PointTowardsZoneTrigger.h

#pragma once
 
#include <frc2/command/button/Trigger.h>
#include <string>
#include <unordered_map>
#include "pathplanner/lib/events/EventScheduler.h"
 
namespace pathplanner {
class PointTowardsZoneTrigger: public frc2::Trigger {
public:
    PointTowardsZoneTrigger(std::string name) : frc2::Trigger(
            EventScheduler::getEventLoop(), pollCondition(name)) {
    }
 
    PointTowardsZoneTrigger(frc::EventLoop *eventLoop, std::string name) : frc2::Trigger(
            eventLoop, pollCondition(name)) {
    }
 
    static inline void setWithinZone(std::string name, bool withinZone) {
        getZoneConditions()[name] = withinZone;
    }
 
private:
 
    static inline std::unordered_map<std::string, bool>& getZoneConditions() {
        static std::unordered_map<std::string, bool> *zoneConditions =
                new std::unordered_map<std::string, bool>();
        return *zoneConditions;
    }
 
    static inline std::function<bool()> pollCondition(std::string name) {
        // Ensure there is a condition in the map for this name
        if (!getZoneConditions().contains(name)) {
            getZoneConditions().emplace(name, false);
        }
 
        return [name]() {
            return getZoneConditions()[name];
        };
    }
};
}