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[wpilib] Add EventLoop (#4104)

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This is a generic expansion of the command-based Trigger framework.
This commit is contained in:
Starlight220
2022-06-09 08:16:51 +03:00
committed by GitHub
parent 16a4888c52
commit 45b7fc445b
27 changed files with 1265 additions and 428 deletions
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95
wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
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@@ -8,22 +8,14 @@
#include "frc2/command/InstantCommand.h"
using namespace frc;
using namespace frc2;
Trigger::Trigger(const Trigger& other) = default;
Trigger Trigger::WhenActive(Command* command, bool interruptible) {
CommandScheduler::GetInstance().AddButton(
[pressedLast = m_isActive(), *this, command, interruptible]() mutable {
bool pressed = m_isActive();
if (!pressedLast && pressed) {
command->Schedule(interruptible);
}
pressedLast = pressed;
});
this->Rising().IfHigh(
[command, interruptible] { command->Schedule(interruptible); });
return *this;
}
@@ -39,18 +31,8 @@ Trigger Trigger::WhenActive(std::function<void()> toRun,
}
Trigger Trigger::WhileActiveContinous(Command* command, bool interruptible) {
CommandScheduler::GetInstance().AddButton(
[pressedLast = m_isActive(), *this, command, interruptible]() mutable {
bool pressed = m_isActive();
if (pressed) {
command->Schedule(interruptible);
} else if (pressedLast && !pressed) {
command->Cancel();
}
pressedLast = pressed;
});
this->IfHigh([command, interruptible] { command->Schedule(interruptible); });
this->Falling().IfHigh([command] { command->Cancel(); });
return *this;
}
@@ -67,32 +49,15 @@ Trigger Trigger::WhileActiveContinous(
}
Trigger Trigger::WhileActiveOnce(Command* command, bool interruptible) {
CommandScheduler::GetInstance().AddButton(
[pressedLast = m_isActive(), *this, command, interruptible]() mutable {
bool pressed = m_isActive();
if (!pressedLast && pressed) {
command->Schedule(interruptible);
} else if (pressedLast && !pressed) {
command->Cancel();
}
pressedLast = pressed;
});
this->Rising().IfHigh(
[command, interruptible] { command->Schedule(interruptible); });
this->Falling().IfHigh([command] { command->Cancel(); });
return *this;
}
Trigger Trigger::WhenInactive(Command* command, bool interruptible) {
CommandScheduler::GetInstance().AddButton(
[pressedLast = m_isActive(), *this, command, interruptible]() mutable {
bool pressed = m_isActive();
if (pressedLast && !pressed) {
command->Schedule(interruptible);
}
pressedLast = pressed;
});
this->Falling().IfHigh(
[command, interruptible] { command->Schedule(interruptible); });
return *this;
}
@@ -108,41 +73,17 @@ Trigger Trigger::WhenInactive(std::function<void()> toRun,
}
Trigger Trigger::ToggleWhenActive(Command* command, bool interruptible) {
CommandScheduler::GetInstance().AddButton(
[pressedLast = m_isActive(), *this, command, interruptible]() mutable {
bool pressed = m_isActive();
if (!pressedLast && pressed) {
if (command->IsScheduled()) {
command->Cancel();
} else {
command->Schedule(interruptible);
}
}
pressedLast = pressed;
});
this->Rising().IfHigh([command, interruptible] {
if (command->IsScheduled()) {
command->Cancel();
} else {
command->Schedule(interruptible);
}
});
return *this;
}
Trigger Trigger::CancelWhenActive(Command* command) {
CommandScheduler::GetInstance().AddButton(
[pressedLast = m_isActive(), *this, command]() mutable {
bool pressed = m_isActive();
if (!pressedLast && pressed) {
command->Cancel();
}
pressedLast = pressed;
});
this->Rising().IfHigh([command] { command->Cancel(); });
return *this;
}
Trigger Trigger::Debounce(units::second_t debounceTime,
frc::Debouncer::DebounceType type) {
return Trigger(
[debouncer = frc::Debouncer(debounceTime, type), *this]() mutable {
return debouncer.Calculate(m_isActive());
});
}