[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.

wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java

@@ -54,7 +54,12 @@ public class BooleanEvent implements BooleanSupplier {
    * @param action the action to run if this event is active.
    */
   public final void ifHigh(Runnable action) {
-    m_loop.bind(m_signal, action);
+    m_loop.bind(
+        () -> {
+          if (m_signal.getAsBoolean()) {
+            action.run();
+          }
+        });
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/event/EventLoop.java

@@ -6,45 +6,27 @@ package edu.wpi.first.wpilibj.event;
 
 import java.util.Collection;
 import java.util.LinkedHashSet;
-import java.util.function.BooleanSupplier;
 
 /** The loop polling {@link BooleanEvent} objects and executing the actions bound to them. */
 public final class EventLoop {
-  private final Collection<Binding> m_bindings = new LinkedHashSet<>();
+  private final Collection<Runnable> m_bindings = new LinkedHashSet<>();
 
   /**
    * Bind a new action to run whenever the condition is true.
    *
-   * @param condition the condition to listen to.
    * @param action the action to run.
    */
-  public void bind(BooleanSupplier condition, Runnable action) {
-    m_bindings.add(new Binding(condition, action));
+  public void bind(Runnable action) {
+    m_bindings.add(action);
   }
 
   /** Poll all bindings. */
   public void poll() {
-    m_bindings.forEach(Binding::poll);
+    m_bindings.forEach(Runnable::run);
   }
 
   /** Clear all bindings. */
   public void clear() {
     m_bindings.clear();
   }
-
-  private static class Binding {
-    private final BooleanSupplier m_condition;
-    private final Runnable m_action;
-
-    private Binding(BooleanSupplier condition, Runnable action) {
-      this.m_condition = condition;
-      this.m_action = action;
-    }
-
-    void poll() {
-      if (m_condition.getAsBoolean()) {
-        m_action.run();
-      }
-    }
-  }
 }

wpilibj/src/test/java/edu/wpi/first/wpilibj/event/EventLoopTest.java

@@ -16,8 +16,8 @@ class EventLoopTest {
     var counterTrue = new AtomicInteger(0);
     var counterFalse = new AtomicInteger(0);
     var loop = new EventLoop();
-    loop.bind(() -> true, counterTrue::incrementAndGet);
-    loop.bind(() -> false, counterFalse::incrementAndGet);
+    new BooleanEvent(loop, () -> true).ifHigh(counterTrue::incrementAndGet);
+    new BooleanEvent(loop, () -> false).ifHigh(counterFalse::incrementAndGet);
 
     assertEquals(0, counterTrue.get());
     assertEquals(0, counterFalse.get());
@@ -40,7 +40,7 @@ class EventLoopTest {
     var loop = new EventLoop();
 
     // first ensure binding works
-    loop.bind(condition::get, counter::incrementAndGet);
+    new BooleanEvent(loop, condition::get).ifHigh(counter::incrementAndGet);
 
     condition.set(false);
     loop.poll();