[commands] Add convenience factories (#4460)

Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>

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

@@ -282,6 +282,15 @@ safe) semantics.
    */
   [[nodiscard]] CommandPtr HandleInterrupt(std::function<void()> handler) &&;
 
+  /**
+   * Decorates this Command with a name. Is an inline function for
+   * #SetName(std::string_view);
+   *
+   * @param name name
+   * @return the decorated Command
+   */
+  [[nodiscard]] CommandPtr WithName(std::string_view name) &&;
+
   /**
    * Schedules this command.
    */
@@ -343,8 +352,21 @@ safe) semantics.
     return InterruptionBehavior::kCancelSelf;
   }
 
+  /**
+   * Gets the name of this Command. Defaults to the simple class name if not
+   * overridden.
+   *
+   * @return The display name of the Command
+   */
   virtual std::string GetName() const;
 
+  /**
+   * Sets the name of this Command. Nullop if not overridden.
+   *
+   * @param name The display name of the Command.
+   */
+  virtual void SetName(std::string_view name);
+
   /**
    * Transfers ownership of this command to a unique pointer.  Used for
    * decorator methods.

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

@@ -65,7 +65,7 @@ class CommandBase : public Command,
    *
    * @param name name
    */
-  void SetName(std::string_view name);
+  void SetName(std::string_view name) override;
 
   /**
    * Gets the name of this Command.

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

@@ -8,6 +8,7 @@
 #include <initializer_list>
 #include <memory>
 #include <span>
+#include <string>
 #include <utility>
 #include <vector>
 
@@ -219,6 +220,15 @@ class CommandPtr final {
    */
   [[nodiscard]] CommandPtr HandleInterrupt(std::function<void()> handler) &&;
 
+  /**
+   * Decorates this Command with a name. Is an inline function for
+   * Command::SetName(std::string_view);
+   *
+   * @param name name
+   * @return the decorated Command
+   */
+  [[nodiscard]] CommandPtr WithName(std::string_view name) &&;
+
   /**
    * Get a raw pointer to the held command.
    */

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

@@ -104,5 +104,41 @@ class Subsystem {
    * Periodic() method to be called when the scheduler runs.
    */
   void Register();
+
+  /**
+   * Constructs a command that runs an action once and finishes. Requires this
+   * subsystem.
+   *
+   * @param action the action to run
+   */
+  [[nodiscard]] CommandPtr RunOnce(std::function<void()> action);
+
+  /**
+   * Constructs a command that runs an action every iteration until interrupted.
+   * Requires this subsystem.
+   *
+   * @param action the action to run
+   */
+  [[nodiscard]] CommandPtr Run(std::function<void()> action);
+
+  /**
+   * Constructs a command that runs an action once and another action when the
+   * command is interrupted. Requires this subsystem.
+   *
+   * @param start the action to run on start
+   * @param end the action to run on interrupt
+   */
+  [[nodiscard]] CommandPtr StartEnd(std::function<void()> start,
+                                    std::function<void()> end);
+
+  /**
+   * Constructs a command that runs an action every iteration until interrupted,
+   * and then runs a second action. Requires this subsystem.
+   *
+   * @param run the action to run every iteration
+   * @param end the action to run on interrupt
+   */
+  [[nodiscard]] CommandPtr RunEnd(std::function<void()> run,
+                                  std::function<void()> end);
 };
 }  // namespace frc2