[commands] C++ unique_ptr migration (#4319)

Add a CommandPtr with an internal unique_ptr to enable not needing to move the underlying classes, which is error-prone due to the potential for lambda captures.

wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h

@@ -11,6 +11,7 @@
 #include <wpi/span.h>
 
 #include "Trigger.h"
+#include "frc2/command/CommandPtr.h"
 
 namespace frc2 {
 class Command;
@@ -47,6 +48,16 @@ class Button : public Trigger {
    */
   Button WhenPressed(Command* command);
 
+  /**
+   * Binds a command to start when the button is pressed.  Transfers
+   * command ownership to the button scheduler, so the user does not have to
+   * worry about lifespan.
+   *
+   * @param command The command to bind.
+   * @return The trigger, for chained calls.
+   */
+  Button WhenPressed(CommandPtr&& command);
+
   /**
    * Binds a command to start when the button is pressed.  Transfers
    * command ownership to the button scheduler, so the user does not have to
@@ -91,6 +102,16 @@ class Button : public Trigger {
    */
   Button WhileHeld(Command* command);
 
+  /**
+   * Binds a command to be started repeatedly while the button is pressed, and
+   * canceled when it is released.  Transfers command ownership to the button
+   * scheduler, so the user does not have to worry about lifespan.
+   *
+   * @param command The command to bind.
+   * @return The button, for chained calls.
+   */
+  Button WhileHeld(CommandPtr&& command);
+
   /**
    * Binds a command to be started repeatedly while the button is pressed, and
    * canceled when it is released.  Transfers command ownership to the button
@@ -135,6 +156,16 @@ class Button : public Trigger {
    */
   Button WhenHeld(Command* command);
 
+  /**
+   * Binds a command to be started when the button is pressed, and canceled
+   * when it is released.  Transfers command ownership to the button scheduler,
+   * so the user does not have to worry about lifespan.
+   *
+   * @param command The command to bind.
+   * @return The button, for chained calls.
+   */
+  Button WhenHeld(CommandPtr&& command);
+
   /**
    * Binds a command to be started when the button is pressed, and canceled
    * when it is released.  Transfers command ownership to the button scheduler,
@@ -161,6 +192,16 @@ class Button : public Trigger {
    */
   Button WhenReleased(Command* command);
 
+  /**
+   * Binds a command to start when the button is pressed.  Transfers
+   * command ownership to the button scheduler, so the user does not have to
+   * worry about lifespan.
+   *
+   * @param command The command to bind.
+   * @return The button, for chained calls.
+   */
+  Button WhenReleased(CommandPtr&& command);
+
   /**
    * Binds a command to start when the button is pressed.  Transfers
    * command ownership to the button scheduler, so the user does not have to
@@ -205,6 +246,16 @@ class Button : public Trigger {
    */
   Button ToggleWhenPressed(Command* command);
 
+  /**
+   * Binds a command to start when the button is pressed, and be canceled when
+   * it is pessed again.  Transfers command ownership to the button scheduler,
+   * so the user does not have to worry about lifespan.
+   *
+   * @param command The command to bind.
+   * @return The button, for chained calls.
+   */
+  Button ToggleWhenPressed(CommandPtr&& command);
+
   /**
    * Binds a command to start when the button is pressed, and be canceled when
    * it is pessed again.  Transfers command ownership to the button scheduler,

wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h

@@ -69,6 +69,15 @@ class Trigger : public frc::BooleanEvent {
    */
   Trigger WhenActive(Command* command);
 
+  /**
+   * Binds a command to start when the trigger becomes active. Moves
+   * command ownership to the button scheduler.
+   *
+   * @param command The command to bind.
+   * @return The trigger, for chained calls.
+   */
+  Trigger WhenActive(CommandPtr&& command);
+
   /**
    * Binds a command to start when the trigger becomes active. Transfers
    * command ownership to the button scheduler, so the user does not have to
@@ -116,6 +125,16 @@ class Trigger : public frc::BooleanEvent {
    */
   Trigger WhileActiveContinous(Command* command);
 
+  /**
+   * Binds a command to be started repeatedly while the trigger is active, and
+   * canceled when it becomes inactive. Moves command ownership to the button
+   * scheduler.
+   *
+   * @param command The command to bind.
+   * @return The trigger, for chained calls.
+   */
+  Trigger WhileActiveContinous(CommandPtr&& command);
+
   /**
    * Binds a command to be started repeatedly while the trigger is active, and
    * canceled when it becomes inactive.  Transfers command ownership to the
@@ -164,6 +183,16 @@ class Trigger : public frc::BooleanEvent {
    */
   Trigger WhileActiveOnce(Command* command);
 
+  /**
+   * Binds a command to be started when the trigger becomes active, and
+   * canceled when it becomes inactive. Moves command ownership to the button
+   * scheduler.
+   *
+   * @param command The command to bind.
+   * @return The trigger, for chained calls.
+   */
+  Trigger WhileActiveOnce(CommandPtr&& command);
+
   /**
    * Binds a command to be started when the trigger becomes active, and
    * canceled when it becomes inactive. Transfers command ownership to the
@@ -195,6 +224,15 @@ class Trigger : public frc::BooleanEvent {
    */
   Trigger WhenInactive(Command* command);
 
+  /**
+   * Binds a command to start when the trigger becomes inactive. Moves
+   * command ownership to the button scheduler.
+   *
+   * @param command The command to bind.
+   * @return The trigger, for chained calls.
+   */
+  Trigger WhenInactive(CommandPtr&& command);
+
   /**
    * Binds a command to start when the trigger becomes inactive.  Transfers
    * command ownership to the button scheduler, so the user does not have to
@@ -242,6 +280,16 @@ class Trigger : public frc::BooleanEvent {
    */
   Trigger ToggleWhenActive(Command* command);
 
+  /**
+   * Binds a command to start when the trigger becomes active, and be canceled
+   * when it again becomes active. Moves command ownership to the button
+   * scheduler.
+   *
+   * @param command The command to bind.
+   * @return The trigger, for chained calls.
+   */
+  Trigger ToggleWhenActive(CommandPtr&& command);
+
   /**
    * Binds a command to start when the trigger becomes active, and be canceled
    * when it again becomes active.  Transfers command ownership to the button