[commands] Merge CommandBase into Command and SubsystemBase into Subsystem (#5392)

Moves all CommandBase functionality into Command and deprecates CommandBase for removal.
Moves all SubsystemBase functionality into Subsystem and deprecates SubsystemBase for removal.
Adds a function to CommandScheduler to remove all registered Subsystems.

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

@@ -3,82 +3,3 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include "frc2/command/CommandBase.h"
-
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
-
-using namespace frc2;
-
-CommandBase::CommandBase() {
-  wpi::SendableRegistry::Add(this, GetTypeName(*this));
-}
-
-void CommandBase::AddRequirements(
-    std::initializer_list<Subsystem*> requirements) {
-  m_requirements.insert(requirements.begin(), requirements.end());
-}
-
-void CommandBase::AddRequirements(std::span<Subsystem* const> requirements) {
-  m_requirements.insert(requirements.begin(), requirements.end());
-}
-
-void CommandBase::AddRequirements(wpi::SmallSet<Subsystem*, 4> requirements) {
-  m_requirements.insert(requirements.begin(), requirements.end());
-}
-
-void CommandBase::AddRequirements(Subsystem* requirement) {
-  m_requirements.insert(requirement);
-}
-
-wpi::SmallSet<Subsystem*, 4> CommandBase::GetRequirements() const {
-  return m_requirements;
-}
-
-void CommandBase::SetName(std::string_view name) {
-  wpi::SendableRegistry::SetName(this, name);
-}
-
-std::string CommandBase::GetName() const {
-  return wpi::SendableRegistry::GetName(this);
-}
-
-std::string CommandBase::GetSubsystem() const {
-  return wpi::SendableRegistry::GetSubsystem(this);
-}
-
-void CommandBase::SetSubsystem(std::string_view subsystem) {
-  wpi::SendableRegistry::SetSubsystem(this, subsystem);
-}
-
-void CommandBase::InitSendable(wpi::SendableBuilder& builder) {
-  builder.SetSmartDashboardType("Command");
-  builder.AddStringProperty(
-      ".name", [this] { return GetName(); }, nullptr);
-  builder.AddBooleanProperty(
-      "running", [this] { return IsScheduled(); },
-      [this](bool value) {
-        bool isScheduled = IsScheduled();
-        if (value && !isScheduled) {
-          Schedule();
-        } else if (!value && isScheduled) {
-          Cancel();
-        }
-      });
-  builder.AddBooleanProperty(
-      ".isParented", [this] { return IsComposed(); }, nullptr);
-  builder.AddStringProperty(
-      "interruptBehavior",
-      [this] {
-        switch (GetInterruptionBehavior()) {
-          case Command::InterruptionBehavior::kCancelIncoming:
-            return "kCancelIncoming";
-          case Command::InterruptionBehavior::kCancelSelf:
-            return "kCancelSelf";
-          default:
-            return "Invalid";
-        }
-      },
-      nullptr);
-  builder.AddBooleanProperty(
-      "runsWhenDisabled", [this] { return RunsWhenDisabled(); }, nullptr);
-}