Trigger.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <concepts>
#include <functional>
#include <initializer_list>
#include <memory>
#include <span>
#include <utility>
 
#include <frc/event/BooleanEvent.h>
#include <frc/event/EventLoop.h>
#include <frc/filter/Debouncer.h>
#include <units/time.h>
 
#include "frc2/command/Command.h"
#include "frc2/command/CommandScheduler.h"
 
namespace frc2 {
class Command;
/**
 * This class provides an easy way to link commands to conditions.
 *
 * <p>It is very easy to link a button to a command. For instance, you could
 * link the trigger button of a joystick to a "score" command.
 *
 * <p>Triggers can easily be composed for advanced functionality using the
 * {@link #operator!}, {@link #operator||}, {@link #operator&&} operators.
 *
 * <p>This class is provided by the NewCommands VendorDep
 */
class Trigger {
 public:
  /**
   * Creates a new trigger based on the given condition.
   *
   * <p>Polled by the default scheduler button loop.
   *
   * @param condition the condition represented by this trigger
   */
  explicit Trigger(std::function<bool()> condition)
      : Trigger{CommandScheduler::GetInstance().GetDefaultButtonLoop(),
                std::move(condition)} {}
 
  /**
   * Creates a new trigger based on the given condition.
   *
   * @param loop The loop instance that polls this trigger.
   * @param condition the condition represented by this trigger
   */
  Trigger(frc::EventLoop* loop, std::function<bool()> condition)
      : m_loop{loop}, m_condition{std::move(condition)} {}
 
  /**
   * Create a new trigger that is always `false`.
   */
  Trigger() : Trigger([] { return false; }) {}
 
  Trigger(const Trigger& other);
 
  /**
   * Starts the given command whenever the condition changes from `false` to
   * `true`.
   *
   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
   * lifespan of the command.
   *
   * @param command the command to start
   * @return this trigger, so calls can be chained
   */
  Trigger OnTrue(Command* command);
 
  /**
   * Starts the given command whenever the condition changes from `false` to
   * `true`. Moves command ownership to the button scheduler.
   *
   * @param command The command to bind.
   * @return The trigger, for chained calls.
   */
  Trigger OnTrue(CommandPtr&& command);
 
  /**
   * Starts the given command whenever the condition changes from `true` to
   * `false`.
   *
   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
   * lifespan of the command.
   *
   * @param command the command to start
   * @return this trigger, so calls can be chained
   */
  Trigger OnFalse(Command* command);
 
  /**
   * Starts the given command whenever the condition changes from `true` to
   * `false`.
   *
   * @param command The command to bind.
   * @return The trigger, for chained calls.
   */
  Trigger OnFalse(CommandPtr&& command);
 
  /**
   * Starts the given command when the condition changes to `true` and cancels
   * it when the condition changes to `false`.
   *
   * <p>Doesn't re-start the command if it ends while the condition is still
   * `true`. If the command should restart, see RepeatCommand.
   *
   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
   * lifespan of the command.
   *
   * @param command the command to start
   * @return this trigger, so calls can be chained
   */
  Trigger WhileTrue(Command* command);
 
  /**
   * Starts the given command when the condition changes to `true` and cancels
   * it when the condition changes to `false`. Moves command ownership to the
   * button scheduler.
   *
   * <p>Doesn't re-start the command if it ends while the condition is still
   * `true`. If the command should restart, see RepeatCommand.
   *
   * @param command The command to bind.
   * @return The trigger, for chained calls.
   */
  Trigger WhileTrue(CommandPtr&& command);
 
  /**
   * Starts the given command when the condition changes to `false` and cancels
   * it when the condition changes to `true`.
   *
   * <p>Doesn't re-start the command if it ends while the condition is still
   * `true`. If the command should restart, see RepeatCommand.
   *
   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
   * lifespan of the command.
   *
   * @param command the command to start
   * @return this trigger, so calls can be chained
   */
  Trigger WhileFalse(Command* command);
 
  /**
   * Starts the given command when the condition changes to `false` and cancels
   * it when the condition changes to `true`. Moves command ownership to the
   * button scheduler.
   *
   * <p>Doesn't re-start the command if it ends while the condition is still
   * `false`. If the command should restart, see RepeatCommand.
   *
   * @param command The command to bind.
   * @return The trigger, for chained calls.
   */
  Trigger WhileFalse(CommandPtr&& command);
 
  /**
   * Toggles a command when the condition changes from `false` to `true`.
   *
   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
   * lifespan of the command.
   *
   * @param command the command to toggle
   * @return this trigger, so calls can be chained
   */
  Trigger ToggleOnTrue(Command* command);
 
  /**
   * Toggles a command when the condition changes from `false` to `true`.
   *
   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
   * lifespan of the command.
   *
   * @param command the command to toggle
   * @return this trigger, so calls can be chained
   */
  Trigger ToggleOnTrue(CommandPtr&& command);
 
  /**
   * Toggles a command when the condition changes from `true` to the low
   * state.
   *
   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
   * lifespan of the command.
   *
   * @param command the command to toggle
   * @return this trigger, so calls can be chained
   */
  Trigger ToggleOnFalse(Command* command);
 
  /**
   * Toggles a command when the condition changes from `true` to `false`.
   *
   * <p>Takes a raw pointer, and so is non-owning; users are responsible for the
   * lifespan of the command.
   *
   * @param command the command to toggle
   * @return this trigger, so calls can be chained
   */
  Trigger ToggleOnFalse(CommandPtr&& command);
 
  /**
   * Composes two triggers with logical AND.
   *
   * @return A trigger which is active when both component triggers are active.
   */
  Trigger operator&&(std::function<bool()> rhs) {
    return Trigger(m_loop, [condition = m_condition, rhs = std::move(rhs)] {
      return condition() && rhs();
    });
  }
 
  /**
   * Composes two triggers with logical AND.
   *
   * @return A trigger which is active when both component triggers are active.
   */
  Trigger operator&&(Trigger rhs) {
    return Trigger(m_loop, [condition = m_condition, rhs] {
      return condition() && rhs.m_condition();
    });
  }
 
  /**
   * Composes two triggers with logical OR.
   *
   * @return A trigger which is active when either component trigger is active.
   */
  Trigger operator||(std::function<bool()> rhs) {
    return Trigger(m_loop, [condition = m_condition, rhs = std::move(rhs)] {
      return condition() || rhs();
    });
  }
 
  /**
   * Composes two triggers with logical OR.
   *
   * @return A trigger which is active when either component trigger is active.
   */
  Trigger operator||(Trigger rhs) {
    return Trigger(m_loop, [condition = m_condition, rhs] {
      return condition() || rhs.m_condition();
    });
  }
 
  /**
   * Composes a trigger with logical NOT.
   *
   * @return A trigger which is active when the component trigger is inactive,
   * and vice-versa.
   */
  Trigger operator!() {
    return Trigger(m_loop, [condition = m_condition] { return !condition(); });
  }
 
  /**
   * Creates a new debounced trigger from this trigger - it will become active
   * when this trigger has been active for longer than the specified period.
   *
   * @param debounceTime The debounce period.
   * @param type The debounce type.
   * @return The debounced trigger.
   */
  Trigger Debounce(units::second_t debounceTime,
                   frc::Debouncer::DebounceType type =
                       frc::Debouncer::DebounceType::kRising);
 
 private:
  frc::EventLoop* m_loop;
  std::function<bool()> m_condition;
};
}  // namespace frc2