Add onChange() method to V3 Trigger - #9359
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Pull request overview
This PR adds an onChange() convenience binding to the commandsv3 Trigger API, aligning it with existing trigger binding patterns (e.g., onTrue()/onFalse()) and providing a shorthand for scheduling a command on either edge.
Changes:
- Added
Trigger#onChange(Command)to schedule a command on both rising and falling edges. - Added Javadoc for the new
onChange()method.
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| /** | ||
| * Starts the command when the condition changes. | ||
| * | ||
| * @param command the command to start | ||
| * @return this trigger, so calls can be chained | ||
| */ |
| public Trigger onChange(Command command) { | ||
| requireNonNullParam(command, "command", "onChange"); | ||
| addBinding(BindingType.SCHEDULE_ON_RISING_EDGE, command); | ||
| addBinding(BindingType.SCHEDULE_ON_FALLING_EDGE, command); | ||
| return this; | ||
| } |
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| addBinding(BindingType.SCHEDULE_ON_RISING_EDGE, command); | ||
| addBinding(BindingType.SCHEDULE_ON_FALLING_EDGE, command); |
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Because m_previousSignal is null until the trigger is first polled, poll() classifies the initial sample as either a rising or falling edge. Registering the command for both edge types therefore guarantees that onChange() schedules it on the first Scheduler.run() even when the supplier has never changed, contrary to the method contract and the existing V2 onChange() behavior. This needs a dedicated binding or baseline handling that ignores the initial sample.
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