[commands] Revert to original Trigger implementation (#4673)

Trigger was refactored to use BooleanEvent when it was introduced in #4104.
This reverts to the original implementation until edge-based BooleanEvents can be fixed.

wpilibc/src/main/native/cpp/event/BooleanEvent.cpp

@@ -17,8 +17,12 @@ bool BooleanEvent::GetAsBoolean() const {
   return m_condition();
 }
 
-void BooleanEvent::IfHigh(wpi::unique_function<void()> action) {
-  m_loop->Bind(m_condition, std::move(action));
+void BooleanEvent::IfHigh(std::function<void()> action) {
+  m_loop->Bind([condition = m_condition, action = std::move(action)] {
+    if (condition()) {
+      action();
+    }
+  });
 }
 
 BooleanEvent BooleanEvent::operator!() {

wpilibc/src/main/native/cpp/event/EventLoop.cpp

@@ -8,20 +8,13 @@ using namespace frc;
 
 EventLoop::EventLoop() {}
 
-void EventLoop::Binding::Poll() {
-  if (condition()) {
-    action();
-  }
-}
-
-void EventLoop::Bind(std::function<bool()> condition,
-                     wpi::unique_function<void()> action) {
-  m_bindings.emplace_back(Binding{condition, std::move(action)});
+void EventLoop::Bind(wpi::unique_function<void()> action) {
+  m_bindings.emplace_back(std::move(action));
 }
 
 void EventLoop::Poll() {
-  for (Binding& binding : m_bindings) {
-    binding.Poll();
+  for (wpi::unique_function<void()>& action : m_bindings) {
+    action();
   }
 }
 

wpilibc/src/main/native/include/frc/event/BooleanEvent.h

@@ -19,7 +19,7 @@ namespace frc {
 /**
  * This class provides an easy way to link actions to inputs. Each object
  * represents a boolean condition to which callback actions can be bound using
- * {@link #IfHigh(wpi::unique_function<void()>)}.
+ * {@link #IfHigh(std::function<void()>)}.
  *
  * <p>These events can easily be composed using factories such as {@link
  * #operator!},
@@ -51,7 +51,7 @@ class BooleanEvent {
    *
    * @param action the action to run if this event is active.
    */
-  void IfHigh(wpi::unique_function<void()> action);
+  void IfHigh(std::function<void()> action);
 
   operator std::function<bool()>();  // NOLINT
 

wpilibc/src/main/native/include/frc/event/EventLoop.h

@@ -20,13 +20,11 @@ class EventLoop {
   EventLoop& operator=(const EventLoop&) = delete;
 
   /**
-   * Bind a new action to run whenever the condition is true.
+   * Bind a new action to run.
    *
-   * @param condition the condition to listen to.
    * @param action the action to run.
    */
-  void Bind(std::function<bool()> condition,
-            wpi::unique_function<void()> action);
+  void Bind(wpi::unique_function<void()> action);
 
   /**
    * Poll all bindings.
@@ -39,12 +37,6 @@ class EventLoop {
   void Clear();
 
  private:
-  struct Binding {
-    std::function<bool()> condition;
-    wpi::unique_function<void()> action;
-
-    void Poll();
-  };
-  std::vector<Binding> m_bindings;
+  std::vector<wpi::unique_function<void()>> m_bindings;
 };
 }  // namespace frc