mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
[commands] Remove deprecated classes and functions (#5409)
Removes:
- PerpetualCommand
- Command.perpetually()
- CommandGroupBase
- Command.IsGrouped() (C++ only)
- Command.SetGrouped() (C++ only)
- Command.withInterrupt()
- ProxyScheduleCommand
- Button
- InternalButton, JoystickButton, NetworkButton and POVButton now subclass Trigger
- Old style Trigger functions:
- Trigger.whenActive
- Trigger.whileActiveOnce
- Trigger.whileActiveContinuous
- Trigger.whenInactive
- Trigger.toggleWhenActive
- Trigger.cancelWhenActive
- CommandScheduler.clearButtons()
- CommandScheduler.addButtons() (Java only)
- Command supplier constructor of SelectCommand
This commit is contained in:
Ryan Blue
@@ -204,305 +204,6 @@ class Trigger {
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*/
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Trigger ToggleOnFalse(CommandPtr&& command);
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/**
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* Binds a command to start when the trigger becomes active. Takes a
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* raw pointer, and so is non-owning; users are responsible for the lifespan
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* of the command.
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*
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* @param command The command to bind.
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* @return The trigger, for chained calls.
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* @deprecated Use OnTrue(Command) instead
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*/
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[[deprecated("Use OnTrue(Command) instead")]]
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Trigger WhenActive(Command* command);
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/**
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* Binds a command to start when the trigger becomes active. Transfers
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* command ownership to the button scheduler, so the user does not have to
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* worry about lifespan - rvalue refs will be *moved*, lvalue refs will be
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* *copied.*
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*
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* @param command The command to bind.
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* @return The trigger, for chained calls.
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* @deprecated Use OnTrue(Command) instead
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*/
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template <std::derived_from<Command> T>
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[[deprecated("Use OnTrue(Command) instead")]]
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Trigger WhenActive(T&& command) {
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m_loop->Bind([condition = m_condition, previous = m_condition(),
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command = std::make_unique<std::decay_t<T>>(
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std::forward<T>(command))]() mutable {
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bool current = condition();
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if (!previous && current) {
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command->Schedule();
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}
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previous = current;
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});
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return *this;
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}
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/**
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* Binds a runnable to execute when the trigger becomes active.
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*
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* @param toRun the runnable to execute.
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* @param requirements the required subsystems.
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* @deprecated Use OnTrue(Command) instead and construct the InstantCommand
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* manually
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*/
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[[deprecated(
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"Use OnTrue(Command) instead and construct the InstantCommand manually")]]
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Trigger WhenActive(std::function<void()> toRun,
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std::initializer_list<Subsystem*> requirements);
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/**
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* Binds a runnable to execute when the trigger becomes active.
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*
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* @param toRun the runnable to execute.
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* @param requirements the required subsystems.
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* @deprecated Use OnTrue(Command) instead and construct the InstantCommand
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* manually
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*/
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[[deprecated(
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"Use OnTrue(Command) instead and construct the InstantCommand manually")]]
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Trigger WhenActive(std::function<void()> toRun,
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std::span<Subsystem* const> requirements = {});
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/**
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* Binds a command to be started repeatedly while the trigger is active, and
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* canceled when it becomes inactive. Takes a raw pointer, and so is
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* non-owning; users are responsible for the lifespan of the command.
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*
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* @param command The command to bind.
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* @return The trigger, for chained calls.
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* @deprecated Use WhileTrue(Command) with RepeatCommand, or bind
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command::Schedule with IfHigh(std::function<void()>).
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*/
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[[deprecated(
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"Use WhileTrue(Command) with RepeatCommand, or bind command::Schedule "
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"with IfHigh(std::function<void()>).")]]
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Trigger WhileActiveContinous(Command* command);
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/**
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* Binds a command to be started repeatedly while the trigger is active, and
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* canceled when it becomes inactive. Transfers command ownership to the
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* button scheduler, so the user does not have to worry about lifespan -
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* rvalue refs will be *moved*, lvalue refs will be *copied.*
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*
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* @param command The command to bind.
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* @return The trigger, for chained calls.
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* @deprecated Use WhileTrue(Command) with RepeatCommand, or bind
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command::Schedule with IfHigh(std::function<void()>).
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*/
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template <std::derived_from<Command> T>
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[[deprecated(
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"Use WhileTrue(Command) with RepeatCommand, or bind command::Schedule "
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"with IfHigh(std::function<void()>).")]]
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Trigger WhileActiveContinous(T&& command) {
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m_loop->Bind([condition = m_condition, previous = m_condition(),
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command = std::make_unique<std::decay_t<T>>(
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std::forward<T>(command))]() mutable {
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bool current = condition();
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if (current) {
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command->Schedule();
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} else if (previous && !current) {
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command->Cancel();
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}
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previous = current;
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});
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return *this;
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}
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/**
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* Binds a runnable to execute repeatedly while the trigger is active.
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*
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* @param toRun the runnable to execute.
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* @param requirements the required subsystems.
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* @deprecated Use WhileTrue(Command) and construct a RunCommand manually
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*/
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[[deprecated("Use WhileTrue(Command) and construct a RunCommand manually")]]
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Trigger WhileActiveContinous(std::function<void()> toRun,
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std::initializer_list<Subsystem*> requirements);
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/**
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* Binds a runnable to execute repeatedly while the trigger is active.
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*
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* @param toRun the runnable to execute.
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* @param requirements the required subsystems.
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* @deprecated Use WhileTrue(Command) and construct a RunCommand manually
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*/
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[[deprecated("Use WhileTrue(Command) and construct a RunCommand manually")]]
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Trigger WhileActiveContinous(std::function<void()> toRun,
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std::span<Subsystem* const> requirements = {});
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/**
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* Binds a command to be started when the trigger becomes active, and
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* canceled when it becomes inactive. Takes a raw pointer, and so is
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* non-owning; users are responsible for the lifespan of the command.
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*
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* @param command The command to bind.
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* @return The trigger, for chained calls.
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* @deprecated Use WhileTrue(Command) instead.
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*/
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[[deprecated("Use WhileTrue(Command) instead.")]]
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Trigger WhileActiveOnce(Command* command);
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/**
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* Binds a command to be started when the trigger becomes active, and
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* canceled when it becomes inactive. Transfers command ownership to the
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* button scheduler, so the user does not have to worry about lifespan -
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* rvalue refs will be *moved*, lvalue refs will be *copied.*
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*
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* @param command The command to bind.
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* @return The trigger, for chained calls.
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* @deprecated Use WhileTrue(Command) instead.
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*/
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template <std::derived_from<Command> T>
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[[deprecated("Use WhileTrue(Command) instead.")]]
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Trigger WhileActiveOnce(T&& command) {
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m_loop->Bind([condition = m_condition, previous = m_condition(),
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command = std::make_unique<std::decay_t<T>>(
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std::forward<T>(command))]() mutable {
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bool current = condition();
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if (!previous && current) {
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command->Schedule();
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} else if (previous && !current) {
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command->Cancel();
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}
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previous = current;
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});
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return *this;
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}
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/**
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* Binds a command to start when the trigger becomes inactive. Takes a
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* raw pointer, and so is non-owning; users are responsible for the lifespan
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* of the command.
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*
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* @param command The command to bind.
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* @return The trigger, for chained calls.
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* @deprecated Use OnFalse(Command) instead.
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*/
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[[deprecated("Use OnFalse(Command) instead.")]]
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Trigger WhenInactive(Command* command);
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/**
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* Binds a command to start when the trigger becomes inactive. Transfers
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* command ownership to the button scheduler, so the user does not have to
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* worry about lifespan - rvalue refs will be *moved*, lvalue refs will be
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* *copied.*
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*
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* @param command The command to bind.
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* @return The trigger, for chained calls.
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* @deprecated Use OnFalse(Command) instead.
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*/
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template <std::derived_from<Command> T>
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[[deprecated("Use OnFalse(Command) instead.")]]
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Trigger WhenInactive(T&& command) {
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m_loop->Bind([condition = m_condition, previous = m_condition(),
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command = std::make_unique<std::decay_t<T>>(
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std::forward<T>(command))]() mutable {
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bool current = condition();
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if (previous && !current) {
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command->Schedule();
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}
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previous = current;
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});
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return *this;
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}
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/**
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* Binds a runnable to execute when the trigger becomes inactive.
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*
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* @param toRun the runnable to execute.
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* @param requirements the required subsystems.
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* @deprecated Use OnFalse(Command) instead and construct the InstantCommand
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* manually
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*/
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[[deprecated(
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"Use OnFalse(Command) instead and construct the InstantCommand "
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"manually")]]
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Trigger WhenInactive(std::function<void()> toRun,
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std::initializer_list<Subsystem*> requirements);
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/**
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* Binds a runnable to execute when the trigger becomes inactive.
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*
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* @param toRun the runnable to execute.
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* @param requirements the required subsystems.
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* @deprecated Use OnFalse(Command) instead and construct the InstantCommand
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* manually
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*/
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[[deprecated(
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"Use OnFalse(Command) instead and construct the InstantCommand "
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"manually")]]
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Trigger WhenInactive(std::function<void()> toRun,
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std::span<Subsystem* const> requirements = {});
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/**
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* Binds a command to start when the trigger becomes active, and be canceled
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* when it again becomes active. Takes a raw pointer, and so is non-owning;
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* users are responsible for the lifespan of the command.
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*
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* @param command The command to bind.
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* @return The trigger, for chained calls.
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* @deprecated Use ToggleOnTrue(Command) instead.
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*/
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[[deprecated("Use ToggleOnTrue(Command) instead.")]]
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Trigger ToggleWhenActive(Command* command);
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/**
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* Binds a command to start when the trigger becomes active, and be canceled
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* when it again becomes active. Transfers command ownership to the button
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* scheduler, so the user does not have to worry about lifespan - rvalue refs
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* will be *moved*, lvalue refs will be *copied.*
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*
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* @param command The command to bind.
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* @return The trigger, for chained calls.
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* @deprecated Use ToggleOnTrue(Command) instead.
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*/
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template <std::derived_from<Command> T>
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[[deprecated("Use ToggleOnTrue(Command) instead.")]]
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Trigger ToggleWhenActive(T&& command) {
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m_loop->Bind([condition = m_condition, previous = m_condition(),
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command = std::make_unique<std::decay_t<T>>(
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std::forward<T>(command))]() mutable {
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bool current = condition();
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if (!previous && current) {
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if (command->IsScheduled()) {
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command->Cancel();
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} else {
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command->Schedule();
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}
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}
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previous = current;
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});
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return *this;
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}
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/**
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* Binds a command to be canceled when the trigger becomes active. Takes a
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* raw pointer, and so is non-owning; users are responsible for the lifespan
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* and scheduling of the command.
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*
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* @param command The command to bind.
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* @return The trigger, for chained calls.
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* @deprecated Pass this as a command end condition with Until() instead.
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*/
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[[deprecated("Pass this as a command end condition with Until() instead.")]]
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Trigger CancelWhenActive(Command* command);
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/**
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* Composes two triggers with logical AND.
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*
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