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

Project import generated by Copybara.

GitOrigin-RevId: 715c8e8372d936f447f2937aab6b1a22dc619126

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

@@ -0,0 +1,90 @@
+# validated: 2024-01-20 DS ad0859a8c9ec WrapperCommand.java
+from __future__ import annotations
+
+from typing import Set
+
+from .command import Command, InterruptionBehavior
+from .commandscheduler import CommandScheduler
+
+
+class WrapperCommand(Command):
+    """
+    A class used internally to wrap commands while overriding a specific method; all other methods
+    will call through to the wrapped command.
+
+    The rules for command compositions apply: command instances that are passed to it cannot be
+    added to any other composition or scheduled individually, and the composition requires all
+    subsystems its components require.
+    """
+
+    def __init__(self, command: Command):
+        """
+        Wrap a command.
+
+        :param command: the command being wrapped. Trying to directly schedule this
+                        command or add it to a composition will throw an exception.
+        """
+        super().__init__()
+
+        CommandScheduler.getInstance().registerComposedCommands([command])
+        self._command = command
+        self.setName(self._command.getName())
+
+    def initialize(self):
+        """
+        The initial subroutine of a command. Called once when the command is initially scheduled.
+        """
+        self._command.initialize()
+
+    def execute(self):
+        """
+        The main body of a command. Called repeatedly while the command is scheduled.
+        """
+        self._command.execute()
+
+    def end(self, interrupted: bool):
+        """
+        The action to take when the command ends. Called when either the command finishes normally, or
+        when it interrupted/canceled.
+
+        Do not schedule commands here that share requirements with this command. Use
+        :func:`commands2.Command.andThen` instead.
+
+        :param interrupted: whether the command was interrupted/canceled
+        """
+        self._command.end(interrupted)
+
+    def isFinished(self) -> bool:
+        """
+        Whether the command has finished. Once a command finishes, the scheduler will call its end()
+        method and un-schedule it.
+
+        :returns: whether the command has finished.
+        """
+        return self._command.isFinished()
+
+    def getRequirements(self) -> Set:
+        """
+        Specifies the set of subsystems used by this command. Two commands cannot use the same
+        subsystem at the same time. If the command is scheduled as interruptible and another command is
+        scheduled that shares a requirement, the command will be interrupted. Else, the command will
+        not be scheduled. If no subsystems are required, return an empty set.
+
+        Note: it is recommended that user implementations contain the requirements as a field, and
+        return that field here, rather than allocating a new set every time this is called.
+
+        :returns: the set of subsystems that are required
+        """
+        return self._command.getRequirements()
+
+    def runsWhenDisabled(self) -> bool:
+        """
+        Whether the given command should run when the robot is disabled. Override to return true if the
+        command should run when disabled.
+
+        :returns: whether the command should run when the robot is disabled
+        """
+        return self._command.runsWhenDisabled()
+
+    def getInterruptionBehavior(self) -> InterruptionBehavior:
+        return self._command.getInterruptionBehavior()