Merge branch 'main' into 2027

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;
 }