[robotpy] Mirror robotpy's commands-v2 (#8369)

Project import generated by Copybara.

GitOrigin-RevId: 715c8e8372d936f447f2937aab6b1a22dc619126

commandsv2/src/main/python/commands2/waituntilcommand.py

@@ -0,0 +1,80 @@
+# validated: 2024-01-20 DS aaea85ff1656 WaitUntilCommand.java
+from __future__ import annotations
+
+from typing import Callable, overload
+
+from wpilib import Timer
+from wpimath import units
+
+from .command import Command
+from .util import format_args_kwargs
+
+
+class WaitUntilCommand(Command):
+    """
+    A command that does nothing but ends after a specified match time or condition. Useful for
+    CommandGroups.
+    """
+
+    _condition: Callable[[], bool]
+
+    @overload
+    def __init__(self, condition: Callable[[], bool]):
+        """
+        Creates a new WaitUntilCommand that ends after a given condition becomes true.
+
+        :param condition: the condition to determine when to end
+        """
+        ...
+
+    @overload
+    def __init__(self, time: units.seconds):
+        """
+        Creates a new WaitUntilCommand that ends after a given match time.
+
+        NOTE: The match timer used for this command is UNOFFICIAL. Using this command does NOT
+        guarantee that the time at which the action is performed will be judged to be legal by the
+        referees. When in doubt, add a safety factor or time the action manually.
+
+        :param time: the match time at which to end, in seconds
+        """
+        ...
+
+    def __init__(self, *args, **kwargs):
+        super().__init__()
+
+        def init_condition(condition: Callable[[], bool]) -> None:
+            assert callable(condition)
+            self._condition = condition
+
+        def init_time(time: float) -> None:
+            self._condition = lambda: Timer.getMatchTime() - time > 0
+
+        num_args = len(args) + len(kwargs)
+
+        if num_args == 1 and len(kwargs) == 1:
+            if "condition" in kwargs:
+                return init_condition(kwargs["condition"])
+            elif "time" in kwargs:
+                return init_time(kwargs["time"])
+        elif num_args == 1 and len(args) == 1:
+            if isinstance(args[0], float):
+                return init_time(args[0])
+            elif callable(args[0]):
+                return init_condition(args[0])
+
+        raise TypeError(
+            f"""
+TypeError: WaitUntilCommand(): incompatible function arguments. The following argument types are supported:
+    1. (self: WaitUntilCommand, condition: () -> bool)
+    2. (self: WaitUntilCommand, time: wpimath.units.seconds)
+
+Invoked with: {format_args_kwargs(self, *args, **kwargs)}
+"""
+        )
+
+    def isFinished(self) -> bool:
+        return self._condition()
+
+    def runsWhenDisabled(self) -> bool:
+        return True