[commands] Change C++ CommandPtr to use CommandBase (#4677)

wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp

@@ -35,28 +35,24 @@ void Command::Execute() {}
 void Command::End(bool interrupted) {}
 
 CommandPtr Command::WithTimeout(units::second_t duration) && {
-  return CommandPtr(std::move(*this).TransferOwnership()).WithTimeout(duration);
+  return std::move(*this).ToPtr().WithTimeout(duration);
 }
 
 CommandPtr Command::Until(std::function<bool()> condition) && {
-  return CommandPtr(std::move(*this).TransferOwnership())
-      .Until(std::move(condition));
+  return std::move(*this).ToPtr().Until(std::move(condition));
 }
 
 CommandPtr Command::IgnoringDisable(bool doesRunWhenDisabled) && {
-  return CommandPtr(std::move(*this).TransferOwnership())
-      .IgnoringDisable(doesRunWhenDisabled);
+  return std::move(*this).ToPtr().IgnoringDisable(doesRunWhenDisabled);
 }
 
 CommandPtr Command::WithInterruptBehavior(
     InterruptionBehavior interruptBehavior) && {
-  return CommandPtr(std::move(*this).TransferOwnership())
-      .WithInterruptBehavior(interruptBehavior);
+  return std::move(*this).ToPtr().WithInterruptBehavior(interruptBehavior);
 }
 
 CommandPtr Command::WithInterrupt(std::function<bool()> condition) && {
-  return CommandPtr(std::move(*this).TransferOwnership())
-      .Until(std::move(condition));
+  return std::move(*this).ToPtr().Until(std::move(condition));
 }
 
 CommandPtr Command::BeforeStarting(
@@ -68,8 +64,8 @@ CommandPtr Command::BeforeStarting(
 
 CommandPtr Command::BeforeStarting(
     std::function<void()> toRun, std::span<Subsystem* const> requirements) && {
-  return CommandPtr(std::move(*this).TransferOwnership())
-      .BeforeStarting(std::move(toRun), requirements);
+  return std::move(*this).ToPtr().BeforeStarting(std::move(toRun),
+                                                 requirements);
 }
 
 CommandPtr Command::AndThen(std::function<void()> toRun,
@@ -80,8 +76,7 @@ CommandPtr Command::AndThen(std::function<void()> toRun,
 
 CommandPtr Command::AndThen(std::function<void()> toRun,
                             std::span<Subsystem* const> requirements) && {
-  return CommandPtr(std::move(*this).TransferOwnership())
-      .AndThen(std::move(toRun), requirements);
+  return std::move(*this).ToPtr().AndThen(std::move(toRun), requirements);
 }
 
 PerpetualCommand Command::Perpetually() && {
@@ -91,26 +86,23 @@ PerpetualCommand Command::Perpetually() && {
 }
 
 CommandPtr Command::Repeatedly() && {
-  return CommandPtr(std::move(*this).TransferOwnership()).Repeatedly();
+  return std::move(*this).ToPtr().Repeatedly();
 }
 
 CommandPtr Command::AsProxy() && {
-  return CommandPtr(std::move(*this).TransferOwnership()).AsProxy();
+  return std::move(*this).ToPtr().AsProxy();
 }
 
 CommandPtr Command::Unless(std::function<bool()> condition) && {
-  return CommandPtr(std::move(*this).TransferOwnership())
-      .Unless(std::move(condition));
+  return std::move(*this).ToPtr().Unless(std::move(condition));
 }
 
 CommandPtr Command::FinallyDo(std::function<void(bool)> end) && {
-  return CommandPtr(std::move(*this).TransferOwnership())
-      .FinallyDo(std::move(end));
+  return std::move(*this).ToPtr().FinallyDo(std::move(end));
 }
 
 CommandPtr Command::HandleInterrupt(std::function<void(void)> handler) && {
-  return CommandPtr(std::move(*this).TransferOwnership())
-      .HandleInterrupt(std::move(handler));
+  return std::move(*this).ToPtr().HandleInterrupt(std::move(handler));
 }
 
 void Command::Schedule() {

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp

@@ -219,12 +219,12 @@ CommandPtr CommandPtr::HandleInterrupt(std::function<void(void)> handler) && {
       });
 }
 
-Command* CommandPtr::get() const {
+CommandBase* CommandPtr::get() const {
   AssertValid();
   return m_ptr.get();
 }
 
-std::unique_ptr<Command> CommandPtr::Unwrap() && {
+std::unique_ptr<CommandBase> CommandPtr::Unwrap() && {
   AssertValid();
   return std::move(m_ptr);
 }