OneShotTriggerEvent.h

#pragma once
 
#include "pathplanner/lib/events/Event.h"
#include "pathplanner/lib/events/EventTrigger.h"
#include <string>
#include <frc2/command/CommandScheduler.h>
#include <frc2/command/Commands.h>
 
namespace pathplanner {
class OneShotTriggerEvent: public Event {
public:
    OneShotTriggerEvent(units::second_t timestamp, std::string name) : Event(
            timestamp), m_name(name), m_resetCommand(
            frc2::cmd::Wait(0_s).AndThen(frc2::cmd::RunOnce([this]() {
                EventTrigger::setCondition(m_name, false);
            }
            )
            ).IgnoringDisable(true)) {
    }
 
    inline void handleEvent(EventScheduler *eventScheduler) override {
        EventTrigger::setCondition(m_name, true);
        // We schedule this command with the main command scheduler so that it is guaranteed to be run
        // in its entirety, since the EventScheduler could cancel this command before it finishes
        frc2::CommandScheduler::GetInstance().Schedule(m_resetCommand);
    }
 
    inline void cancelEvent(EventScheduler *eventScheduler) override {
        // Do nothing
    }
 
    inline std::shared_ptr<Event> copyWithTimestamp(units::second_t timestamp)
            override {
        return std::make_shared < OneShotTriggerEvent > (timestamp, m_name);
    }
 
private:
    std::string m_name;
    frc2::CommandPtr m_resetCommand;
};
}