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[cmd] Allow specifying initial condition of Trigger bindings #7425

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[cmd] Allow specifying initial condition of Trigger bindings #7425

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2e58ff9
Allow specifying initial condition of Trigger bindings
KangarooKoala Nov 23, 2024
046750e
Add default case to C++
KangarooKoala Nov 23, 2024
eb5c0ad
IWYU, rename gtest instantiation
KangarooKoala Nov 23, 2024
1045e07
Java format
KangarooKoala Nov 23, 2024
78b6a83
Improve InitialState constant docs
KangarooKoala Nov 23, 2024
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160 changes: 146 additions & 14 deletions wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,34 @@
* <p>This class is provided by the NewCommands VendorDep
*/
public class Trigger implements BooleanSupplier {
/**
* Enum specifying the initial state to use for a binding. This impacts whether or not the binding
* will be triggered immediately.
*/
public enum InitialState {
/**
* Indicates the binding should use false as the initial value. This causes a rising edge at the
* start if and only if the condition starts true.
*/
FALSE,
/**
* Indicates the binding should use true as the initial value. This causes a falling edge at the
* start if and only if the condition starts false.
*/
TRUE,
/**
* Indicates the binding should use the trigger's condition as the initial value. This never
* causes an edge at the start.
*/
CONDITION,
/**
* Indicates the binding should use the negated trigger's condition as the initial value. This
* always causes an edge at the start. Rising or falling depends on if the condition starts true
* or false, respectively.
*/
NEG_CONDITION;
}

private final BooleanSupplier m_condition;
private final EventLoop m_loop;

Expand All @@ -50,16 +78,42 @@ public Trigger(BooleanSupplier condition) {
}

/**
* Starts the command when the condition changes.
* Gets the initial state for a binding based on an initial state policy.
*
* @param initialState Initial state policy.
* @return The initial state to use.
*/
private boolean getInitialState(InitialState initialState) {
return switch (initialState) {
case FALSE -> false;
case TRUE -> true;
case CONDITION -> m_condition.getAsBoolean();
case NEG_CONDITION -> !m_condition.getAsBoolean();
};
}

/**
* Starts the command when the condition changes. The command is never started immediately.
*
* @param command the command to start
* @return this trigger, so calls can be chained
*/
public Trigger onChange(Command command) {
return onChange(command, InitialState.CONDITION);
}

/**
* Starts the command when the condition changes.
*
* @param command the command to start
* @param initialState the initial state to use
* @return this trigger, so calls can be chained
*/
public Trigger onChange(Command command, InitialState initialState) {
requireNonNullParam(command, "command", "onChange");
m_loop.bind(
new Runnable() {
private boolean m_pressedLast = m_condition.getAsBoolean();
private boolean m_pressedLast = getInitialState(initialState);

@Override
public void run() {
Expand All @@ -76,16 +130,28 @@ public void run() {
}

/**
* Starts the given command whenever the condition changes from `false` to `true`.
* Starts the given command whenever the condition changes from `false` to `true`. The command is
* never started immediately.
*
* @param command the command to start
* @return this trigger, so calls can be chained
*/
public Trigger onTrue(Command command) {
return onTrue(command, InitialState.CONDITION);
}

/**
* Starts the given command whenever the condition changes from `false` to `true`.
*
* @param command the command to start
* @param initialState the initial state to use
* @return this trigger, so calls can be chained
*/
public Trigger onTrue(Command command, InitialState initialState) {
requireNonNullParam(command, "command", "onTrue");
m_loop.bind(
new Runnable() {
private boolean m_pressedLast = m_condition.getAsBoolean();
private boolean m_pressedLast = getInitialState(initialState);

@Override
public void run() {
Expand All @@ -102,16 +168,28 @@ public void run() {
}

/**
* Starts the given command whenever the condition changes from `true` to `false`.
* Starts the given command whenever the condition changes from `true` to `false`. The command is
* never started immediately.
*
* @param command the command to start
* @return this trigger, so calls can be chained
*/
public Trigger onFalse(Command command) {
return onFalse(command, InitialState.CONDITION);
}

/**
* Starts the given command whenever the condition changes from `true` to `false`.
*
* @param command the command to start
* @param initialState the initial state to use
* @return this trigger, so calls can be chained
*/
public Trigger onFalse(Command command, InitialState initialState) {
requireNonNullParam(command, "command", "onFalse");
m_loop.bind(
new Runnable() {
private boolean m_pressedLast = m_condition.getAsBoolean();
private boolean m_pressedLast = getInitialState(initialState);

@Override
public void run() {
Expand All @@ -129,7 +207,7 @@ public void run() {

/**
* Starts the given command when the condition changes to `true` and cancels it when the condition
* changes to `false`.
* changes to `false`. The command is never started immediately.
*
* <p>Doesn't re-start the command if it ends while the condition is still `true`. If the command
* should restart, see {@link edu.wpi.first.wpilibj2.command.RepeatCommand}.
Expand All @@ -138,10 +216,25 @@ public void run() {
* @return this trigger, so calls can be chained
*/
public Trigger whileTrue(Command command) {
return whileTrue(command, InitialState.CONDITION);
}

/**
* 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 {@link edu.wpi.first.wpilibj2.command.RepeatCommand}.
*
* @param command the command to start
* @param initialState the initial state to use
* @return this trigger, so calls can be chained
*/
public Trigger whileTrue(Command command, InitialState initialState) {
requireNonNullParam(command, "command", "whileTrue");
m_loop.bind(
new Runnable() {
private boolean m_pressedLast = m_condition.getAsBoolean();
private boolean m_pressedLast = getInitialState(initialState);

@Override
public void run() {
Expand All @@ -161,7 +254,7 @@ public void run() {

/**
* Starts the given command when the condition changes to `false` and cancels it when the
* condition changes to `true`.
* condition changes to `true`. The command is never started immediately.
*
* <p>Doesn't re-start the command if it ends while the condition is still `false`. If the command
* should restart, see {@link edu.wpi.first.wpilibj2.command.RepeatCommand}.
Expand All @@ -170,10 +263,25 @@ public void run() {
* @return this trigger, so calls can be chained
*/
public Trigger whileFalse(Command command) {
return whileFalse(command, InitialState.CONDITION);
}

/**
* 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 `false`. If the command
* should restart, see {@link edu.wpi.first.wpilibj2.command.RepeatCommand}.
*
* @param command the command to start
* @param initialState the initial state to use
* @return this trigger, so calls can be chained
*/
public Trigger whileFalse(Command command, InitialState initialState) {
requireNonNullParam(command, "command", "whileFalse");
m_loop.bind(
new Runnable() {
private boolean m_pressedLast = m_condition.getAsBoolean();
private boolean m_pressedLast = getInitialState(initialState);

@Override
public void run() {
Expand All @@ -192,16 +300,28 @@ public void run() {
}

/**
* Toggles a command when the condition changes from `false` to `true`.
* Toggles a command when the condition changes from `false` to `true`. The command is never
* toggled immediately.
*
* @param command the command to toggle
* @return this trigger, so calls can be chained
*/
public Trigger toggleOnTrue(Command command) {
return toggleOnTrue(command, InitialState.CONDITION);
}

/**
* Toggles a command when the condition changes from `false` to `true`.
*
* @param command the command to toggle
* @param initialState the initial state to use
* @return this trigger, so calls can be chained
*/
public Trigger toggleOnTrue(Command command, InitialState initialState) {
requireNonNullParam(command, "command", "toggleOnTrue");
m_loop.bind(
new Runnable() {
private boolean m_pressedLast = m_condition.getAsBoolean();
private boolean m_pressedLast = getInitialState(initialState);

@Override
public void run() {
Expand All @@ -222,16 +342,28 @@ public void run() {
}

/**
* Toggles a command when the condition changes from `true` to `false`.
* Toggles a command when the condition changes from `true` to `false`. The command is never
* toggled immediately.
*
* @param command the command to toggle
* @return this trigger, so calls can be chained
*/
public Trigger toggleOnFalse(Command command) {
return toggleOnFalse(command, InitialState.CONDITION);
}

/**
* Toggles a command when the condition changes from `true` to `false`.
*
* @param command the command to toggle
* @param initialState the initial state to use
* @return this trigger, so calls can be chained
*/
public Trigger toggleOnFalse(Command command, InitialState initialState) {
requireNonNullParam(command, "command", "toggleOnFalse");
m_loop.bind(
new Runnable() {
private boolean m_pressedLast = m_condition.getAsBoolean();
private boolean m_pressedLast = getInitialState(initialState);

@Override
public void run() {
Expand Down
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