[commands] Add C++ Requirements struct (#5504)

wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp

@@ -43,11 +43,7 @@ wpi::SmallSet<Subsystem*, 4> Command::GetRequirements() const {
   return m_requirements;
 }
 
-void Command::AddRequirements(std::initializer_list<Subsystem*> requirements) {
-  m_requirements.insert(requirements.begin(), requirements.end());
-}
-
-void Command::AddRequirements(std::span<Subsystem* const> requirements) {
+void Command::AddRequirements(Requirements requirements) {
   m_requirements.insert(requirements.begin(), requirements.end());
 }
 
@@ -96,27 +92,14 @@ CommandPtr Command::WithInterruptBehavior(
   return std::move(*this).ToPtr().WithInterruptBehavior(interruptBehavior);
 }
 
-CommandPtr Command::BeforeStarting(
-    std::function<void()> toRun,
-    std::initializer_list<Subsystem*> requirements) && {
-  return std::move(*this).BeforeStarting(
-      std::move(toRun), {requirements.begin(), requirements.end()});
-}
-
-CommandPtr Command::BeforeStarting(
-    std::function<void()> toRun, std::span<Subsystem* const> requirements) && {
+CommandPtr Command::BeforeStarting(std::function<void()> toRun,
+                                   Requirements requirements) && {
   return std::move(*this).ToPtr().BeforeStarting(std::move(toRun),
                                                  requirements);
 }
 
 CommandPtr Command::AndThen(std::function<void()> toRun,
-                            std::initializer_list<Subsystem*> requirements) && {
-  return std::move(*this).AndThen(std::move(toRun),
-                                  {requirements.begin(), requirements.end()});
-}
-
-CommandPtr Command::AndThen(std::function<void()> toRun,
-                            std::span<Subsystem* const> requirements) && {
+                            Requirements requirements) && {
   return std::move(*this).ToPtr().AndThen(std::move(toRun), requirements);
 }
 

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp

@@ -86,15 +86,7 @@ CommandPtr CommandPtr::WithInterruptBehavior(
 }
 
 CommandPtr CommandPtr::AndThen(std::function<void()> toRun,
-                               std::span<Subsystem* const> requirements) && {
-  AssertValid();
-  return std::move(*this).AndThen(CommandPtr(
-      std::make_unique<InstantCommand>(std::move(toRun), requirements)));
-}
-
-CommandPtr CommandPtr::AndThen(
-    std::function<void()> toRun,
-    std::initializer_list<Subsystem*> requirements) && {
+                               Requirements requirements) && {
   AssertValid();
   return std::move(*this).AndThen(CommandPtr(
       std::make_unique<InstantCommand>(std::move(toRun), requirements)));
@@ -109,16 +101,8 @@ CommandPtr CommandPtr::AndThen(CommandPtr&& next) && {
   return std::move(*this);
 }
 
-CommandPtr CommandPtr::BeforeStarting(
-    std::function<void()> toRun, std::span<Subsystem* const> requirements) && {
-  AssertValid();
-  return std::move(*this).BeforeStarting(CommandPtr(
-      std::make_unique<InstantCommand>(std::move(toRun), requirements)));
-}
-
-CommandPtr CommandPtr::BeforeStarting(
-    std::function<void()> toRun,
-    std::initializer_list<Subsystem*> requirements) && {
+CommandPtr CommandPtr::BeforeStarting(std::function<void()> toRun,
+                                      Requirements requirements) && {
   AssertValid();
   return std::move(*this).BeforeStarting(CommandPtr(
       std::make_unique<InstantCommand>(std::move(toRun), requirements)));

wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp

@@ -29,36 +29,16 @@ CommandPtr cmd::Idle() {
 }
 
 CommandPtr cmd::RunOnce(std::function<void()> action,
-                        std::initializer_list<Subsystem*> requirements) {
+                        Requirements requirements) {
   return InstantCommand(std::move(action), requirements).ToPtr();
 }
 
-CommandPtr cmd::RunOnce(std::function<void()> action,
-                        std::span<Subsystem* const> requirements) {
-  return InstantCommand(std::move(action), requirements).ToPtr();
-}
-
-CommandPtr cmd::Run(std::function<void()> action,
-                    std::initializer_list<Subsystem*> requirements) {
-  return RunCommand(std::move(action), requirements).ToPtr();
-}
-
-CommandPtr cmd::Run(std::function<void()> action,
-                    std::span<Subsystem* const> requirements) {
+CommandPtr cmd::Run(std::function<void()> action, Requirements requirements) {
   return RunCommand(std::move(action), requirements).ToPtr();
 }
 
 CommandPtr cmd::StartEnd(std::function<void()> start, std::function<void()> end,
-                         std::initializer_list<Subsystem*> requirements) {
-  return FunctionalCommand(
-             std::move(start), [] {},
-             [end = std::move(end)](bool interrupted) { end(); },
-             [] { return false; }, requirements)
-      .ToPtr();
-}
-
-CommandPtr cmd::StartEnd(std::function<void()> start, std::function<void()> end,
-                         std::span<Subsystem* const> requirements) {
+                         Requirements requirements) {
   return FunctionalCommand(
              std::move(start), [] {},
              [end = std::move(end)](bool interrupted) { end(); },
@@ -67,15 +47,7 @@ CommandPtr cmd::StartEnd(std::function<void()> start, std::function<void()> end,
 }
 
 CommandPtr cmd::RunEnd(std::function<void()> run, std::function<void()> end,
-                       std::initializer_list<Subsystem*> requirements) {
-  return FunctionalCommand([] {}, std::move(run),
-                           [end = std::move(end)](bool interrupted) { end(); },
-                           [] { return false; }, requirements)
-      .ToPtr();
-}
-
-CommandPtr cmd::RunEnd(std::function<void()> run, std::function<void()> end,
-                       std::span<Subsystem* const> requirements) {
+                       Requirements requirements) {
   return FunctionalCommand([] {}, std::move(run),
                            [end = std::move(end)](bool interrupted) { end(); },
                            [] { return false; }, requirements)

wpilibNewCommands/src/main/native/cpp/frc2/command/FunctionalCommand.cpp

@@ -6,22 +6,11 @@
 
 using namespace frc2;
 
-FunctionalCommand::FunctionalCommand(
-    std::function<void()> onInit, std::function<void()> onExecute,
-    std::function<void(bool)> onEnd, std::function<bool()> isFinished,
-    std::initializer_list<Subsystem*> requirements)
-    : m_onInit{std::move(onInit)},
-      m_onExecute{std::move(onExecute)},
-      m_onEnd{std::move(onEnd)},
-      m_isFinished{std::move(isFinished)} {
-  AddRequirements(requirements);
-}
-
 FunctionalCommand::FunctionalCommand(std::function<void()> onInit,
                                      std::function<void()> onExecute,
                                      std::function<void(bool)> onEnd,
                                      std::function<bool()> isFinished,
-                                     std::span<Subsystem* const> requirements)
+                                     Requirements requirements)
     : m_onInit{std::move(onInit)},
       m_onExecute{std::move(onExecute)},
       m_onEnd{std::move(onEnd)},

wpilibNewCommands/src/main/native/cpp/frc2/command/InstantCommand.cpp

@@ -7,13 +7,7 @@
 using namespace frc2;
 
 InstantCommand::InstantCommand(std::function<void()> toRun,
-                               std::initializer_list<Subsystem*> requirements)
-    : CommandHelper(
-          std::move(toRun), [] {}, [](bool interrupted) {}, [] { return true; },
-          requirements) {}
-
-InstantCommand::InstantCommand(std::function<void()> toRun,
-                               std::span<Subsystem* const> requirements)
+                               Requirements requirements)
     : CommandHelper(
           std::move(toRun), [] {}, [](bool interrupted) {}, [] { return true; },
           requirements) {}

wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp

@@ -24,7 +24,7 @@ MecanumControllerCommand::MecanumControllerCommand(
     std::function<void(units::volt_t, units::volt_t, units::volt_t,
                        units::volt_t)>
         output,
-    std::initializer_list<Subsystem*> requirements)
+    Requirements requirements)
     : m_trajectory(std::move(trajectory)),
       m_pose(std::move(pose)),
       m_feedforward(feedforward),
@@ -61,81 +61,7 @@ MecanumControllerCommand::MecanumControllerCommand(
     std::function<void(units::volt_t, units::volt_t, units::volt_t,
                        units::volt_t)>
         output,
-    std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(std::move(trajectory)),
-      m_pose(std::move(pose)),
-      m_feedforward(feedforward),
-      m_kinematics(kinematics),
-      m_controller(xController, yController, thetaController),
-      m_maxWheelVelocity(maxWheelVelocity),
-      m_frontLeftController(
-          std::make_unique<frc::PIDController>(frontLeftController)),
-      m_rearLeftController(
-          std::make_unique<frc::PIDController>(rearLeftController)),
-      m_frontRightController(
-          std::make_unique<frc::PIDController>(frontRightController)),
-      m_rearRightController(
-          std::make_unique<frc::PIDController>(rearRightController)),
-      m_currentWheelSpeeds(std::move(currentWheelSpeeds)),
-      m_outputVolts(std::move(output)),
-      m_usePID(true) {
-  AddRequirements(requirements);
-}
-
-MecanumControllerCommand::MecanumControllerCommand(
-    frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
-    frc::SimpleMotorFeedforward<units::meters> feedforward,
-    frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
-    frc::PIDController yController,
-    frc::ProfiledPIDController<units::radians> thetaController,
-    std::function<frc::Rotation2d()> desiredRotation,
-    units::meters_per_second_t maxWheelVelocity,
-    std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
-    frc::PIDController frontLeftController,
-    frc::PIDController rearLeftController,
-    frc::PIDController frontRightController,
-    frc::PIDController rearRightController,
-    std::function<void(units::volt_t, units::volt_t, units::volt_t,
-                       units::volt_t)>
-        output,
-    std::span<Subsystem* const> requirements)
-    : m_trajectory(std::move(trajectory)),
-      m_pose(std::move(pose)),
-      m_feedforward(feedforward),
-      m_kinematics(kinematics),
-      m_controller(xController, yController, thetaController),
-      m_desiredRotation(std::move(desiredRotation)),
-      m_maxWheelVelocity(maxWheelVelocity),
-      m_frontLeftController(
-          std::make_unique<frc::PIDController>(frontLeftController)),
-      m_rearLeftController(
-          std::make_unique<frc::PIDController>(rearLeftController)),
-      m_frontRightController(
-          std::make_unique<frc::PIDController>(frontRightController)),
-      m_rearRightController(
-          std::make_unique<frc::PIDController>(rearRightController)),
-      m_currentWheelSpeeds(std::move(currentWheelSpeeds)),
-      m_outputVolts(std::move(output)),
-      m_usePID(true) {
-  AddRequirements(requirements);
-}
-
-MecanumControllerCommand::MecanumControllerCommand(
-    frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
-    frc::SimpleMotorFeedforward<units::meters> feedforward,
-    frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
-    frc::PIDController yController,
-    frc::ProfiledPIDController<units::radians> thetaController,
-    units::meters_per_second_t maxWheelVelocity,
-    std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
-    frc::PIDController frontLeftController,
-    frc::PIDController rearLeftController,
-    frc::PIDController frontRightController,
-    frc::PIDController rearRightController,
-    std::function<void(units::volt_t, units::volt_t, units::volt_t,
-                       units::volt_t)>
-        output,
-    std::span<Subsystem* const> requirements)
+    Requirements requirements)
     : m_trajectory(std::move(trajectory)),
       m_pose(std::move(pose)),
       m_feedforward(feedforward),
@@ -166,7 +92,7 @@ MecanumControllerCommand::MecanumControllerCommand(
     std::function<void(units::meters_per_second_t, units::meters_per_second_t,
                        units::meters_per_second_t, units::meters_per_second_t)>
         output,
-    std::initializer_list<Subsystem*> requirements)
+    Requirements requirements)
     : m_trajectory(std::move(trajectory)),
       m_pose(std::move(pose)),
       m_kinematics(kinematics),
@@ -187,49 +113,7 @@ MecanumControllerCommand::MecanumControllerCommand(
     std::function<void(units::meters_per_second_t, units::meters_per_second_t,
                        units::meters_per_second_t, units::meters_per_second_t)>
         output,
-    std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(std::move(trajectory)),
-      m_pose(std::move(pose)),
-      m_kinematics(kinematics),
-      m_controller(xController, yController, thetaController),
-      m_maxWheelVelocity(maxWheelVelocity),
-      m_outputVel(std::move(output)),
-      m_usePID(false) {
-  AddRequirements(requirements);
-}
-
-MecanumControllerCommand::MecanumControllerCommand(
-    frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
-    frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
-    frc::PIDController yController,
-    frc::ProfiledPIDController<units::radians> thetaController,
-    std::function<frc::Rotation2d()> desiredRotation,
-    units::meters_per_second_t maxWheelVelocity,
-    std::function<void(units::meters_per_second_t, units::meters_per_second_t,
-                       units::meters_per_second_t, units::meters_per_second_t)>
-        output,
-    std::span<Subsystem* const> requirements)
-    : m_trajectory(std::move(trajectory)),
-      m_pose(std::move(pose)),
-      m_kinematics(kinematics),
-      m_controller(xController, yController, thetaController),
-      m_desiredRotation(std::move(desiredRotation)),
-      m_maxWheelVelocity(maxWheelVelocity),
-      m_outputVel(std::move(output)),
-      m_usePID(false) {
-  AddRequirements(requirements);
-}
-
-MecanumControllerCommand::MecanumControllerCommand(
-    frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
-    frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
-    frc::PIDController yController,
-    frc::ProfiledPIDController<units::radians> thetaController,
-    units::meters_per_second_t maxWheelVelocity,
-    std::function<void(units::meters_per_second_t, units::meters_per_second_t,
-                       units::meters_per_second_t, units::meters_per_second_t)>
-        output,
-    std::span<Subsystem* const> requirements)
+    Requirements requirements)
     : m_trajectory(std::move(trajectory)),
       m_pose(std::move(pose)),
       m_kinematics(kinematics),

wpilibNewCommands/src/main/native/cpp/frc2/command/NotifierCommand.cpp

@@ -8,14 +8,7 @@ using namespace frc2;
 
 NotifierCommand::NotifierCommand(std::function<void()> toRun,
                                  units::second_t period,
-                                 std::initializer_list<Subsystem*> requirements)
-    : m_toRun(toRun), m_notifier{std::move(toRun)}, m_period{period} {
-  AddRequirements(requirements);
-}
-
-NotifierCommand::NotifierCommand(std::function<void()> toRun,
-                                 units::second_t period,
-                                 std::span<Subsystem* const> requirements)
+                                 Requirements requirements)
     : m_toRun(toRun), m_notifier{std::move(toRun)}, m_period{period} {
   AddRequirements(requirements);
 }

wpilibNewCommands/src/main/native/cpp/frc2/command/PIDCommand.cpp

@@ -12,19 +12,7 @@ PIDCommand::PIDCommand(frc::PIDController controller,
                        std::function<double()> measurementSource,
                        std::function<double()> setpointSource,
                        std::function<void(double)> useOutput,
-                       std::initializer_list<Subsystem*> requirements)
-    : m_controller{std::move(controller)},
-      m_measurement{std::move(measurementSource)},
-      m_setpoint{std::move(setpointSource)},
-      m_useOutput{std::move(useOutput)} {
-  AddRequirements(requirements);
-}
-
-PIDCommand::PIDCommand(frc::PIDController controller,
-                       std::function<double()> measurementSource,
-                       std::function<double()> setpointSource,
-                       std::function<void(double)> useOutput,
-                       std::span<Subsystem* const> requirements)
+                       Requirements requirements)
     : m_controller{std::move(controller)},
       m_measurement{std::move(measurementSource)},
       m_setpoint{std::move(setpointSource)},
@@ -35,15 +23,7 @@ PIDCommand::PIDCommand(frc::PIDController controller,
 PIDCommand::PIDCommand(frc::PIDController controller,
                        std::function<double()> measurementSource,
                        double setpoint, std::function<void(double)> useOutput,
-                       std::initializer_list<Subsystem*> requirements)
-    : PIDCommand(
-          controller, measurementSource, [setpoint] { return setpoint; },
-          useOutput, requirements) {}
-
-PIDCommand::PIDCommand(frc::PIDController controller,
-                       std::function<double()> measurementSource,
-                       double setpoint, std::function<void(double)> useOutput,
-                       std::span<Subsystem* const> requirements)
+                       Requirements requirements)
     : PIDCommand(
           controller, measurementSource, [setpoint] { return setpoint; },
           useOutput, requirements) {}

wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp

@@ -18,29 +18,7 @@ RamseteCommand::RamseteCommand(
     std::function<frc::DifferentialDriveWheelSpeeds()> wheelSpeeds,
     frc::PIDController leftController, frc::PIDController rightController,
     std::function<void(units::volt_t, units::volt_t)> output,
-    std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(std::move(trajectory)),
-      m_pose(std::move(pose)),
-      m_controller(controller),
-      m_feedforward(feedforward),
-      m_kinematics(std::move(kinematics)),
-      m_speeds(std::move(wheelSpeeds)),
-      m_leftController(std::make_unique<frc::PIDController>(leftController)),
-      m_rightController(std::make_unique<frc::PIDController>(rightController)),
-      m_outputVolts(std::move(output)),
-      m_usePID(true) {
-  AddRequirements(requirements);
-}
-
-RamseteCommand::RamseteCommand(
-    frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
-    frc::RamseteController controller,
-    frc::SimpleMotorFeedforward<units::meters> feedforward,
-    frc::DifferentialDriveKinematics kinematics,
-    std::function<frc::DifferentialDriveWheelSpeeds()> wheelSpeeds,
-    frc::PIDController leftController, frc::PIDController rightController,
-    std::function<void(units::volt_t, units::volt_t)> output,
-    std::span<Subsystem* const> requirements)
+    Requirements requirements)
     : m_trajectory(std::move(trajectory)),
       m_pose(std::move(pose)),
       m_controller(controller),
@@ -60,23 +38,7 @@ RamseteCommand::RamseteCommand(
     frc::DifferentialDriveKinematics kinematics,
     std::function<void(units::meters_per_second_t, units::meters_per_second_t)>
         output,
-    std::initializer_list<Subsystem*> requirements)
-    : m_trajectory(std::move(trajectory)),
-      m_pose(std::move(pose)),
-      m_controller(controller),
-      m_kinematics(std::move(kinematics)),
-      m_outputVel(std::move(output)),
-      m_usePID(false) {
-  AddRequirements(requirements);
-}
-
-RamseteCommand::RamseteCommand(
-    frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
-    frc::RamseteController controller,
-    frc::DifferentialDriveKinematics kinematics,
-    std::function<void(units::meters_per_second_t, units::meters_per_second_t)>
-        output,
-    std::span<Subsystem* const> requirements)
+    Requirements requirements)
     : m_trajectory(std::move(trajectory)),
       m_pose(std::move(pose)),
       m_controller(controller),

wpilibNewCommands/src/main/native/cpp/frc2/command/RunCommand.cpp

@@ -6,12 +6,6 @@
 
 using namespace frc2;
 
-RunCommand::RunCommand(std::function<void()> toRun,
-                       std::initializer_list<Subsystem*> requirements)
-    : CommandHelper([] {}, std::move(toRun), [](bool interrupted) {},
-                    [] { return false; }, requirements) {}
-
-RunCommand::RunCommand(std::function<void()> toRun,
-                       std::span<Subsystem* const> requirements)
+RunCommand::RunCommand(std::function<void()> toRun, Requirements requirements)
     : CommandHelper([] {}, std::move(toRun), [](bool interrupted) {},
                     [] { return false; }, requirements) {}

wpilibNewCommands/src/main/native/cpp/frc2/command/StartEndCommand.cpp

@@ -8,15 +8,7 @@ using namespace frc2;
 
 StartEndCommand::StartEndCommand(std::function<void()> onInit,
                                  std::function<void()> onEnd,
-                                 std::initializer_list<Subsystem*> requirements)
-    : CommandHelper(
-          std::move(onInit), [] {},
-          [onEnd = std::move(onEnd)](bool interrupted) { onEnd(); },
-          [] { return false; }, requirements) {}
-
-StartEndCommand::StartEndCommand(std::function<void()> onInit,
-                                 std::function<void()> onEnd,
-                                 std::span<Subsystem* const> requirements)
+                                 Requirements requirements)
     : CommandHelper(
           std::move(onInit), [] {},
           [onEnd = std::move(onEnd)](bool interrupted) { onEnd(); },