[commands] Add static Trigger factories for robot mode changes

[DeltaDizzy]

Included factories:

• autonomous()
• teleop()
• disabled()
  - [ ] endOfMatch() (would use isTeleopDisabled())?

Are there any other conditions that should be included? I chose to use the is[Mode]Enabled() variants to ensure they only trigger when a match is in play.

Resolves #5151
Resolves #5916

Still needed:

• Javadocs
• C++ impl
• C++ docs

[shueja]

Watch out for isTeleopDisabled() firing on driver station connection and/or code boot. I don't know if it does but it might not be the best thing to use on its own for an end-of-match trigger.

[DeltaDizzy]

To my understanding Triggers fire on rising edges, not pre-existing conditions, so it should be fine?

[shueja]

If a team switches to autonomous mode and back to teleop, would a trigger on isAutonomousDisabled fire, followed by one on isTeleopDisabled? Point is, it's not necessarily the semantics of "onTeleopDisable", and you probably want to track the falling edge of isTeleopEnabled.

[ThadHouse]

End of Match is undetectable. The only way to detect it is on a DS disconnect, but that will happen any time the DS disconnects, not only when the match ends. That is also delayed by a few seconds before it occurs.

[shueja]

Well, I suppose you can check isTeleop() && getMatchTime() == 0 but that's kind of imprecise still.

[ThadHouse]

Well, I suppose you can check isTeleop() && getMatchTime() == 0 but that's kind of imprecise still.

That isn't guaranteed. getMatchTime() is not guaranteed to hit 0. Also the isTeleop() will keep on until the DS disconnects.

A mix of the DS connected bit and FMS connected bit would likely be the best we get, but that won't detect the difference between a radio reboot or actual match end. But to the robot those cases do look identical, so there is no way to detect them.

[Starlight220]

What's the usecase for endOfMatch?

[DeltaDizzy]

The usecase for endOfMatch would be for e.g. games like 2020, where very specific post-match (as opposed to just any disable) behaviors may be desired. I'm not super attached to it though, so if end of match is truly undetectable I am open to scrapping it.

[Starlight220]

Detecting end of match seems to be quite nuanced with multiple possible semantics, so I think that the logic should be explicit in team code (developed by the team).

[KangarooKoala]

Looking at the lifecycle methods of IterativeRobotBase, test mode is also missing a Trigger. (robotInit/Periodic() and simulationInit/Periodic(), however, shouldn't need a Trigger since their value would never change during robot execution)

[DeltaDizzy]

The javadoc description and return sections feel a but repetitive but I dunno what a better way would be if it is even needed.

[calcmogul]

/format

[Starlight220]

Please add tests.

[calcmogul]

/format

[calcmogul]

Implementation looks good. Just needs C++ tests.

[DeltaDizzy]

C++ tests are blocked on resolution of #5916.

[DeltaDizzy]

/format

[DeltaDizzy]

/format