[command] Add NetworkButton (#2373)

Closes #2371

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

@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+/**
+ * A {@link Button} that uses a {@link NetworkTable} boolean field.
+ */
+public class NetworkButton extends Button {
+  private final NetworkTableEntry m_entry;
+
+  /**
+   * Creates a NetworkButton that commands can be bound to.
+   *
+   * @param entry The entry that is the value.
+   */
+  public NetworkButton(NetworkTableEntry entry) {
+    m_entry = entry;
+  }
+
+  /**
+   * Creates a NetworkButton that commands can be bound to.
+   *
+   * @param table The table where the networktable value is located.
+   * @param field The field that is the value.
+   */
+  public NetworkButton(NetworkTable table, String field) {
+    this(table.getEntry(field));
+  }
+
+  /**
+   * Creates a NetworkButton that commands can be bound to.
+   *
+   * @param table The table where the networktable value is located.
+   * @param field The field that is the value.
+   */
+  public NetworkButton(String table, String field) {
+    this(NetworkTableInstance.getDefault().getTable(table), field);
+  }
+
+  @Override
+  public boolean get() {
+    return m_entry.getInstance().isConnected() && m_entry.getBoolean(false);
+  }
+}

wpilibNewCommands/src/main/native/cpp/frc2/command/button/NetworkButton.cpp

@@ -0,0 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2020 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/button/NetworkButton.h"
+
+using namespace frc2;
+
+NetworkButton::NetworkButton(nt::NetworkTableEntry entry)
+    : Button([entry] {
+        return entry.GetInstance().IsConnected() && entry.GetBoolean(false);
+      }) {}
+
+NetworkButton::NetworkButton(std::shared_ptr<nt::NetworkTable> table,
+                             const wpi::Twine& field)
+    : NetworkButton(table->GetEntry(field)) {}
+
+NetworkButton::NetworkButton(const wpi::Twine& table, const wpi::Twine& field)
+    : NetworkButton(nt::NetworkTableInstance::GetDefault().GetTable(table),
+                    field) {}

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

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2011-2020 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include <networktables/NetworkTable.h>
+#include <networktables/NetworkTableInstance.h>
+#include <wpi/Twine.h>
+
+#include "Button.h"
+
+namespace frc2 {
+/**
+ * A {@link Button} that uses a {@link NetworkTable} boolean field.
+ */
+class NetworkButton : public Button {
+ public:
+  /**
+   * Creates a NetworkButton that commands can be bound to.
+   *
+   * @param entry The entry that is the value.
+   */
+  explicit NetworkButton(nt::NetworkTableEntry entry);
+
+  /**
+   * Creates a NetworkButton that commands can be bound to.
+   *
+   * @param table The table where the networktable value is located.
+   * @param field The field that is the value.
+   */
+  NetworkButton(std::shared_ptr<nt::NetworkTable> table,
+                const wpi::Twine& field);
+
+  /**
+   * Creates a NetworkButton that commands can be bound to.
+   *
+   * @param table The table where the networktable value is located.
+   * @param field The field that is the value.
+   */
+  NetworkButton(const wpi::Twine& table, const wpi::Twine& field);
+};
+}  // namespace frc2

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

@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.CommandTestBase;
+
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.verify;
+
+class NetworkButtonTest extends CommandTestBase {
+  @BeforeEach
+  void setup() {
+    NetworkTableInstance.getDefault().startLocal();
+  }
+
+  @AfterEach
+  void teardown() {
+    NetworkTableInstance.getDefault().deleteAllEntries();
+    NetworkTableInstance.getDefault().stopLocal();
+  }
+
+  @Test
+  void setNetworkButtonTest() {
+    var scheduler = CommandScheduler.getInstance();
+    var commandHolder = new MockCommandHolder(true);
+    var command = commandHolder.getMock();
+    var entry = NetworkTableInstance.getDefault()
+        .getTable("TestTable")
+        .getEntry("Test");
+
+    var button = new NetworkButton("TestTable", "Test");
+    entry.setBoolean(false);
+    button.whenPressed(command);
+    scheduler.run();
+    verify(command, never()).schedule(true);
+    entry.setBoolean(true);
+    scheduler.run();
+    scheduler.run();
+    verify(command).schedule(true);
+  }
+}

wpilibNewCommands/src/test/native/cpp/frc2/command/button/NetworkButtonTest.cpp

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <networktables/NetworkTableInstance.h>
+
+#include "../CommandTestBase.h"
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/RunCommand.h"
+#include "frc2/command/WaitUntilCommand.h"
+#include "frc2/command/button/NetworkButton.h"
+#include "gtest/gtest.h"
+
+using namespace frc2;
+
+class NetworkButtonTest : public CommandTestBase {
+  void SetUp() override { nt::NetworkTableInstance::GetDefault().StartLocal(); }
+
+  void TearDown() override {
+    nt::NetworkTableInstance::GetDefault().DeleteAllEntries();
+    nt::NetworkTableInstance::GetDefault().StopLocal();
+  }
+};
+
+TEST_F(NetworkButtonTest, SetNetworkButtonTest) {
+  auto& scheduler = CommandScheduler::GetInstance();
+  auto entry = nt::NetworkTableInstance::GetDefault()
+                   .GetTable("TestTable")
+                   ->GetEntry("Test");
+  bool finished = false;
+
+  WaitUntilCommand command([&finished] { return finished; });
+
+  NetworkButton("TestTable", "Test").WhenActive(&command);
+  scheduler.Run();
+  EXPECT_FALSE(scheduler.IsScheduled(&command));
+  entry.SetBoolean(true);
+  scheduler.Run();
+  EXPECT_TRUE(scheduler.IsScheduled(&command));
+  finished = true;
+  scheduler.Run();
+  EXPECT_FALSE(scheduler.IsScheduled(&command));
+}