Add requirements param to more Command APIs (#2059)

Assorted improvements to the ergonomics of declaring requirements in the new
command framework. C++ requirements list parameters have been defaulted
to an empty list, some missing C++ requirements list parameters have been
added, and both C++ and Java have been given requirements list params in
various InstantCommand wrapper methods (#2049), whose value is
forwarded to the command.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

@@ -112,11 +112,12 @@ public interface Command {
    * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
    * further decorated without issue.
    *
-   * @param toRun the Runnable to run
+   * @param toRun        the Runnable to run
+   * @param requirements the required subsystems
    * @return the decorated command
    */
-  default SequentialCommandGroup beforeStarting(Runnable toRun) {
-    return new SequentialCommandGroup(new InstantCommand(toRun), this);
+  default SequentialCommandGroup beforeStarting(Runnable toRun, Subsystem... requirements) {
+    return new SequentialCommandGroup(new InstantCommand(toRun, requirements), this);
   }
 
   /**
@@ -128,11 +129,12 @@ public interface Command {
    * {@link CommandGroupBase#clearGroupedCommand(Command)}.  The decorated command can, however, be
    * further decorated without issue.
    *
-   * @param toRun the Runnable to run
+   * @param toRun        the Runnable to run
+   * @param requirements the required subsystems
    * @return the decorated command
    */
-  default SequentialCommandGroup andThen(Runnable toRun) {
-    return new SequentialCommandGroup(this, new InstantCommand(toRun));
+  default SequentialCommandGroup andThen(Runnable toRun, Subsystem... requirements) {
+    return new SequentialCommandGroup(this, new InstantCommand(toRun, requirements));
   }
 
   /**
@@ -279,7 +281,7 @@ public interface Command {
    * Whether the command requires a given subsystem.  Named "hasRequirement" rather than "requires"
    * to avoid confusion with
    * {@link edu.wpi.first.wpilibj.command.Command#requires(edu.wpi.first.wpilibj.command.Subsystem)}
-   *  - this may be able to be changed in a few years.
+   * - this may be able to be changed in a few years.
    *
    * @param requirement the subsystem to inquire about
    * @return whether the subsystem is required

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java

@@ -10,6 +10,7 @@ package edu.wpi.first.wpilibj2.command.button;
 import java.util.function.BooleanSupplier;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Subsystem;
 
 /**
  * This class provides an easy way to link commands to OI inputs.
@@ -66,11 +67,12 @@ public abstract class Button extends Trigger {
   /**
    * Runs the given runnable whenever the button is newly pressed.
    *
-   * @param toRun the runnable to run
+   * @param toRun        the runnable to run
+   * @param requirements the required subsystems
    * @return this button, so calls can be chained
    */
-  public Button whenPressed(final Runnable toRun) {
-    whenActive(toRun);
+  public Button whenPressed(final Runnable toRun, Subsystem... requirements) {
+    whenActive(toRun, requirements);
     return this;
   }
 
@@ -106,11 +108,12 @@ public abstract class Button extends Trigger {
   /**
    * Constantly runs the given runnable while the button is held.
    *
-   * @param toRun the runnable to run
+   * @param toRun        the runnable to run
+   * @param requirements the required subsystems
    * @return this button, so calls can be chained
    */
-  public Button whileHeld(final Runnable toRun) {
-    whileActiveContinuous(toRun);
+  public Button whileHeld(final Runnable toRun, Subsystem... requirements) {
+    whileActiveContinuous(toRun, requirements);
     return this;
   }
 
@@ -167,11 +170,12 @@ public abstract class Button extends Trigger {
   /**
    * Runs the given runnable when the button is released.
    *
-   * @param toRun the runnable to run
+   * @param toRun        the runnable to run
+   * @param requirements the required subsystems
    * @return this button, so calls can be chained
    */
-  public Button whenReleased(final Runnable toRun) {
-    whenInactive(toRun);
+  public Button whenReleased(final Runnable toRun, Subsystem... requirements) {
+    whenInactive(toRun, requirements);
     return this;
   }
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java

@@ -12,6 +12,7 @@ import java.util.function.BooleanSupplier;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.Subsystem;
 
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
@@ -100,11 +101,12 @@ public class Trigger {
   /**
    * Runs the given runnable whenever the trigger just becomes active.
    *
-   * @param toRun the runnable to run
+   * @param toRun        the runnable to run
+   * @param requirements the required subsystems
    * @return this trigger, so calls can be chained
    */
-  public Trigger whenActive(final Runnable toRun) {
-    return whenActive(new InstantCommand(toRun));
+  public Trigger whenActive(final Runnable toRun, Subsystem... requirements) {
+    return whenActive(new InstantCommand(toRun, requirements));
   }
 
   /**
@@ -155,11 +157,12 @@ public class Trigger {
   /**
    * Constantly runs the given runnable while the button is held.
    *
-   * @param toRun the runnable to run
+   * @param toRun        the runnable to run
+   * @param requirements the required subsystems
    * @return this trigger, so calls can be chained
    */
-  public Trigger whileActiveContinuous(final Runnable toRun) {
-    return whileActiveContinuous(new InstantCommand(toRun));
+  public Trigger whileActiveContinuous(final Runnable toRun, Subsystem... requirements) {
+    return whileActiveContinuous(new InstantCommand(toRun, requirements));
   }
 
   /**
@@ -243,11 +246,12 @@ public class Trigger {
   /**
    * Runs the given runnable when the trigger becomes inactive.
    *
-   * @param toRun the runnable to run
+   * @param toRun        the runnable to run
+   * @param requirements the required subsystems
    * @return this trigger, so calls can be chained
    */
-  public Trigger whenInactive(final Runnable toRun) {
-    return whenInactive(new InstantCommand(toRun));
+  public Trigger whenInactive(final Runnable toRun, Subsystem... requirements) {
+    return whenInactive(new InstantCommand(toRun, requirements));
   }
 
   /**