add contexts; make them mandatory where trigers are used

Author: zachwaffle4

commandsv3/src/generate/main/java/commandhid.java.jinja

@@ -8,6 +8,7 @@
 {%- endmacro %}
 package org.wpilib.command3.button;
 
+import org.wpilib.command3.Context;
 import org.wpilib.command3.Scheduler;
 import org.wpilib.command3.Trigger;
 import org.wpilib.driverstation.{{ ConsoleName }}Controller;
@@ -26,10 +27,11 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
    * Construct an instance of a controller. Commands bound to buttons on the controller will be
    * scheduled on the {@link Scheduler#getDefault() default scheduler} using its default event loop.
    *
+   * @param context The context that must be true for trigger edges to be considered.
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public Command{{ ConsoleName }}Controller(int port) {
-    super(port);
+  public Command{{ ConsoleName }}Controller(Context context, int port) {
+    super(context, port);
     m_hid = new {{ ConsoleName }}Controller(port);
   }
 
@@ -38,10 +40,11 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
    * scheduled on the given scheduler using its default event loop.
    *
    * @param scheduler The scheduler that should execute the triggered commands.
+   * @param context The context that must be true for trigger edges to be considered.
    * @param port The port index on the Driver Station that the controller is plugged into.
    */
-  public Command{{ ConsoleName }}Controller(Scheduler scheduler, int port) {
-    super(scheduler, port);
+  public Command{{ ConsoleName }}Controller(Scheduler scheduler, Context context, int port) {
+    super(scheduler, context, port);
     m_hid = new {{ ConsoleName }}Controller(port);
   }
 

commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsPS4Controller.java

@@ -0,0 +1,52 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.wpilib.command3;
+
+import java.util.function.BooleanSupplier;
+
+/**
+ * Utility class for composing BooleanSupplier conditions with logical operations.
+ *
+ * <p>This class provides static methods for combining multiple boolean conditions using logical
+ * AND, OR, and NOT operations. It is commonly used for creating complex trigger conditions and
+ * context compositions.
+ */
+public final class Conditions {
+  private Conditions() {
+    throw new UnsupportedOperationException("This is a utility class!");
+  }
+
+  /**
+   * Creates a BooleanSupplier that returns true when both input conditions are true.
+   *
+   * @param a the first condition
+   * @param b the second condition
+   * @return a BooleanSupplier that performs logical AND on the two conditions
+   */
+  public static BooleanSupplier and(BooleanSupplier a, BooleanSupplier b) {
+    return () -> a.getAsBoolean() && b.getAsBoolean();
+  }
+
+  /**
+   * Creates a BooleanSupplier that returns true when either input condition is true.
+   *
+   * @param a the first condition
+   * @param b the second condition
+   * @return a BooleanSupplier that performs logical OR on the two conditions
+   */
+  public static BooleanSupplier or(BooleanSupplier a, BooleanSupplier b) {
+    return () -> a.getAsBoolean() || b.getAsBoolean();
+  }
+
+  /**
+   * Creates a BooleanSupplier that returns the opposite of the input condition.
+   *
+   * @param a the condition to negate
+   * @return a BooleanSupplier that performs logical NOT on the condition
+   */
+  public static BooleanSupplier not(BooleanSupplier a) {
+    return () -> !a.getAsBoolean();
+  }
+}

commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsPS5Controller.java

@@ -0,0 +1,103 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.wpilib.command3;
+
+import java.util.function.BooleanSupplier;
+import org.wpilib.driverstation.DriverStation;
+import org.wpilib.event.EventLoop;
+
+/**
+ * A Context represents a condition that determines when Trigger edges should be considered.
+ *
+ * <p>Contexts are used to scope when triggers are active. For example, joystick button triggers
+ * might use {@link #allTeleop} to ensure they only fire during teleop mode, preventing accidental
+ * input during autonomous.
+ *
+ * <p>Contexts can be composed using logical operations to create more complex conditions:
+ *
+ * <pre>{@code
+ * Context myContext = Context.allTeleop.and(() -> robot.isReady());
+ * Trigger myTrigger = new Trigger(myContext, controller.a()::get);
+ * }</pre>
+ *
+ * <p>When a trigger's context evaluates to false, edge detection is paused and will resume when the
+ * context becomes true again.
+ */
+public class Context implements BooleanSupplier {
+  /** A context that is always true. */
+  public static final Context all = new Context(() -> true);
+
+  /** A context that is true when the robot is in autonomous mode (enabled or disabled). */
+  public static final Context allAuto = all.and(DriverStation::isAutonomous);
+
+  /** A context that is true when the robot is in teleop mode (enabled or disabled). */
+  public static final Context allTeleop = all.and(DriverStation::isTeleop);
+
+  /** A context that is true when the robot is in test mode (enabled or disabled). */
+  public static final Context allTest = all.and(DriverStation::isTest);
+
+  private final BooleanSupplier m_condition;
+
+  /**
+   * Creates a new Context with the given condition.
+   *
+   * <p>This constructor is protected and intended for internal use and subclassing. Use the static
+   * factory methods or composition methods to create contexts.
+   *
+   * @param condition the boolean condition that determines when this context is active
+   */
+  protected Context(BooleanSupplier condition) {
+    m_condition = condition;
+  }
+
+  /**
+   * Creates a Trigger with this context and the given condition.
+   *
+   * <p>The resulting trigger will only fire edges when both this context and the provided condition
+   * change, and only when this context is true.
+   *
+   * @param condition the trigger condition
+   * @return a new Trigger that combines this context with the given condition
+   */
+  public Trigger trigger(BooleanSupplier condition) {
+    return new Trigger(Scheduler.getDefault(), this, Conditions.and(this, condition));
+  }
+
+  /**
+   * Creates a Trigger with this context, the given condition, and a specific event loop.
+   *
+   * @param loop the event loop to attach the trigger to
+   * @param condition the trigger condition
+   * @return a new Trigger that combines this context with the given condition
+   */
+  public Trigger trigger(EventLoop loop, BooleanSupplier condition) {
+    return new Trigger(Scheduler.getDefault(), this, loop, Conditions.and(this, condition));
+  }
+
+  /**
+   * Creates a new Context that is true when both this context and the given condition are true.
+   *
+   * @param condition the condition to combine with this context
+   * @return a new Context representing the logical AND of this context and the condition
+   */
+  public Context and(BooleanSupplier condition) {
+    return new Context(Conditions.and(this, condition));
+  }
+
+  /**
+   * Creates a new Context that is true when either this context or the given context is true.
+   *
+   * @param condition the context to combine with this context
+   * @return a new Context representing the logical OR of this context and the other context
+   */
+  public Context or(Context condition) {
+    return new Context(Conditions.or(this, condition));
+  }
+
+  @Override
+  public boolean getAsBoolean() {
+    return m_condition.getAsBoolean();
+  }
+}