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

wpilibNewCommands/src/main/native/include/frc2/command/Commands.h

@@ -49,17 +49,7 @@ CommandPtr Idle();
  */
 [[nodiscard]]
 CommandPtr RunOnce(std::function<void()> action,
-                   std::initializer_list<Subsystem*> requirements);
-
-/**
- * Constructs a command that runs an action once and finishes.
- *
- * @param action the action to run
- * @param requirements subsystems the action requires
- */
-[[nodiscard]]
-CommandPtr RunOnce(std::function<void()> action,
-                   std::span<Subsystem* const> requirements = {});
+                   Requirements requirements = {});
 
 /**
  * Constructs a command that runs an action every iteration until interrupted.
@@ -68,18 +58,7 @@ CommandPtr RunOnce(std::function<void()> action,
  * @param requirements subsystems the action requires
  */
 [[nodiscard]]
-CommandPtr Run(std::function<void()> action,
-               std::initializer_list<Subsystem*> requirements);
-
-/**
- * Constructs a command that runs an action every iteration until interrupted.
- *
- * @param action the action to run
- * @param requirements subsystems the action requires
- */
-[[nodiscard]]
-CommandPtr Run(std::function<void()> action,
-               std::span<Subsystem* const> requirements = {});
+CommandPtr Run(std::function<void()> action, Requirements requirements = {});
 
 /**
  * Constructs a command that runs an action once and another action when the
@@ -91,19 +70,7 @@ CommandPtr Run(std::function<void()> action,
  */
 [[nodiscard]]
 CommandPtr StartEnd(std::function<void()> start, std::function<void()> end,
-                    std::initializer_list<Subsystem*> requirements);
-
-/**
- * Constructs a command that runs an action once and another action when the
- * command is interrupted.
- *
- * @param start the action to run on start
- * @param end the action to run on interrupt
- * @param requirements subsystems the action requires
- */
-[[nodiscard]]
-CommandPtr StartEnd(std::function<void()> start, std::function<void()> end,
-                    std::span<Subsystem* const> requirements = {});
+                    Requirements requirements = {});
 
 /**
  * Constructs a command that runs an action every iteration until interrupted,
@@ -115,19 +82,7 @@ CommandPtr StartEnd(std::function<void()> start, std::function<void()> end,
  */
 [[nodiscard]]
 CommandPtr RunEnd(std::function<void()> run, std::function<void()> end,
-                  std::initializer_list<Subsystem*> requirements);
-
-/**
- * Constructs a command that runs an action every iteration until interrupted,
- * and then runs a second action.
- *
- * @param run the action to run every iteration
- * @param end the action to run on interrupt
- * @param requirements subsystems the action requires
- */
-[[nodiscard]]
-CommandPtr RunEnd(std::function<void()> run, std::function<void()> end,
-                  std::span<Subsystem* const> requirements = {});
+                  Requirements requirements = {});
 
 /**
  * Constructs a command that prints a message and finishes.