Merge branch 'main' into 2027

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

@@ -121,6 +121,10 @@ CommandPtr Command::OnlyIf(std::function<bool()> condition) && {
   return std::move(*this).ToPtr().OnlyIf(std::move(condition));
 }
 
+CommandPtr Command::WithDeadline(CommandPtr&& deadline) && {
+  return std::move(*this).ToPtr().WithDeadline(std::move(deadline));
+}
+
 CommandPtr Command::DeadlineFor(CommandPtr&& parallel) && {
   return std::move(*this).ToPtr().DeadlineFor(std::move(parallel));
 }

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

@@ -168,6 +168,15 @@ CommandPtr CommandPtr::OnlyIf(std::function<bool()> condition) && {
   return std::move(*this).Unless(std::not_fn(std::move(condition)));
 }
 
+CommandPtr CommandPtr::WithDeadline(CommandPtr&& deadline) && {
+  AssertValid();
+  std::vector<std::unique_ptr<Command>> vec;
+  vec.emplace_back(std::move(m_ptr));
+  m_ptr = std::make_unique<ParallelDeadlineGroup>(std::move(deadline).Unwrap(),
+                                                  std::move(vec));
+  return std::move(*this);
+}
+
 CommandPtr CommandPtr::DeadlineWith(CommandPtr&& parallel) && {
   AssertValid();
   std::vector<std::unique_ptr<Command>> vec;

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

@@ -309,6 +309,16 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
   [[nodiscard]]
   CommandPtr OnlyIf(std::function<bool()> condition) &&;
 
+  /**
+   * Creates a new command that runs this command and the deadline in parallel,
+   * finishing (and interrupting this command) when the deadline finishes.
+   *
+   * @param deadline the deadline of the command group
+   * @return the decorated command
+   * @see DeadlineFor
+   */
+  CommandPtr WithDeadline(CommandPtr&& deadline) &&;
+
   /**
    * Decorates this command with a set of commands to run parallel to it, ending
    * when the calling command ends and interrupting all the others. Often more
@@ -318,9 +328,11 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
    * @param parallel the commands to run in parallel. Note the parallel commands
    * will be interupted when the deadline command ends
    * @return the decorated command
+   * @see WithDeadline
    */
   [[nodiscard]]
   CommandPtr DeadlineFor(CommandPtr&& parallel) &&;
+
   /**
    * Decorates this command with a set of commands to run parallel to it, ending
    * when the last command ends. Often more convenient/less-verbose than

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

@@ -182,6 +182,16 @@ class CommandPtr final {
   [[nodiscard]]
   CommandPtr OnlyIf(std::function<bool()> condition) &&;
 
+  /**
+   * Creates a new command that runs this command and the deadline in parallel,
+   * finishing (and interrupting this command) when the deadline finishes.
+   *
+   * @param deadline the deadline of the command group
+   * @return the decorated command
+   * @see DeadlineFor
+   */
+  CommandPtr WithDeadline(CommandPtr&& deadline) &&;
+
   /**
    * Decorates this command with a set of commands to run parallel to it, ending
    * when the calling command ends and interrupting all the others. Often more