[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/include/frc2/command/Command.h

@@ -13,6 +13,7 @@
 #include <units/time.h>
 #include <wpi/Demangle.h>
 #include <wpi/SmallSet.h>
+#include <wpi/sendable/Sendable.h>
 
 #include "frc2/command/Subsystem.h"
 
@@ -41,10 +42,9 @@ std::string GetTypeName(const T& type) {
  * @see CommandScheduler
  * @see CommandHelper
  */
-class Command {
+class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
  public:
-  Command() = default;
-  virtual ~Command();
+  ~Command() override;
 
   Command(const Command&) = default;
   Command& operator=(const Command& rhs);
@@ -92,7 +92,91 @@ class Command {
    * @return the set of subsystems that are required
    * @see InterruptionBehavior
    */
-  virtual wpi::SmallSet<Subsystem*, 4> GetRequirements() const = 0;
+  virtual wpi::SmallSet<Subsystem*, 4> GetRequirements() const;
+
+  /**
+   * Adds the specified Subsystem requirements to the command.
+   *
+   * The scheduler will prevent two commands that require the same subsystem
+   * from being scheduled simultaneously.
+   *
+   * Note that the scheduler determines the requirements of a command when it
+   * is scheduled, so this method should normally be called from the command's
+   * constructor.
+   *
+   * @param requirements the Subsystem requirements to add
+   */
+  void AddRequirements(std::initializer_list<Subsystem*> requirements);
+
+  /**
+   * Adds the specified Subsystem requirements to the command.
+   *
+   * The scheduler will prevent two commands that require the same subsystem
+   * from being scheduled simultaneously.
+   *
+   * Note that the scheduler determines the requirements of a command when it
+   * is scheduled, so this method should normally be called from the command's
+   * constructor.
+   *
+   * @param requirements the Subsystem requirements to add
+   */
+  void AddRequirements(std::span<Subsystem* const> requirements);
+
+  /**
+   * Adds the specified Subsystem requirements to the command.
+   *
+   * The scheduler will prevent two commands that require the same subsystem
+   * from being scheduled simultaneously.
+   *
+   * Note that the scheduler determines the requirements of a command when it
+   * is scheduled, so this method should normally be called from the command's
+   * constructor.
+   *
+   * @param requirements the Subsystem requirements to add
+   */
+  void AddRequirements(wpi::SmallSet<Subsystem*, 4> requirements);
+
+  /**
+   * Adds the specified Subsystem requirement to the command.
+   *
+   * The scheduler will prevent two commands that require the same subsystem
+   * from being scheduled simultaneously.
+   *
+   * Note that the scheduler determines the requirements of a command when it
+   * is scheduled, so this method should normally be called from the command's
+   * constructor.
+   *
+   * @param requirement the Subsystem requirement to add
+   */
+  void AddRequirements(Subsystem* requirement);
+
+  /**
+   * Gets the name of this Command.
+   *
+   * @return Name
+   */
+  std::string GetName() const;
+
+  /**
+   * Sets the name of this Command.
+   *
+   * @param name name
+   */
+  void SetName(std::string_view name);
+
+  /**
+   * Gets the subsystem name of this Command.
+   *
+   * @return Subsystem name
+   */
+  std::string GetSubsystem() const;
+
+  /**
+   * Sets the subsystem name of this Command.
+   *
+   * @param subsystem subsystem name
+   */
+  void SetSubsystem(std::string_view subsystem);
 
   /**
    * An enum describing the command's behavior when another command with a
@@ -345,28 +429,19 @@ class Command {
     return InterruptionBehavior::kCancelSelf;
   }
 
-  /**
-   * Gets the name of this Command. Defaults to the simple class name if not
-   * overridden.
-   *
-   * @return The display name of the Command
-   */
-  virtual std::string GetName() const;
-
-  /**
-   * Sets the name of this Command. Nullop if not overridden.
-   *
-   * @param name The display name of the Command.
-   */
-  virtual void SetName(std::string_view name);
-
   /**
    * Transfers ownership of this command to a unique pointer.  Used for
    * decorator methods.
    */
   virtual CommandPtr ToPtr() && = 0;
 
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
  protected:
+  Command();
+
+  wpi::SmallSet<Subsystem*, 4> m_requirements;
+
   /**
    * Transfers ownership of this command to a unique pointer.  Used for
    * decorator methods.