[commands] Deprecate proxy supplier constructor (#6553)

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

@@ -4,6 +4,8 @@
 
 #include "frc2/command/Commands.h"
 
+#include <wpi/deprecated.h>
+
 #include "frc2/command/ConditionalCommand.h"
 #include "frc2/command/DeferredCommand.h"
 #include "frc2/command/FunctionalCommand.h"
@@ -60,6 +62,7 @@ CommandPtr cmd::Print(std::string_view msg) {
   return PrintCommand(msg).ToPtr();
 }
 
+WPI_IGNORE_DEPRECATED
 CommandPtr cmd::DeferredProxy(wpi::unique_function<Command*()> supplier) {
   return ProxyCommand(std::move(supplier)).ToPtr();
 }
@@ -67,6 +70,7 @@ CommandPtr cmd::DeferredProxy(wpi::unique_function<Command*()> supplier) {
 CommandPtr cmd::DeferredProxy(wpi::unique_function<CommandPtr()> supplier) {
   return ProxyCommand(std::move(supplier)).ToPtr();
 }
+WPI_UNIGNORE_DEPRECATED
 
 CommandPtr cmd::Wait(units::second_t duration) {
   return WaitCommand(duration).ToPtr();

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

@@ -5,10 +5,12 @@
 #include "frc2/command/ProxyCommand.h"
 
 #include <fmt/core.h>
+#include <wpi/deprecated.h>
 #include <wpi/sendable/SendableBuilder.h>
 
 using namespace frc2;
 
+WPI_IGNORE_DEPRECATED
 ProxyCommand::ProxyCommand(wpi::unique_function<Command*()> supplier)
     : m_supplier(std::move(supplier)) {}
 
@@ -18,9 +20,10 @@ ProxyCommand::ProxyCommand(wpi::unique_function<CommandPtr()> supplier)
         holder = supplier();
         return holder->get();
       }) {}
+WPI_UNIGNORE_DEPRECATED
 
 ProxyCommand::ProxyCommand(Command* command)
-    : ProxyCommand([command] { return command; }) {
+    : m_supplier([command] { return command; }) {
   SetName(fmt::format("Proxy({})", command->GetName()));
 }
 

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

@@ -12,6 +12,8 @@
 #include <utility>
 #include <vector>
 
+#include <wpi/deprecated.h>
+
 #include "frc2/command/CommandPtr.h"
 #include "frc2/command/Requirements.h"
 #include "frc2/command/SelectCommand.h"
@@ -155,11 +157,15 @@ CommandPtr Defer(wpi::unique_function<CommandPtr()> supplier,
 /**
  * Constructs a command that schedules the command returned from the supplier
  * when initialized, and ends when it is no longer scheduled. The supplier is
- * called when the command is initialized.
+ * called when the command is initialized. As a replacement, consider using
+ * `Defer(supplier).AsProxy()`.
  *
  * @param supplier the command supplier
  */
-[[nodiscard]]
+WPI_IGNORE_DEPRECATED
+[[nodiscard]] [[deprecated(
+    "The ProxyCommand supplier constructor has been deprecated. Use "
+    "Defer(supplier).AsProxy() instead.")]]
 CommandPtr DeferredProxy(wpi::unique_function<Command*()> supplier);
 
 /**
@@ -169,9 +175,11 @@ CommandPtr DeferredProxy(wpi::unique_function<Command*()> supplier);
  *
  * @param supplier the command supplier
  */
-[[nodiscard]]
+[[nodiscard]] [[deprecated(
+    "The ProxyCommand supplier constructor has been deprecated. Use "
+    "Defer(supplier).AsProxy() instead.")]]
 CommandPtr DeferredProxy(wpi::unique_function<CommandPtr()> supplier);
-
+WPI_UNIGNORE_DEPRECATED
 // Command Groups
 
 namespace impl {

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

@@ -7,6 +7,7 @@
 #include <memory>
 
 #include <wpi/FunctionExtras.h>
+#include <wpi/deprecated.h>
 
 #include "frc2/command/Command.h"
 #include "frc2/command/CommandHelper.h"
@@ -36,8 +37,16 @@ class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
    * DeferredCommand} instead.
    *
    * @param supplier the command supplier
+   * @deprecated This constructor's similarity to {@link DeferredCommand} is
+   * confusing and opens potential footguns for users who do not fully
+   * understand the semantics and implications of proxying, but who simply want
+   * runtime construction. Users who do know what they are doing and need a
+   * supplier-constructed proxied command should instead proxy a DeferredCommand
+   *     using the <code>AsProxy</code> decorator.
    * @see DeferredCommand
    */
+  WPI_IGNORE_DEPRECATED
+  [[deprecated("Proxy a DeferredCommand instead")]]
   explicit ProxyCommand(wpi::unique_function<Command*()> supplier);
 
   /**
@@ -49,9 +58,17 @@ class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
    * DeferredCommand} instead.
    *
    * @param supplier the command supplier
+   * @deprecated This constructor's similarity to {@link DeferredCommand} is
+   * confusing and opens potential footguns for users who do not fully
+   * understand the semantics and implications of proxying, but who simply want
+   * runtime construction. Users who do know what they are doing and need a
+   * supplier-constructed proxied command should instead proxy a DeferredCommand
+   *     using the <code>AsProxy</code> decorator.
    * @see DeferredCommand
    */
+  [[deprecated("Proxy a DeferredCommand instead")]]
   explicit ProxyCommand(wpi::unique_function<CommandPtr()> supplier);
+  WPI_UNIGNORE_DEPRECATED
 
   /**
    * Creates a new ProxyCommand that schedules the given command when