trigger that is true when the robot is enabled in autonomous mode.
+   *
+   * @return A trigger that is true when the robot is enabled in autonomous mode.
+   */
+  public static Trigger autonomous() {
+    return new Trigger(DriverStation::isAutonomousEnabled);
+  }
+
+  /**
+   * Returns a trigger that is true when the robot is enabled in teleop mode.
+   *
+   * @return A trigger that is true when the robot is enabled in teleop mode.
+   */
+  public static Trigger teleop() {
+    return new Trigger(DriverStation::isTeleopEnabled);
+  }
+
+  /**
+   * Returns a trigger that is true when the robot is disabled.
+   *
+   * @return A trigger that is true when the robot is disabled.
+   */
+  public static Trigger disabled() {
+    return new Trigger(DriverStation::isDisabled);
+  }
+
+  /**
+   * Returns a trigger that is true when the robot is enabled in test mode.
+   *
+   * @return A trigger that is true when the robot is enabled in test mode.
+   */
+  public static Trigger test() {
+    return new Trigger(DriverStation::isTestEnabled);
+  }
+}

wpilibNewCommands/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp

@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc2/command/button/RobotModeTriggers.h"
+
+#include <frc/DriverStation.h>
+
+using namespace frc2;
+
+Trigger RobotModeTriggers::Autonomous() {
+  return Trigger{&frc::DriverStation::IsAutonomousEnabled};
+}
+
+Trigger RobotModeTriggers::Teleop() {
+  return Trigger{&frc::DriverStation::IsTeleopEnabled};
+}
+
+Trigger RobotModeTriggers::Disabled() {
+  return Trigger{&frc::DriverStation::IsDisabled};
+}
+
+Trigger RobotModeTriggers::Test() {
+  return Trigger{&frc::DriverStation::IsTestEnabled};
+}

wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp

@@ -212,3 +212,7 @@ Trigger Trigger::Debounce(units::second_t debounceTime,
     return debouncer.Calculate(condition());
   });
 }
+
+bool Trigger::Get() const {
+  return m_condition();
+}

wpilibNewCommands/src/main/native/include/frc2/command/button/RobotModeTriggers.h

@@ -0,0 +1,50 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "frc2/command/button/Trigger.h"
+
+namespace frc2 {
+
+/**
+ * A class containing static Trigger factories for running callbacks when robot
+ * mode changes.
+ */
+class RobotModeTriggers {
+ public:
+  RobotModeTriggers() = delete;
+
+  /**
+   * Returns a trigger that is true when the robot is enabled in autonomous
+   * mode.
+   *
+   * @return A trigger that is true when the robot is enabled in autonomous
+   * mode.
+   */
+  static Trigger Autonomous();
+
+  /**
+   * Returns a trigger that is true when the robot is enabled in teleop mode.
+   *
+   * @return A trigger that is true when the robot is enabled in teleop mode.
+   */
+  static Trigger Teleop();
+
+  /**
+   * Returns a trigger that is true when the robot is disabled.
+   *
+   * @return A trigger that is true when the robot is disabled.
+   */
+  static Trigger Disabled();
+
+  /**
+   * Returns a trigger that is true when the robot is enabled in test mode.
+   *
+   * @return A trigger that is true when the robot is enabled in test mode.
+   */
+  static Trigger Test();
+};
+
+}  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h

@@ -268,6 +268,12 @@ class Trigger {
                    frc::Debouncer::DebounceType type =
                        frc::Debouncer::DebounceType::kRising);
 
+  /**
+   * Returns the current state of this trigger.
+   * @return A bool representing the current state of the trigger.
+   */
+  bool Get() const;
+
  private:
   frc::EventLoop* m_loop;
   std::function<bool()> m_condition;

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/RobotModeTriggersTest.java

@@ -0,0 +1,58 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import edu.wpi.first.wpilibj2.command.CommandTestBase;
+import org.junit.jupiter.api.Test;
+
+class RobotModeTriggersTest extends CommandTestBase {
+  @Test
+  void autonomousTest() {
+    DriverStationSim.resetData();
+    DriverStationSim.setAutonomous(true);
+    DriverStationSim.setTest(false);
+    DriverStationSim.setEnabled(true);
+    DriverStation.refreshData();
+    Trigger auto = RobotModeTriggers.autonomous();
+    assertTrue(auto.getAsBoolean());
+  }
+
+  @Test
+  void teleopTest() {
+    DriverStationSim.resetData();
+    DriverStationSim.setAutonomous(false);
+    DriverStationSim.setTest(false);
+    DriverStationSim.setEnabled(true);
+    DriverStation.refreshData();
+    Trigger teleop = RobotModeTriggers.teleop();
+    assertTrue(teleop.getAsBoolean());
+  }
+
+  @Test
+  void testModeTest() {
+    DriverStationSim.resetData();
+    DriverStationSim.setAutonomous(false);
+    DriverStationSim.setTest(true);
+    DriverStationSim.setEnabled(true);
+    DriverStation.refreshData();
+    Trigger test = RobotModeTriggers.test();
+    assertTrue(test.getAsBoolean());
+  }
+
+  @Test
+  void disabledTest() {
+    DriverStationSim.resetData();
+    DriverStationSim.setAutonomous(false);
+    DriverStationSim.setTest(false);
+    DriverStationSim.setEnabled(false);
+    DriverStation.refreshData();
+    Trigger disabled = RobotModeTriggers.disabled();
+    assertTrue(disabled.getAsBoolean());
+  }
+}

wpilibNewCommands/src/test/native/cpp/frc2/command/button/RobotModeTriggersTest.cpp

@@ -0,0 +1,54 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <frc/DriverStation.h>
+#include <frc/simulation/DriverStationSim.h>
+
+#include "../CommandTestBase.h"
+#include "frc2/command/button/RobotModeTriggers.h"
+#include "frc2/command/button/Trigger.h"
+
+using namespace frc2;
+using namespace frc::sim;
+class RobotModeTriggersTest : public CommandTestBase {};
+
+TEST(RobotModeTriggersTest, Autonomous) {
+  DriverStationSim::ResetData();
+  DriverStationSim::SetAutonomous(true);
+  DriverStationSim::SetTest(false);
+  DriverStationSim::SetEnabled(true);
+  frc::DriverStation::RefreshData();
+  Trigger autonomous = RobotModeTriggers::Autonomous();
+  EXPECT_TRUE(autonomous.Get());
+}
+
+TEST(RobotModeTriggersTest, Teleop) {
+  DriverStationSim::ResetData();
+  DriverStationSim::SetAutonomous(false);
+  DriverStationSim::SetTest(false);
+  DriverStationSim::SetEnabled(true);
+  frc::DriverStation::RefreshData();
+  Trigger teleop = RobotModeTriggers::Teleop();
+  EXPECT_TRUE(teleop.Get());
+}
+
+TEST(RobotModeTriggersTest, Disabled) {
+  DriverStationSim::ResetData();
+  DriverStationSim::SetAutonomous(false);
+  DriverStationSim::SetTest(false);
+  DriverStationSim::SetEnabled(false);
+  frc::DriverStation::RefreshData();
+  Trigger disabled = RobotModeTriggers::Disabled();
+  EXPECT_TRUE(disabled.Get());
+}
+
+TEST(RobotModeTriggersTest, TestMode) {
+  DriverStationSim::ResetData();
+  DriverStationSim::SetAutonomous(false);
+  DriverStationSim::SetTest(true);
+  DriverStationSim::SetEnabled(true);
+  frc::DriverStation::RefreshData();
+  Trigger test = RobotModeTriggers::Test();
+  EXPECT_TRUE(test.Get());
+}