[commands] Allow BooleanSupplier for Trigger operations (#4103)

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

@@ -348,25 +348,25 @@ public class Trigger implements BooleanSupplier {
   }
 
   /**
-   * Composes this trigger with another trigger, returning a new trigger that is active when both
+   * Composes this trigger with a boolean supplier, returning a new trigger that is active when both
    * triggers are active.
    *
-   * @param trigger the trigger to compose with
+   * @param booleanSupplier the boolean supplier to compose with
    * @return the trigger that is active when both triggers are active
    */
-  public Trigger and(Trigger trigger) {
-    return new Trigger(() -> get() && trigger.get());
+  public Trigger and(BooleanSupplier booleanSupplier) {
+    return new Trigger(() -> get() && booleanSupplier.getAsBoolean());
   }
 
   /**
-   * Composes this trigger with another trigger, returning a new trigger that is active when either
-   * trigger is active.
+   * Composes this trigger with a boolean supplier, returning a new trigger that is active when
+   * either trigger is active.
    *
-   * @param trigger the trigger to compose with
+   * @param booleanSupplier the boolean supplier to compose with
    * @return the trigger that is active when either trigger is active
    */
-  public Trigger or(Trigger trigger) {
-    return new Trigger(() -> get() || trigger.get());
+  public Trigger or(BooleanSupplier booleanSupplier) {
+    return new Trigger(() -> get() || booleanSupplier.getAsBoolean());
   }
 
   /**

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

@@ -35,7 +35,7 @@ class Trigger {
    *
    * @param isActive Whether the trigger is active.
    */
-  explicit Trigger(std::function<bool()> isActive)
+  Trigger(std::function<bool()> isActive)  // NOLINT
       : m_isActive{std::move(isActive)} {}
 
   /**

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/ButtonTest.java

@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.CommandTestBase;
+import java.util.function.BooleanSupplier;
 import org.junit.jupiter.api.Test;
 
 class ButtonTest extends CommandTestBase {
@@ -174,6 +175,17 @@ class ButtonTest extends CommandTestBase {
     assertTrue(button1.and(button2.negate()).get());
   }
 
+  @Test
+  void buttonCompositionSupplierTest() {
+    InternalButton button1 = new InternalButton();
+    BooleanSupplier booleanSupplier = () -> false;
+
+    button1.setPressed(true);
+
+    assertFalse(button1.and(booleanSupplier).get());
+    assertTrue(button1.or(booleanSupplier).get());
+  }
+
   @Test
   void debounceTest() {
     CommandScheduler scheduler = CommandScheduler.getInstance();