[wpilib] Add Toggle() function to solenoid classes (#2635)

Toggling a solenoid on a button press is a common idiom, so this
provides a more readable way of accomplishing that.

wpilibc/src/main/native/cpp/DoubleSolenoid.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -92,6 +92,7 @@ void DoubleSolenoid::Set(Value value) {
 
   bool forward = false;
   bool reverse = false;
+
   switch (value) {
     case kOff:
       forward = false;
@@ -106,6 +107,7 @@ void DoubleSolenoid::Set(Value value) {
       reverse = true;
       break;
   }
+
   int fstatus = 0;
   HAL_SetSolenoid(m_forwardHandle, forward, &fstatus);
   int rstatus = 0;
@@ -117,6 +119,7 @@ void DoubleSolenoid::Set(Value value) {
 
 DoubleSolenoid::Value DoubleSolenoid::Get() const {
   if (StatusIsFatal()) return kOff;
+
   int fstatus = 0;
   int rstatus = 0;
   bool valueForward = HAL_GetSolenoid(m_forwardHandle, &fstatus);
@@ -125,9 +128,23 @@ DoubleSolenoid::Value DoubleSolenoid::Get() const {
   wpi_setHALError(fstatus);
   wpi_setHALError(rstatus);
 
-  if (valueForward) return kForward;
-  if (valueReverse) return kReverse;
-  return kOff;
+  if (valueForward) {
+    return kForward;
+  } else if (valueReverse) {
+    return kReverse;
+  } else {
+    return kOff;
+  }
+}
+
+void DoubleSolenoid::Toggle() {
+  Value value = Get();
+
+  if (value == kForward) {
+    Set(kReverse);
+  } else if (value == kReverse) {
+    Set(kForward);
+  }
 }
 
 bool DoubleSolenoid::IsFwdSolenoidBlackListed() const {

wpilibc/src/main/native/cpp/Solenoid.cpp

@@ -56,6 +56,7 @@ Solenoid::~Solenoid() { HAL_FreeSolenoidPort(m_solenoidHandle); }
 
 void Solenoid::Set(bool on) {
   if (StatusIsFatal()) return;
+
   int32_t status = 0;
   HAL_SetSolenoid(m_solenoidHandle, on, &status);
   wpi_setHALError(status);
@@ -63,12 +64,16 @@ void Solenoid::Set(bool on) {
 
 bool Solenoid::Get() const {
   if (StatusIsFatal()) return false;
+
   int32_t status = 0;
   bool value = HAL_GetSolenoid(m_solenoidHandle, &status);
   wpi_setHALError(status);
+
   return value;
 }
 
+void Solenoid::Toggle() { Set(!Get()); }
+
 bool Solenoid::IsBlackListed() const {
   int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
   return (value != 0);

wpilibc/src/main/native/include/frc/DoubleSolenoid.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -68,6 +68,15 @@ class DoubleSolenoid : public SolenoidBase,
    */
   virtual Value Get() const;
 
+  /**
+   * Toggle the value of the solenoid.
+   *
+   * If the solenoid is set to forward, it'll be set to reverse. If the solenoid
+   * is set to reverse, it'll be set to forward. If the solenoid is set to off,
+   * nothing happens.
+   */
+  void Toggle();
+
   /**
    * Check if the forward solenoid is blacklisted.
    *

wpilibc/src/main/native/include/frc/Solenoid.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -61,6 +61,14 @@ class Solenoid : public SolenoidBase,
    */
   virtual bool Get() const;
 
+  /**
+   * Toggle the value of the solenoid.
+   *
+   * If the solenoid is set to on, it'll be turned off. If the solenoid is set
+   * to off, it'll be turned on.
+   */
+  void Toggle();
+
   /**
    * Check if solenoid is blacklisted.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -133,11 +133,27 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable, AutoClosea
 
     if (valueForward) {
       return Value.kForward;
-    }
-    if (valueReverse) {
+    } else if (valueReverse) {
       return Value.kReverse;
+    } else {
+      return Value.kOff;
+    }
+  }
+
+  /**
+   * Toggle the value of the solenoid.
+   *
+   * <p>If the solenoid is set to forward, it'll be set to reverse. If the solenoid is set to
+   * reverse, it'll be set to forward. If the solenoid is set to off, nothing happens.
+   */
+  public void toggle() {
+    Value value = get();
+
+    if (value == Value.kForward) {
+      set(Value.kReverse);
+    } else if (value == Value.kReverse) {
+      set(Value.kForward);
     }
-    return Value.kOff;
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -77,6 +77,16 @@ public class Solenoid extends SolenoidBase implements Sendable, AutoCloseable {
     return SolenoidJNI.getSolenoid(m_solenoidHandle);
   }
 
+  /**
+   * Toggle the value of the solenoid.
+   *
+   * <p>If the solenoid is set to on, it'll be turned off. If the solenoid is set to off, it'll be
+   * turned on.
+   */
+  public void toggle() {
+    set(!get());
+  }
+
   /**
    * Check if solenoid is blacklisted. If a solenoid is shorted, it is added to the blacklist and
    * disabled until power cycle, or until faults are cleared.