#----------------------------------------------------------------------------
# Copyright (c) FIRST 2008-2012. 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.
#----------------------------------------------------------------------------
__all__ = ["Trigger"]
[docs]class Trigger:
"""This class provides an easy way to link commands to inputs.
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.
It is encouraged that teams write a subclass of Trigger if they want to
have something unusual (for instance, if they want to react to the user
holding a button while the robot is reading a certain sensor input).
For this, they only have to write the :func:`get` method to get the full
functionality of the Trigger class.
"""
[docs] def get(self):
"""Returns whether or not the trigger is active
This method will be called repeatedly a command is linked to the
Trigger.
:returns: whether or not the trigger condition is active.
"""
raise NotImplementedError
[docs] def grab(self):
"""Returns whether :meth:`get` returns True or the internal table for
:class:`.SmartDashboard` use is pressed.
"""
table = self.getTable()
#return self.get() or (table is not None and table.isConnected() and table.getBoolean("pressed", False)) #FIXME make is connected work?
return self.get() or (table is not None and
table.getBoolean("pressed", False))
[docs] def whenActive(self, command):
"""Starts the given command whenever the trigger just becomes active.
:param command: the command to start
"""
def execute():
if self.grab():
if not execute.pressedLast:
execute.pressedLast = True
command.start()
else:
execute.pressedLast = False
execute.pressedLast = self.grab()
from ..command import Scheduler
Scheduler.getInstance().addButton(execute)
[docs] def whileActive(self, command):
"""Constantly starts the given command while the button is held.
:meth:`Command.start` will be called repeatedly while the trigger is
active, and will be canceled when the trigger becomes inactive.
:param command: the command to start
"""
def execute():
if self.grab():
execute.pressedLast = True
command.start()
else:
if execute.pressedLast:
execute.pressedLast = False
command.cancel()
execute.pressedLast = self.grab()
from ..command import Scheduler
Scheduler.getInstance().addButton(execute)
[docs] def whenInactive(self, command):
"""Starts the command when the trigger becomes inactive.
:param command: the command to start
"""
def execute():
if self.grab():
execute.pressedLast = True
else:
if execute.pressedLast:
execute.pressedLast = False
command.start()
execute.pressedLast = self.grab()
from ..command import Scheduler
Scheduler.getInstance().addButton(execute)
[docs] def toggleWhenActive(self, command):
"""Toggles a command when the trigger becomes active.
:param command: the command to toggle
"""
def execute():
if self.grab():
if not execute.pressedLast:
execute.pressedLast = True
if command.isRunning():
command.cancel()
else:
command.start()
else:
execute.pressedLast = False
execute.pressedLast = self.grab()
from ..command import Scheduler
Scheduler.getInstance().addButton(execute)
[docs] def cancelWhenActive(self, command):
"""Cancels a command when the trigger becomes active.
:param command: the command to cancel
"""
def execute():
if self.grab():
if not execute.pressedLast:
execute.pressedLast = True
command.cancel()
else:
execute.pressedLast = False
execute.pressedLast = self.grab()
from ..command import Scheduler
Scheduler.getInstance().addButton(execute)
def getSmartDashboardType(self):
"""These methods continue to return the "Button" :class:`.SmartDashboard` type
until we decided to create a Trigger widget type for the dashboard.
"""
return "Button"
def initTable(self, table):
self.table = table
if table is not None:
table.putBoolean("pressed", self.get())
def getTable(self):
return getattr(self, "table", None)