Split the two command implementations into separate libraries (#2012)

This will allow us at the user code side to determine to include old commands, new commands or both.

wpilibOldCommands/src/main/native/include/frc/buttons/Button.h

@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/buttons/Trigger.h"
+#include "frc/commands/Command.h"
+
+namespace frc {
+
+/**
+ * This class provides an easy way to link commands to OI inputs.
+ *
+ * It is very easy to link a button to a command.  For instance, you could link
+ * the trigger button of a joystick to a "score" command.
+ *
+ * This class represents a subclass of Trigger that is specifically aimed at
+ * buttons on an operator interface as a common use case of the more generalized
+ * Trigger objects. This is a simple wrapper around Trigger with the method
+ * names renamed to fit the Button object use.
+ */
+class Button : public Trigger {
+ public:
+  Button() = default;
+  Button(Button&&) = default;
+  Button& operator=(Button&&) = default;
+
+  /**
+   * Specifies the command to run when a button is first pressed.
+   *
+   * @param command The pointer to the command to run
+   */
+  virtual void WhenPressed(Command* command);
+
+  /**
+   * Specifies the command to be scheduled while the button is pressed.
+   *
+   * The command will be scheduled repeatedly while the button is pressed and
+   * will be canceled when the button is released.
+   *
+   * @param command The pointer to the command to run
+   */
+  virtual void WhileHeld(Command* command);
+
+  /**
+   * Specifies the command to run when the button is released.
+   *
+   * The command will be scheduled a single time.
+   *
+   * @param command The pointer to the command to run
+   */
+  virtual void WhenReleased(Command* command);
+
+  /**
+   * Cancels the specificed command when the button is pressed.
+   *
+   * @param command The command to be canceled
+   */
+  virtual void CancelWhenPressed(Command* command);
+
+  /**
+   * Toggle the specified command when the button is pressed.
+   *
+   * @param command The command to be toggled
+   */
+  virtual void ToggleWhenPressed(Command* command);
+};
+
+}  // namespace frc

wpilibOldCommands/src/main/native/include/frc/buttons/ButtonScheduler.h

@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc {
+
+class Trigger;
+class Command;
+
+class ButtonScheduler {
+ public:
+  ButtonScheduler(bool last, Trigger* button, Command* orders);
+  virtual ~ButtonScheduler() = default;
+
+  ButtonScheduler(ButtonScheduler&&) = default;
+  ButtonScheduler& operator=(ButtonScheduler&&) = default;
+
+  virtual void Execute() = 0;
+  void Start();
+
+ protected:
+  bool m_pressedLast;
+  Trigger* m_button;
+  Command* m_command;
+};
+
+}  // namespace frc

wpilibOldCommands/src/main/native/include/frc/buttons/CancelButtonScheduler.h

@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/buttons/ButtonScheduler.h"
+
+namespace frc {
+
+class Trigger;
+class Command;
+
+class CancelButtonScheduler : public ButtonScheduler {
+ public:
+  CancelButtonScheduler(bool last, Trigger* button, Command* orders);
+  virtual ~CancelButtonScheduler() = default;
+
+  CancelButtonScheduler(CancelButtonScheduler&&) = default;
+  CancelButtonScheduler& operator=(CancelButtonScheduler&&) = default;
+
+  virtual void Execute();
+};
+
+}  // namespace frc

wpilibOldCommands/src/main/native/include/frc/buttons/HeldButtonScheduler.h

@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/buttons/ButtonScheduler.h"
+
+namespace frc {
+
+class Trigger;
+class Command;
+
+class HeldButtonScheduler : public ButtonScheduler {
+ public:
+  HeldButtonScheduler(bool last, Trigger* button, Command* orders);
+  virtual ~HeldButtonScheduler() = default;
+
+  HeldButtonScheduler(HeldButtonScheduler&&) = default;
+  HeldButtonScheduler& operator=(HeldButtonScheduler&&) = default;
+
+  virtual void Execute();
+};
+
+}  // namespace frc

wpilibOldCommands/src/main/native/include/frc/buttons/InternalButton.h

@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/buttons/Button.h"
+
+namespace frc {
+
+class InternalButton : public Button {
+ public:
+  InternalButton() = default;
+  explicit InternalButton(bool inverted);
+  virtual ~InternalButton() = default;
+
+  InternalButton(InternalButton&&) = default;
+  InternalButton& operator=(InternalButton&&) = default;
+
+  void SetInverted(bool inverted);
+  void SetPressed(bool pressed);
+
+  virtual bool Get();
+
+ private:
+  bool m_pressed = false;
+  bool m_inverted = false;
+};
+
+}  // namespace frc

wpilibOldCommands/src/main/native/include/frc/buttons/JoystickButton.h

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/GenericHID.h"
+#include "frc/buttons/Button.h"
+
+namespace frc {
+
+class JoystickButton : public Button {
+ public:
+  JoystickButton(GenericHID* joystick, int buttonNumber);
+  virtual ~JoystickButton() = default;
+
+  JoystickButton(JoystickButton&&) = default;
+  JoystickButton& operator=(JoystickButton&&) = default;
+
+  virtual bool Get();
+
+ private:
+  GenericHID* m_joystick;
+  int m_buttonNumber;
+};
+
+}  // namespace frc

wpilibOldCommands/src/main/native/include/frc/buttons/NetworkButton.h

@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include <networktables/NetworkTable.h>
+#include <networktables/NetworkTableEntry.h>
+#include <wpi/Twine.h>
+
+#include "frc/buttons/Button.h"
+
+namespace frc {
+
+class NetworkButton : public Button {
+ public:
+  NetworkButton(const wpi::Twine& tableName, const wpi::Twine& field);
+  NetworkButton(std::shared_ptr<nt::NetworkTable> table,
+                const wpi::Twine& field);
+  virtual ~NetworkButton() = default;
+
+  NetworkButton(NetworkButton&&) = default;
+  NetworkButton& operator=(NetworkButton&&) = default;
+
+  virtual bool Get();
+
+ private:
+  nt::NetworkTableEntry m_entry;
+};
+
+}  // namespace frc

wpilibOldCommands/src/main/native/include/frc/buttons/POVButton.h

@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/GenericHID.h"
+#include "frc/buttons/Button.h"
+
+namespace frc {
+class POVButton : public Button {
+ public:
+  /**
+   * Creates a POV button for triggering commands.
+   *
+   * @param joystick The GenericHID object that has the POV
+   * @param angle The desired angle in degrees (e.g. 90, 270)
+   * @param povNumber The POV number (@see GenericHID#GetPOV)
+   */
+  POVButton(GenericHID& joystick, int angle, int povNumber = 0);
+  virtual ~POVButton() = default;
+
+  POVButton(POVButton&&) = default;
+  POVButton& operator=(POVButton&&) = default;
+
+  bool Get() override;
+
+ private:
+  GenericHID* m_joystick;
+  int m_angle;
+  int m_povNumber;
+};
+}  // namespace frc

wpilibOldCommands/src/main/native/include/frc/buttons/PressedButtonScheduler.h

@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/buttons/ButtonScheduler.h"
+
+namespace frc {
+
+class Trigger;
+class Command;
+
+class PressedButtonScheduler : public ButtonScheduler {
+ public:
+  PressedButtonScheduler(bool last, Trigger* button, Command* orders);
+  virtual ~PressedButtonScheduler() = default;
+
+  PressedButtonScheduler(PressedButtonScheduler&&) = default;
+  PressedButtonScheduler& operator=(PressedButtonScheduler&&) = default;
+
+  virtual void Execute();
+};
+
+}  // namespace frc

wpilibOldCommands/src/main/native/include/frc/buttons/ReleasedButtonScheduler.h

@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/buttons/ButtonScheduler.h"
+
+namespace frc {
+
+class Trigger;
+class Command;
+
+class ReleasedButtonScheduler : public ButtonScheduler {
+ public:
+  ReleasedButtonScheduler(bool last, Trigger* button, Command* orders);
+  virtual ~ReleasedButtonScheduler() = default;
+
+  ReleasedButtonScheduler(ReleasedButtonScheduler&&) = default;
+  ReleasedButtonScheduler& operator=(ReleasedButtonScheduler&&) = default;
+
+  virtual void Execute();
+};
+
+}  // namespace frc

wpilibOldCommands/src/main/native/include/frc/buttons/ToggleButtonScheduler.h

@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/buttons/ButtonScheduler.h"
+
+namespace frc {
+
+class Trigger;
+class Command;
+
+class ToggleButtonScheduler : public ButtonScheduler {
+ public:
+  ToggleButtonScheduler(bool last, Trigger* button, Command* orders);
+  virtual ~ToggleButtonScheduler() = default;
+
+  ToggleButtonScheduler(ToggleButtonScheduler&&) = default;
+  ToggleButtonScheduler& operator=(ToggleButtonScheduler&&) = default;
+
+  virtual void Execute();
+};
+
+}  // namespace frc

wpilibOldCommands/src/main/native/include/frc/buttons/Trigger.h

@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <atomic>
+
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
+
+namespace frc {
+
+class Command;
+
+/**
+ * This class provides an easy way to link commands to inputs.
+ *
+ * It is very easy to link a polled input to a command. For instance, you could
+ * link the trigger button of a joystick to a "score" command or an encoder
+ * reaching a particular value.
+ *
+ * It is encouraged that teams write a subclass of Trigger if they want to have
+ * something unusual (for instance, if they want to react to the user holding
+ * a button while the robot is reading a certain sensor input). For this, they
+ * only have to write the {@link Trigger#Get()} method to get the full
+ * functionality of the Trigger class.
+ */
+class Trigger : public Sendable, public SendableHelper<Trigger> {
+ public:
+  Trigger() = default;
+  ~Trigger() override = default;
+
+  Trigger(const Trigger& rhs);
+  Trigger& operator=(const Trigger& rhs);
+  Trigger(Trigger&& rhs);
+  Trigger& operator=(Trigger&& rhs);
+
+  bool Grab();
+  virtual bool Get() = 0;
+  void WhenActive(Command* command);
+  void WhileActive(Command* command);
+  void WhenInactive(Command* command);
+  void CancelWhenActive(Command* command);
+  void ToggleWhenActive(Command* command);
+
+  void InitSendable(SendableBuilder& builder) override;
+
+ private:
+  std::atomic_bool m_sendablePressed{false};
+};
+
+}  // namespace frc