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

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());
+}