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commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp

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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.
+
+#include "frc2/command/button/Trigger.h"
+
+#include <utility>
+
+#include <frc/filter/Debouncer.h>
+
+#include "frc2/command/CommandPtr.h"
+
+using namespace frc;
+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) {
+  AddBinding([command](bool previous, bool current) {
+    if (previous != current) {
+      frc2::CommandScheduler::GetInstance().Schedule(command);
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::OnChange(CommandPtr&& command) {
+  AddBinding([command = std::move(command)](bool previous, bool current) {
+    if (previous != current) {
+      frc2::CommandScheduler::GetInstance().Schedule(command);
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::OnTrue(Command* command) {
+  AddBinding([command](bool previous, bool current) {
+    if (!previous && current) {
+      frc2::CommandScheduler::GetInstance().Schedule(command);
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::OnTrue(CommandPtr&& command) {
+  AddBinding([command = std::move(command)](bool previous, bool current) {
+    if (!previous && current) {
+      frc2::CommandScheduler::GetInstance().Schedule(command);
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::OnFalse(Command* command) {
+  AddBinding([command](bool previous, bool current) {
+    if (previous && !current) {
+      frc2::CommandScheduler::GetInstance().Schedule(command);
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::OnFalse(CommandPtr&& command) {
+  AddBinding([command = std::move(command)](bool previous, bool current) {
+    if (previous && !current) {
+      frc2::CommandScheduler::GetInstance().Schedule(command);
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::WhileTrue(Command* command) {
+  AddBinding([command](bool previous, bool current) {
+    if (!previous && current) {
+      frc2::CommandScheduler::GetInstance().Schedule(command);
+    } else if (previous && !current) {
+      command->Cancel();
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::WhileTrue(CommandPtr&& command) {
+  AddBinding([command = std::move(command)](bool previous, bool current) {
+    if (!previous && current) {
+      frc2::CommandScheduler::GetInstance().Schedule(command);
+    } else if (previous && !current) {
+      command.Cancel();
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::WhileFalse(Command* command) {
+  AddBinding([command](bool previous, bool current) {
+    if (previous && !current) {
+      frc2::CommandScheduler::GetInstance().Schedule(command);
+    } else if (!previous && current) {
+      command->Cancel();
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::WhileFalse(CommandPtr&& command) {
+  AddBinding([command = std::move(command)](bool previous, bool current) {
+    if (!previous && current) {
+      frc2::CommandScheduler::GetInstance().Schedule(command);
+    } else if (previous && !current) {
+      command.Cancel();
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::ToggleOnTrue(Command* command) {
+  AddBinding([command](bool previous, bool current) {
+    if (!previous && current) {
+      if (command->IsScheduled()) {
+        command->Cancel();
+      } else {
+        frc2::CommandScheduler::GetInstance().Schedule(command);
+      }
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::ToggleOnTrue(CommandPtr&& command) {
+  AddBinding([command = std::move(command)](bool previous, bool current) {
+    if (!previous && current) {
+      if (command.IsScheduled()) {
+        command.Cancel();
+      } else {
+        frc2::CommandScheduler::GetInstance().Schedule(command);
+      }
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::ToggleOnFalse(Command* command) {
+  AddBinding([command](bool previous, bool current) {
+    if (previous && !current) {
+      if (command->IsScheduled()) {
+        command->Cancel();
+      } else {
+        frc2::CommandScheduler::GetInstance().Schedule(command);
+      }
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::ToggleOnFalse(CommandPtr&& command) {
+  AddBinding([command = std::move(command)](bool previous, bool current) {
+    if (previous && !current) {
+      if (command.IsScheduled()) {
+        command.Cancel();
+      } else {
+        frc2::CommandScheduler::GetInstance().Schedule(command);
+      }
+    }
+  });
+  return *this;
+}
+
+Trigger Trigger::Debounce(units::second_t debounceTime,
+                          frc::Debouncer::DebounceType type) {
+  return Trigger(m_loop, [debouncer = frc::Debouncer(debounceTime, type),
+                          condition = m_condition]() mutable {
+    return debouncer.Calculate(condition());
+  });
+}
+
+bool Trigger::Get() const {
+  return m_condition();
+}