[commands] Add GetName to Subsystem, use in Scheduler tracer epochs (#5836)

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

@@ -183,7 +183,7 @@ void CommandScheduler::Run() {
     if constexpr (frc::RobotBase::IsSimulation()) {
       subsystem.getFirst()->SimulationPeriodic();
     }
-    m_watchdog.AddEpoch("Subsystem Periodic()");
+    m_watchdog.AddEpoch(subsystem.getFirst()->GetName() + ".Periodic()");
   }
 
   // Cache the active instance to avoid concurrency problems if SetActiveLoop()

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

@@ -4,6 +4,8 @@
 
 #include "frc2/command/Subsystem.h"
 
+#include <wpi/Demangle.h>
+
 #include "frc2/command/CommandPtr.h"
 #include "frc2/command/Commands.h"
 
@@ -16,6 +18,10 @@ void Subsystem::Periodic() {}
 
 void Subsystem::SimulationPeriodic() {}
 
+std::string Subsystem::GetName() const {
+  return wpi::GetTypeName(*this);
+}
+
 void Subsystem::SetDefaultCommand(CommandPtr&& defaultCommand) {
   CommandScheduler::GetInstance().SetDefaultCommand(this,
                                                     std::move(defaultCommand));

wpilibNewCommands/src/main/native/include/frc2/command/Command.h

@@ -18,11 +18,6 @@
 
 namespace frc2 {
 
-template <typename T>
-std::string GetTypeName(const T& type) {
-  return wpi::Demangle(typeid(type).name());
-}
-
 /**
  * A state machine representing a complete action to be performed by the robot.
  * Commands are run by the CommandScheduler, and can be composed into

wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h

@@ -6,6 +6,7 @@
 
 #include <concepts>
 #include <functional>
+#include <string>
 #include <utility>
 
 #include <wpi/FunctionExtras.h>
@@ -59,6 +60,13 @@ class Subsystem {
    */
   virtual void SimulationPeriodic();
 
+  /**
+   * Gets the name of this Subsystem.
+   *
+   * @return Name
+   */
+  virtual std::string GetName() const;
+
   /**
    * Sets the default Command of the subsystem.  The default command will be
    * automatically scheduled when no other commands are scheduled that require

wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h

@@ -30,7 +30,7 @@ class SubsystemBase : public Subsystem,
    *
    * @return Name
    */
-  std::string GetName() const;
+  std::string GetName() const override;
 
   /**
    * Sets the name of this Subsystem.