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commandsv2/src/main/native/include/wpi/commands2/button/Trigger.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <functional>
+#include <utility>
+
+#include <frc/event/BooleanEvent.h>
+#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"
+
+namespace frc2 {
+class Command;
+/**
+ * This class provides an easy way to link commands to conditions.
+ *
+ * <p>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.
+ *
+ * <p>Triggers can easily be composed for advanced functionality using the
+ * {@link #operator!}, {@link #operator||}, {@link #operator&&} operators.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
+class Trigger {
+ public:
+  /**
+   * Creates a new trigger based on the given condition.
+   *
+   * <p>Polled by the default scheduler button loop.
+   *
+   * @param condition the condition represented by this trigger
+   */
+  explicit Trigger(std::function<bool()> condition)
+      : Trigger{CommandScheduler::GetInstance().GetDefaultButtonLoop(),
+                std::move(condition)} {}
+
+  /**
+   * Creates a new trigger based on the given condition.
+   *
+   * @param loop The loop instance that polls this trigger.
+   * @param condition the condition represented by this trigger
+   */
+  Trigger(frc::EventLoop* loop, std::function<bool()> condition)
+      : m_loop{loop}, m_condition{std::move(condition)} {}
+
+  /**
+   * Create a new trigger that is always `false`.
+   */
+  Trigger() : Trigger([] { return false; }) {}
+
+  Trigger(const Trigger& other);
+
+  /**
+   * Starts the command when the condition changes.
+   *
+   * @param command the command to start
+   * @return this trigger, so calls can be chained
+   */
+  Trigger OnChange(Command* command);
+
+  /**
+   * Starts the command when the condition changes. Moves command ownership to
+   * the button scheduler.
+   *
+   * @param command the command to start
+   * @return this trigger, so calls can be chained
+   */
+  Trigger OnChange(CommandPtr&& command);
+
+  /**
+   * Starts the given command whenever the condition changes from `false` to
+   * `true`.
+   *
+   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
+   * lifespan of the command.
+   *
+   * @param command the command to start
+   * @return this trigger, so calls can be chained
+   */
+  Trigger OnTrue(Command* command);
+
+  /**
+   * Starts the given command whenever the condition changes from `false` to
+   * `true`. Moves command ownership to the button scheduler.
+   *
+   * @param command The command to bind.
+   * @return The trigger, for chained calls.
+   */
+  Trigger OnTrue(CommandPtr&& command);
+
+  /**
+   * Starts the given command whenever the condition changes from `true` to
+   * `false`.
+   *
+   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
+   * lifespan of the command.
+   *
+   * @param command the command to start
+   * @return this trigger, so calls can be chained
+   */
+  Trigger OnFalse(Command* command);
+
+  /**
+   * Starts the given command whenever the condition changes from `true` to
+   * `false`.
+   *
+   * @param command The command to bind.
+   * @return The trigger, for chained calls.
+   */
+  Trigger OnFalse(CommandPtr&& command);
+
+  /**
+   * Starts the given command when the condition changes to `true` and cancels
+   * it when the condition changes to `false`.
+   *
+   * <p>Doesn't re-start the command if it ends while the condition is still
+   * `true`. If the command should restart, see RepeatCommand.
+   *
+   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
+   * lifespan of the command.
+   *
+   * @param command the command to start
+   * @return this trigger, so calls can be chained
+   */
+  Trigger WhileTrue(Command* command);
+
+  /**
+   * Starts the given command when the condition changes to `true` and cancels
+   * it when the condition changes to `false`. Moves command ownership to the
+   * button scheduler.
+   *
+   * <p>Doesn't re-start the command if it ends while the condition is still
+   * `true`. If the command should restart, see RepeatCommand.
+   *
+   * @param command The command to bind.
+   * @return The trigger, for chained calls.
+   */
+  Trigger WhileTrue(CommandPtr&& command);
+
+  /**
+   * Starts the given command when the condition changes to `false` and cancels
+   * it when the condition changes to `true`.
+   *
+   * <p>Doesn't re-start the command if it ends while the condition is still
+   * `true`. If the command should restart, see RepeatCommand.
+   *
+   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
+   * lifespan of the command.
+   *
+   * @param command the command to start
+   * @return this trigger, so calls can be chained
+   */
+  Trigger WhileFalse(Command* command);
+
+  /**
+   * Starts the given command when the condition changes to `false` and cancels
+   * it when the condition changes to `true`. Moves command ownership to the
+   * button scheduler.
+   *
+   * <p>Doesn't re-start the command if it ends while the condition is still
+   * `false`. If the command should restart, see RepeatCommand.
+   *
+   * @param command The command to bind.
+   * @return The trigger, for chained calls.
+   */
+  Trigger WhileFalse(CommandPtr&& command);
+
+  /**
+   * Toggles a command when the condition changes from `false` to `true`.
+   *
+   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
+   * lifespan of the command.
+   *
+   * @param command the command to toggle
+   * @return this trigger, so calls can be chained
+   */
+  Trigger ToggleOnTrue(Command* command);
+
+  /**
+   * Toggles a command when the condition changes from `false` to `true`.
+   *
+   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
+   * lifespan of the command.
+   *
+   * @param command the command to toggle
+   * @return this trigger, so calls can be chained
+   */
+  Trigger ToggleOnTrue(CommandPtr&& command);
+
+  /**
+   * Toggles a command when the condition changes from `true` to the low
+   * state.
+   *
+   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
+   * lifespan of the command.
+   *
+   * @param command the command to toggle
+   * @return this trigger, so calls can be chained
+   */
+  Trigger ToggleOnFalse(Command* command);
+
+  /**
+   * Toggles a command when the condition changes from `true` to `false`.
+   *
+   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
+   * lifespan of the command.
+   *
+   * @param command the command to toggle
+   * @return this trigger, so calls can be chained
+   */
+  Trigger ToggleOnFalse(CommandPtr&& command);
+
+  /**
+   * Composes two triggers with logical AND.
+   *
+   * @return A trigger which is active when both component triggers are active.
+   */
+  Trigger operator&&(std::function<bool()> rhs) {
+    return Trigger(m_loop, [condition = m_condition, rhs = std::move(rhs)] {
+      return condition() && rhs();
+    });
+  }
+
+  /**
+   * Composes two triggers with logical AND.
+   *
+   * @return A trigger which is active when both component triggers are active.
+   */
+  Trigger operator&&(Trigger rhs) {
+    return Trigger(m_loop, [condition = m_condition, rhs] {
+      return condition() && rhs.m_condition();
+    });
+  }
+
+  /**
+   * Composes two triggers with logical OR.
+   *
+   * @return A trigger which is active when either component trigger is active.
+   */
+  Trigger operator||(std::function<bool()> rhs) {
+    return Trigger(m_loop, [condition = m_condition, rhs = std::move(rhs)] {
+      return condition() || rhs();
+    });
+  }
+
+  /**
+   * Composes two triggers with logical OR.
+   *
+   * @return A trigger which is active when either component trigger is active.
+   */
+  Trigger operator||(Trigger rhs) {
+    return Trigger(m_loop, [condition = m_condition, rhs] {
+      return condition() || rhs.m_condition();
+    });
+  }
+
+  /**
+   * Composes a trigger with logical NOT.
+   *
+   * @return A trigger which is active when the component trigger is inactive,
+   * and vice-versa.
+   */
+  Trigger operator!() {
+    return Trigger(m_loop, [condition = m_condition] { return !condition(); });
+  }
+
+  /**
+   * Creates a new debounced trigger from this trigger - it will become active
+   * when this trigger has been active for longer than the specified period.
+   *
+   * @param debounceTime The debounce period.
+   * @param type The debounce type.
+   * @return The debounced trigger.
+   */
+  Trigger Debounce(units::second_t debounceTime,
+                   frc::Debouncer::DebounceType type =
+                       frc::Debouncer::DebounceType::kRising);
+
+  /**
+   * Returns the current state of this trigger.
+   *
+   * @return A bool representing the current state of the 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;
+};
+}  // namespace frc2