Merge branch 'main' into 2027

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java

@@ -34,8 +34,7 @@ public class ProxyCommand extends Command {
    * @deprecated This constructor's similarity to {@link DeferredCommand} is confusing and opens
    *     potential footguns for users who do not fully understand the semantics and implications of
    *     proxying, but who simply want runtime construction. Users who do know what they are doing
-   *     and need a supplier-constructed proxied command should instead proxy a DeferredCommand
-   *     using the <code>asProxy</code> decorator.
+   *     and need a supplier-constructed proxied command should instead defer a proxy command.
    * @see DeferredCommand
    */
   @Deprecated(since = "2025", forRemoval = true)

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

@@ -24,6 +24,18 @@ import java.util.function.BooleanSupplier;
  * <p>This class is provided by the NewCommands VendorDep
  */
 public class Trigger implements BooleanSupplier {
+  /** Functional interface for the body of a trigger binding. */
+  @FunctionalInterface
+  private interface BindingBody {
+    /**
+     * Executes the body of the binding.
+     *
+     * @param previous The previous state of the condition.
+     * @param current The current state of the condition.
+     */
+    void run(boolean previous, boolean current);
+  }
+
   private final BooleanSupplier m_condition;
   private final EventLoop m_loop;
 
@@ -49,6 +61,27 @@ public class Trigger implements BooleanSupplier {
     this(CommandScheduler.getInstance().getDefaultButtonLoop(), condition);
   }
 
+  /**
+   * Adds a binding to the EventLoop.
+   *
+   * @param body The body of the binding to add.
+   */
+  private void addBinding(BindingBody body) {
+    m_loop.bind(
+        new Runnable() {
+          private boolean m_previous = m_condition.getAsBoolean();
+
+          @Override
+          public void run() {
+            boolean current = m_condition.getAsBoolean();
+
+            body.run(m_previous, current);
+
+            m_previous = current;
+          }
+        });
+  }
+
   /**
    * Starts the command when the condition changes.
    *
@@ -57,19 +90,10 @@ public class Trigger implements BooleanSupplier {
    */
   public Trigger onChange(Command command) {
     requireNonNullParam(command, "command", "onChange");
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (m_pressedLast != pressed) {
-              command.schedule();
-            }
-
-            m_pressedLast = pressed;
+    addBinding(
+        (previous, current) -> {
+          if (previous != current) {
+            command.schedule();
           }
         });
     return this;
@@ -83,19 +107,10 @@ public class Trigger implements BooleanSupplier {
    */
   public Trigger onTrue(Command command) {
     requireNonNullParam(command, "command", "onTrue");
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (!m_pressedLast && pressed) {
-              command.schedule();
-            }
-
-            m_pressedLast = pressed;
+    addBinding(
+        (previous, current) -> {
+          if (!previous && current) {
+            command.schedule();
           }
         });
     return this;
@@ -109,19 +124,10 @@ public class Trigger implements BooleanSupplier {
    */
   public Trigger onFalse(Command command) {
     requireNonNullParam(command, "command", "onFalse");
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (m_pressedLast && !pressed) {
-              command.schedule();
-            }
-
-            m_pressedLast = pressed;
+    addBinding(
+        (previous, current) -> {
+          if (previous && !current) {
+            command.schedule();
           }
         });
     return this;
@@ -139,21 +145,12 @@ public class Trigger implements BooleanSupplier {
    */
   public Trigger whileTrue(Command command) {
     requireNonNullParam(command, "command", "whileTrue");
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (!m_pressedLast && pressed) {
-              command.schedule();
-            } else if (m_pressedLast && !pressed) {
-              command.cancel();
-            }
-
-            m_pressedLast = pressed;
+    addBinding(
+        (previous, current) -> {
+          if (!previous && current) {
+            command.schedule();
+          } else if (previous && !current) {
+            command.cancel();
           }
         });
     return this;
@@ -171,21 +168,12 @@ public class Trigger implements BooleanSupplier {
    */
   public Trigger whileFalse(Command command) {
     requireNonNullParam(command, "command", "whileFalse");
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (m_pressedLast && !pressed) {
-              command.schedule();
-            } else if (!m_pressedLast && pressed) {
-              command.cancel();
-            }
-
-            m_pressedLast = pressed;
+    addBinding(
+        (previous, current) -> {
+          if (previous && !current) {
+            command.schedule();
+          } else if (!previous && current) {
+            command.cancel();
           }
         });
     return this;
@@ -199,23 +187,14 @@ public class Trigger implements BooleanSupplier {
    */
   public Trigger toggleOnTrue(Command command) {
     requireNonNullParam(command, "command", "toggleOnTrue");
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (!m_pressedLast && pressed) {
-              if (command.isScheduled()) {
-                command.cancel();
-              } else {
-                command.schedule();
-              }
+    addBinding(
+        (previous, current) -> {
+          if (!previous && current) {
+            if (command.isScheduled()) {
+              command.cancel();
+            } else {
+              command.schedule();
             }
-
-            m_pressedLast = pressed;
           }
         });
     return this;
@@ -229,23 +208,14 @@ public class Trigger implements BooleanSupplier {
    */
   public Trigger toggleOnFalse(Command command) {
     requireNonNullParam(command, "command", "toggleOnFalse");
-    m_loop.bind(
-        new Runnable() {
-          private boolean m_pressedLast = m_condition.getAsBoolean();
-
-          @Override
-          public void run() {
-            boolean pressed = m_condition.getAsBoolean();
-
-            if (m_pressedLast && !pressed) {
-              if (command.isScheduled()) {
-                command.cancel();
-              } else {
-                command.schedule();
-              }
+    addBinding(
+        (previous, current) -> {
+          if (previous && !current) {
+            if (command.isScheduled()) {
+              command.cancel();
+            } else {
+              command.schedule();
             }
-
-            m_pressedLast = pressed;
           }
         });
     return this;

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

@@ -15,159 +15,117 @@ using namespace frc2;
 
 Trigger::Trigger(const Trigger& other) = default;
 
+void Trigger::AddBinding(wpi::unique_function<void(bool, bool)>&& body) {
+  m_loop->Bind([condition = m_condition, previous = m_condition(),
+                body = std::move(body)]() mutable {
+    bool current = condition();
+
+    body(previous, current);
+
+    previous = current;
+  });
+}
+
 Trigger Trigger::OnChange(Command* command) {
-  m_loop->Bind(
-      [condition = m_condition, previous = m_condition(), command]() mutable {
-        bool current = condition();
-
-        if (previous != current) {
-          command->Schedule();
-        }
-
-        previous = current;
-      });
+  AddBinding([command](bool previous, bool current) {
+    if (previous != current) {
+      command->Schedule();
+    }
+  });
   return *this;
 }
 
 Trigger Trigger::OnChange(CommandPtr&& command) {
-  m_loop->Bind([condition = m_condition, previous = m_condition(),
-                command = std::move(command)]() mutable {
-    bool current = condition();
-
+  AddBinding([command = std::move(command)](bool previous, bool current) {
     if (previous != current) {
       command.Schedule();
     }
-
-    previous = current;
   });
   return *this;
 }
 
 Trigger Trigger::OnTrue(Command* command) {
-  m_loop->Bind(
-      [condition = m_condition, previous = m_condition(), command]() mutable {
-        bool current = condition();
-
-        if (!previous && current) {
-          command->Schedule();
-        }
-
-        previous = current;
-      });
+  AddBinding([command](bool previous, bool current) {
+    if (!previous && current) {
+      command->Schedule();
+    }
+  });
   return *this;
 }
 
 Trigger Trigger::OnTrue(CommandPtr&& command) {
-  m_loop->Bind([condition = m_condition, previous = m_condition(),
-                command = std::move(command)]() mutable {
-    bool current = condition();
-
+  AddBinding([command = std::move(command)](bool previous, bool current) {
     if (!previous && current) {
       command.Schedule();
     }
-
-    previous = current;
   });
   return *this;
 }
 
 Trigger Trigger::OnFalse(Command* command) {
-  m_loop->Bind(
-      [condition = m_condition, previous = m_condition(), command]() mutable {
-        bool current = condition();
-
-        if (previous && !current) {
-          command->Schedule();
-        }
-
-        previous = current;
-      });
+  AddBinding([command](bool previous, bool current) {
+    if (previous && !current) {
+      command->Schedule();
+    }
+  });
   return *this;
 }
 
 Trigger Trigger::OnFalse(CommandPtr&& command) {
-  m_loop->Bind([condition = m_condition, previous = m_condition(),
-                command = std::move(command)]() mutable {
-    bool current = condition();
-
+  AddBinding([command = std::move(command)](bool previous, bool current) {
     if (previous && !current) {
       command.Schedule();
     }
-
-    previous = current;
   });
   return *this;
 }
 
 Trigger Trigger::WhileTrue(Command* command) {
-  m_loop->Bind(
-      [condition = m_condition, previous = m_condition(), command]() mutable {
-        bool current = condition();
-
-        if (!previous && current) {
-          command->Schedule();
-        } else if (previous && !current) {
-          command->Cancel();
-        }
-
-        previous = current;
-      });
+  AddBinding([command](bool previous, bool current) {
+    if (!previous && current) {
+      command->Schedule();
+    } else if (previous && !current) {
+      command->Cancel();
+    }
+  });
   return *this;
 }
 
 Trigger Trigger::WhileTrue(CommandPtr&& command) {
-  m_loop->Bind([condition = m_condition, previous = m_condition(),
-                command = std::move(command)]() mutable {
-    bool current = condition();
-
+  AddBinding([command = std::move(command)](bool previous, bool current) {
     if (!previous && current) {
       command.Schedule();
     } else if (previous && !current) {
       command.Cancel();
     }
-
-    previous = current;
   });
   return *this;
 }
 
 Trigger Trigger::WhileFalse(Command* command) {
-  m_loop->Bind(
-      [condition = m_condition, previous = m_condition(), command]() mutable {
-        bool current = condition();
-
-        if (previous && !current) {
-          command->Schedule();
-        } else if (!previous && current) {
-          command->Cancel();
-        }
-
-        previous = current;
-      });
+  AddBinding([command](bool previous, bool current) {
+    if (previous && !current) {
+      command->Schedule();
+    } else if (!previous && current) {
+      command->Cancel();
+    }
+  });
   return *this;
 }
 
 Trigger Trigger::WhileFalse(CommandPtr&& command) {
-  m_loop->Bind([condition = m_condition, previous = m_condition(),
-                command = std::move(command)]() mutable {
-    bool current = condition();
-
+  AddBinding([command = std::move(command)](bool previous, bool current) {
     if (!previous && current) {
       command.Schedule();
     } else if (previous && !current) {
       command.Cancel();
     }
-
-    previous = current;
   });
   return *this;
 }
 
 Trigger Trigger::ToggleOnTrue(Command* command) {
-  m_loop->Bind([condition = m_condition, previous = m_condition(),
-                command = command]() mutable {
-    bool current = condition();
-
+  AddBinding([command](bool previous, bool current) {
     if (!previous && current) {
       if (command->IsScheduled()) {
         command->Cancel();
@@ -175,17 +133,12 @@ Trigger Trigger::ToggleOnTrue(Command* command) {
         command->Schedule();
       }
     }
-
-    previous = current;
   });
   return *this;
 }
 
 Trigger Trigger::ToggleOnTrue(CommandPtr&& command) {
-  m_loop->Bind([condition = m_condition, previous = m_condition(),
-                command = std::move(command)]() mutable {
-    bool current = condition();
-
+  AddBinding([command = std::move(command)](bool previous, bool current) {
     if (!previous && current) {
       if (command.IsScheduled()) {
         command.Cancel();
@@ -193,17 +146,12 @@ Trigger Trigger::ToggleOnTrue(CommandPtr&& command) {
         command.Schedule();
       }
     }
-
-    previous = current;
   });
   return *this;
 }
 
 Trigger Trigger::ToggleOnFalse(Command* command) {
-  m_loop->Bind([condition = m_condition, previous = m_condition(),
-                command = command]() mutable {
-    bool current = condition();
-
+  AddBinding([command](bool previous, bool current) {
     if (previous && !current) {
       if (command->IsScheduled()) {
         command->Cancel();
@@ -211,17 +159,12 @@ Trigger Trigger::ToggleOnFalse(Command* command) {
         command->Schedule();
       }
     }
-
-    previous = current;
   });
   return *this;
 }
 
 Trigger Trigger::ToggleOnFalse(CommandPtr&& command) {
-  m_loop->Bind([condition = m_condition, previous = m_condition(),
-                command = std::move(command)]() mutable {
-    bool current = condition();
-
+  AddBinding([command = std::move(command)](bool previous, bool current) {
     if (previous && !current) {
       if (command.IsScheduled()) {
         command.Cancel();
@@ -229,8 +172,6 @@ Trigger Trigger::ToggleOnFalse(CommandPtr&& command) {
         command.Schedule();
       }
     }
-
-    previous = current;
   });
   return *this;
 }

wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h

@@ -41,12 +41,11 @@ class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
    * confusing and opens potential footguns for users who do not fully
    * understand the semantics and implications of proxying, but who simply want
    * runtime construction. Users who do know what they are doing and need a
-   * supplier-constructed proxied command should instead proxy a DeferredCommand
-   *     using the <code>AsProxy</code> decorator.
+   * supplier-constructed proxied command should instead defer a proxy command.
    * @see DeferredCommand
    */
   WPI_IGNORE_DEPRECATED
-  [[deprecated("Proxy a DeferredCommand instead")]]
+  [[deprecated("Defer a proxy command instead.")]]
   explicit ProxyCommand(wpi::unique_function<Command*()> supplier);
 
   /**
@@ -62,11 +61,10 @@ class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
    * confusing and opens potential footguns for users who do not fully
    * understand the semantics and implications of proxying, but who simply want
    * runtime construction. Users who do know what they are doing and need a
-   * supplier-constructed proxied command should instead proxy a DeferredCommand
-   *     using the <code>AsProxy</code> decorator.
+   * supplier-constructed proxied command should instead defer a proxy command.
    * @see DeferredCommand
    */
-  [[deprecated("Proxy a DeferredCommand instead")]]
+  [[deprecated("Defer a proxy command instead.")]]
   explicit ProxyCommand(wpi::unique_function<CommandPtr()> supplier);
   WPI_UNIGNORE_DEPRECATED
 

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

@@ -11,6 +11,7 @@
 #include <frc/event/EventLoop.h>
 #include <frc/filter/Debouncer.h>
 #include <units/time.h>
+#include <wpi/FunctionExtras.h>
 
 #include "frc2/command/Command.h"
 #include "frc2/command/CommandScheduler.h"
@@ -291,6 +292,13 @@ class Trigger {
   bool Get() const;
 
  private:
+  /**
+   * Adds a binding to the EventLoop.
+   *
+   * @param body The body of the binding to add.
+   */
+  void AddBinding(wpi::unique_function<void(bool, bool)>&& body);
+
   frc::EventLoop* m_loop;
   std::function<bool()> m_condition;
 };