Patch up Java test and add Java overloads

wpilibc/src/main/native/cpp/event/BooleanEvent.cpp

@@ -33,9 +33,13 @@ BooleanEvent BooleanEvent::operator!() {
   return BooleanEvent(this->m_loop, [lhs = m_condition] { return !lhs(); });
 }
 
-BooleanEvent BooleanEvent::operator&&(std::function<bool()> rhs) {
+BooleanEvent BooleanEvent::operator&&(BooleanEvent rhs) {
+  if (m_loop != rhs.m_loop) {
+    m_loop->Bind(
+        [&rhs] { rhs.m_state = std::make_shared<bool>(rhs.m_condition()); });
+  }
   return BooleanEvent(this->m_loop,
-                      [lhs = m_condition, rhs] { return lhs() && rhs(); });
+                      [state = m_state, &rhs] { return state && rhs.m_state; });
 }
 
 BooleanEvent BooleanEvent::operator||(std::function<bool()> rhs) {

wpilibc/src/main/native/include/frc/event/BooleanEvent.h

@@ -89,7 +89,7 @@ class BooleanEvent {
    * @param rhs the event to compose with
    * @return the event that is active when both events are active
    */
-  BooleanEvent operator&&(std::function<bool()> rhs);
+  BooleanEvent operator&&(BooleanEvent rhs);
 
   /**
    * Composes this event with another event, returning a new event that is

wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp

@@ -209,9 +209,9 @@ TEST(BooleanEventTest, EventReuse) {
   bool boolean3 = false;
   std::atomic_int counter = 0;
 
-  auto event1 = BooleanEvent(&loop, [&] { return boolean1; });
-  auto event2 = BooleanEvent(&loop, [&] { return boolean2; });
-  auto event3 = BooleanEvent(&loop, [&] { return boolean3; });
+  auto event1 = BooleanEvent(&loop, [&] { return boolean1; }).Rising();
+  auto event2 = BooleanEvent(&loop, [&] { return boolean2; }).Rising();
+  auto event3 = BooleanEvent(&loop, [&] { return boolean3; }).Rising();
   event1.IfHigh([&] {
     boolean1 = false;
     ++counter;
@@ -233,26 +233,22 @@ TEST(BooleanEventTest, EventReuse) {
   loop.Poll();
 
   EXPECT_EQ(3, counter);
-
-  boolean1 = true;
   loop.Poll();
 
-  EXPECT_EQ(4, counter);
+  EXPECT_EQ(3, counter);
 
-  boolean2 = true;
-  boolean3 = true;
+  boolean1 = true;
   loop.Poll();
 
   EXPECT_EQ(4, counter);
 
-  boolean1 = true;
   loop.Poll();
 
-  EXPECT_EQ(7, counter);
+  EXPECT_EQ(4, counter);
 
   boolean1 = true;
   boolean2 = true;
   loop.Poll();
 
-  EXPECT_EQ(9, counter);
+  EXPECT_EQ(6, counter);
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java

@@ -7,7 +7,6 @@
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.math.filter.Debouncer;
-
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.function.BiFunction;
 import java.util.function.BooleanSupplier;
@@ -160,6 +159,21 @@ public BooleanEvent negate() {
    * @param other the event to compose with
    * @return the event that is active when both events are active
    */
+  public BooleanEvent and(BooleanEvent other) {
+    requireNonNullParam(other, "other", "and");
+    if (!m_loop.equals(other.m_loop)) {
+      m_loop.bind(() -> other.m_state.set(other.m_signal.getAsBoolean()));
+    }
+    return new BooleanEvent(m_loop, () -> m_state.get() && other.m_state.get());
+  }
+
+  /**
+   * Composes this event with a signal, returning a new signal that is in the high state when both
+   * signals are in the high state.
+   *
+   * @param other the signal to compose with
+   * @return the event that is active when both this event and the supplier are active
+   */
   public BooleanEvent and(BooleanSupplier other) {
     requireNonNullParam(other, "other", "and");
     return new BooleanEvent(m_loop, () -> m_signal.getAsBoolean() && other.getAsBoolean());
@@ -174,6 +188,21 @@ public BooleanEvent and(BooleanSupplier other) {
    * @param other the event to compose with
    * @return a signal that is high when either signal is high.
    */
+  public BooleanEvent or(BooleanEvent other) {
+    requireNonNullParam(other, "other", "or");
+    if (!m_loop.equals(other.m_loop)) {
+      m_loop.bind(() -> other.m_state.set(other.m_signal.getAsBoolean()));
+    }
+    return new BooleanEvent(m_loop, () -> m_state.get() || other.m_state.get());
+  }
+
+  /**
+   * Composes this event with a signal, returning a new signal that is high when either signal is
+   * high.
+   *
+   * @param other the signal to compose with
+   * @return a signal that is high when either signal is high.
+   */
   public BooleanEvent or(BooleanSupplier other) {
     requireNonNullParam(other, "other", "or");
     return new BooleanEvent(m_loop, () -> m_signal.getAsBoolean() || other.getAsBoolean());

wpilibj/src/test/java/edu/wpi/first/wpilibj/event/BooleanEventTest.java

@@ -245,26 +245,23 @@ void testEventReuse() {
 
     assertEquals(3, counter.get());
 
-    bool1.set(true);
     loop.poll();
 
-    assertEquals(4, counter.get());
+    assertEquals(3, counter.get());
 
-    bool2.set(true);
-    bool3.set(true);
+    bool1.set(true);
     loop.poll();
 
     assertEquals(4, counter.get());
 
-    bool1.set(true);
     loop.poll();
 
-    assertEquals(7, counter.get());
+    assertEquals(4, counter.get());
 
     bool1.set(true);
     bool2.set(true);
     loop.poll();
 
-    assertEquals(9, counter.get());
+    assertEquals(6, counter.get());
   }
 }