[cmd] Refactor RobotModeTriggers to use static variables

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

@@ -14,39 +14,15 @@ public final class RobotModeTriggers {
   // Utility class
   private RobotModeTriggers() {}
 
-  /**
-   * Returns a trigger that is true when the robot is enabled in autonomous mode.
-   *
-   * @return A trigger that is true when the robot is enabled in autonomous mode.
-   */
-  public static Trigger autonomous() {
-    return new Trigger(DriverStation::isAutonomousEnabled);
-  }
+  /** A trigger that is true when the robot is enabled in autonomous mode. */
+  public static final Trigger autonomous = new Trigger(DriverStation::isAutonomousEnabled);
 
-  /**
-   * Returns a trigger that is true when the robot is enabled in teleop mode.
-   *
-   * @return A trigger that is true when the robot is enabled in teleop mode.
-   */
-  public static Trigger teleop() {
-    return new Trigger(DriverStation::isTeleopEnabled);
-  }
+  /** A trigger that is true when the robot is enabled in teleop mode. */
+  public static final Trigger teleop = new Trigger(DriverStation::isTeleopEnabled);
 
-  /**
-   * Returns a trigger that is true when the robot is disabled.
-   *
-   * @return A trigger that is true when the robot is disabled.
-   */
-  public static Trigger disabled() {
-    return new Trigger(DriverStation::isDisabled);
-  }
+  /** A trigger that is true when the robot is disabled. */
+  public static final Trigger disabled = new Trigger(DriverStation::isDisabled);
 
-  /**
-   * Returns a trigger that is true when the robot is enabled in test mode.
-   *
-   * @return A trigger that is true when the robot is enabled in test mode.
-   */
-  public static Trigger test() {
-    return new Trigger(DriverStation::isTestEnabled);
-  }
+  /** A trigger that is true when the robot is enabled in test mode. */
+  public static final Trigger test = new Trigger(DriverStation::isTestEnabled);
 }

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

@@ -9,42 +9,39 @@
 namespace frc2 {
 
 /**
- * A class containing static Trigger factories for running callbacks when robot
+ * A class containing static Triggers for running callbacks when robot
  * mode changes.
  */
 class RobotModeTriggers {
  public:
   RobotModeTriggers() = delete;
 
   /**
-   * Returns a trigger that is true when the robot is enabled in autonomous
-   * mode.
-   *
-   * @return A trigger that is true when the robot is enabled in autonomous
+   * A trigger that is true when the robot is enabled in autonomous
    * mode.
    */
-  static Trigger Autonomous();
+  static Trigger Autonomous;
 
-  /**
-   * Returns a trigger that is true when the robot is enabled in teleop mode.
-   *
-   * @return A trigger that is true when the robot is enabled in teleop mode.
+  /** A trigger that is true when the robot is enabled in teleop mode.
    */
-  static Trigger Teleop();
+  static Trigger Teleop;
 
   /**
-   * Returns a trigger that is true when the robot is disabled.
-   *
-   * @return A trigger that is true when the robot is disabled.
+   * A trigger that is true when the robot is disabled.
    */
-  static Trigger Disabled();
+  static Trigger Disabled;
 
   /**
-   * Returns a trigger that is true when the robot is enabled in test mode.
-   *
-   * @return A trigger that is true when the robot is enabled in test mode.
+   * A trigger that is true when the robot is enabled in test mode.
    */
-  static Trigger Test();
+  static Trigger Test;
 };
 
+Trigger RobotModeTriggers::Autonomous =
+    Trigger{&frc::DriverStation::IsAutonomousEnabled};
+Trigger RobotModeTriggers::Teleop =
+    Trigger{&frc::DriverStation::IsTeleopEnabled};
+Trigger RobotModeTriggers::Disabled = Trigger{&frc::DriverStation::IsDisabled};
+Trigger RobotModeTriggers::Test = Trigger{&frc::DriverStation::IsTestEnabled};
+
 }  // namespace frc2

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

@@ -18,8 +18,7 @@ void autonomousTest() {
     DriverStationSim.setTest(false);
     DriverStationSim.setEnabled(true);
     DriverStationSim.notifyNewData();
-    Trigger auto = RobotModeTriggers.autonomous();
-    assertTrue(auto.getAsBoolean());
+    assertTrue(RobotModeTriggers.autonomous.getAsBoolean());
   }
 
   @Test
@@ -29,8 +28,7 @@ void teleopTest() {
     DriverStationSim.setTest(false);
     DriverStationSim.setEnabled(true);
     DriverStationSim.notifyNewData();
-    Trigger teleop = RobotModeTriggers.teleop();
-    assertTrue(teleop.getAsBoolean());
+    assertTrue(RobotModeTriggers.teleop.getAsBoolean());
   }
 
   @Test
@@ -40,8 +38,7 @@ void testModeTest() {
     DriverStationSim.setTest(true);
     DriverStationSim.setEnabled(true);
     DriverStationSim.notifyNewData();
-    Trigger test = RobotModeTriggers.test();
-    assertTrue(test.getAsBoolean());
+    assertTrue(RobotModeTriggers.test.getAsBoolean());
   }
 
   @Test
@@ -51,7 +48,6 @@ void disabledTest() {
     DriverStationSim.setTest(false);
     DriverStationSim.setEnabled(false);
     DriverStationSim.notifyNewData();
-    Trigger disabled = RobotModeTriggers.disabled();
-    assertTrue(disabled.getAsBoolean());
+    assertTrue(RobotModeTriggers.disabled.getAsBoolean());
   }
 }

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

@@ -19,8 +19,7 @@ TEST(RobotModeTriggersTest, Autonomous) {
   DriverStationSim::SetTest(false);
   DriverStationSim::SetEnabled(true);
   DriverStationSim::NotifyNewData();
-  Trigger autonomous = RobotModeTriggers::Autonomous();
-  EXPECT_TRUE(autonomous.Get());
+  EXPECT_TRUE(RobotModeTriggers::Autonomous.Get());
 }
 
 TEST(RobotModeTriggersTest, Teleop) {
@@ -29,8 +28,7 @@ TEST(RobotModeTriggersTest, Teleop) {
   DriverStationSim::SetTest(false);
   DriverStationSim::SetEnabled(true);
   DriverStationSim::NotifyNewData();
-  Trigger teleop = RobotModeTriggers::Teleop();
-  EXPECT_TRUE(teleop.Get());
+  EXPECT_TRUE(RobotModeTriggers::Teleop.Get());
 }
 
 TEST(RobotModeTriggersTest, Disabled) {
@@ -39,8 +37,7 @@ TEST(RobotModeTriggersTest, Disabled) {
   DriverStationSim::SetTest(false);
   DriverStationSim::SetEnabled(false);
   DriverStationSim::NotifyNewData();
-  Trigger disabled = RobotModeTriggers::Disabled();
-  EXPECT_TRUE(disabled.Get());
+  EXPECT_TRUE(RobotModeTriggers::Disabled.Get());
 }
 
 TEST(RobotModeTriggersTest, TestMode) {
@@ -49,6 +46,5 @@ TEST(RobotModeTriggersTest, TestMode) {
   DriverStationSim::SetTest(true);
   DriverStationSim::SetEnabled(true);
   DriverStationSim::NotifyNewData();
-  Trigger test = RobotModeTriggers::Test();
-  EXPECT_TRUE(test.Get());
+  EXPECT_TRUE(RobotModeTriggers::Test.Get());
 }