Add braces to C++ single-line loops and conditionals (NFC) (#2973)

This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).

wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp

@@ -52,8 +52,9 @@ Scheduler* Scheduler::GetInstance() {
 void Scheduler::AddCommand(Command* command) {
   std::scoped_lock lock(m_impl->additionsMutex);
   if (std::find(m_impl->additions.begin(), m_impl->additions.end(), command) !=
-      m_impl->additions.end())
+      m_impl->additions.end()) {
     return;
+  }
   m_impl->additions.push_back(command);
 }
 
@@ -73,7 +74,9 @@ void Scheduler::RegisterSubsystem(Subsystem* subsystem) {
 void Scheduler::Run() {
   // Get button input (going backwards preserves button priority)
   {
-    if (!m_impl->enabled) return;
+    if (!m_impl->enabled) {
+      return;
+    }
 
     std::scoped_lock lock(m_impl->buttonsMutex);
     for (auto& button : m_impl->buttons) {
@@ -152,7 +155,9 @@ void Scheduler::ResetAll() {
   m_impl->commands.clear();
 }
 
-void Scheduler::SetEnabled(bool enabled) { m_impl->enabled = enabled; }
+void Scheduler::SetEnabled(bool enabled) {
+  m_impl->enabled = enabled;
+}
 
 void Scheduler::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("Scheduler");
@@ -163,7 +168,9 @@ void Scheduler::InitSendable(SendableBuilder& builder) {
     // Get the list of possible commands to cancel
     auto new_toCancel = cancelEntry.GetValue();
     wpi::ArrayRef<double> toCancel;
-    if (new_toCancel) toCancel = new_toCancel->GetDoubleArray();
+    if (new_toCancel) {
+      toCancel = new_toCancel->GetDoubleArray();
+    }
 
     // Cancel commands whose cancel buttons were pressed on the SmartDashboard
     if (!toCancel.empty()) {
@@ -212,7 +219,9 @@ Scheduler::~Scheduler() {
 }
 
 void Scheduler::Impl::Remove(Command* command) {
-  if (!commands.erase(command)) return;
+  if (!commands.erase(command)) {
+    return;
+  }
 
   for (auto&& requirement : command->GetRequirements()) {
     requirement->SetCurrentCommand(nullptr);
@@ -222,7 +231,9 @@ void Scheduler::Impl::Remove(Command* command) {
 }
 
 void Scheduler::Impl::ProcessCommandAddition(Command* command) {
-  if (command == nullptr) return;
+  if (command == nullptr) {
+    return;
+  }
 
   // Only add if not already in
   auto found = commands.find(command);
@@ -231,8 +242,9 @@ void Scheduler::Impl::ProcessCommandAddition(Command* command) {
     const auto& requirements = command->GetRequirements();
     for (const auto requirement : requirements) {
       if (requirement->GetCurrentCommand() != nullptr &&
-          !requirement->GetCurrentCommand()->IsInterruptible())
+          !requirement->GetCurrentCommand()->IsInterruptible()) {
         return;
+      }
     }
 
     // Give it the requirements