Remove deprecated code (#8656)

commandsv2/src/main/native/cpp/frc2/command/Command.cpp

@@ -152,10 +152,6 @@ CommandPtr Command::WithName(std::string_view name) && {
   return std::move(*this).ToPtr().WithName(name);
 }
 
-void Command::Schedule() {
-  CommandScheduler::GetInstance().Schedule(this);
-}
-
 void Command::Cancel() {
   CommandScheduler::GetInstance().Cancel(this);
 }

commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp

@@ -176,15 +176,6 @@ CommandPtr CommandPtr::WithDeadline(CommandPtr&& deadline) && {
   return std::move(*this);
 }
 
-CommandPtr CommandPtr::DeadlineWith(CommandPtr&& parallel) && {
-  AssertValid();
-  std::vector<std::unique_ptr<Command>> vec;
-  vec.emplace_back(std::move(parallel).Unwrap());
-  m_ptr =
-      std::make_unique<ParallelDeadlineGroup>(std::move(m_ptr), std::move(vec));
-  return std::move(*this);
-}
-
 CommandPtr CommandPtr::DeadlineFor(CommandPtr&& parallel) && {
   AssertValid();
   std::vector<std::unique_ptr<Command>> vec;
@@ -268,11 +259,6 @@ std::unique_ptr<Command> CommandPtr::Unwrap() && {
   return std::move(m_ptr);
 }
 
-void CommandPtr::Schedule() const& {
-  AssertValid();
-  CommandScheduler::GetInstance().Schedule(*this);
-}
-
 void CommandPtr::Cancel() const& {
   AssertValid();
   CommandScheduler::GetInstance().Cancel(*this);

commandsv2/src/main/native/cpp/frc2/command/Commands.cpp

@@ -21,7 +21,6 @@
 #include "wpi/commands2/WaitCommand.hpp"
 #include "wpi/commands2/WaitUntilCommand.hpp"
 #include "wpi/util/FunctionExtras.hpp"
-#include "wpi/util/deprecated.hpp"
 
 using namespace wpi::cmd;
 

commandsv2/src/main/native/cpp/frc2/command/ProxyCommand.cpp

@@ -9,23 +9,10 @@
 
 #include <fmt/format.h>
 
-#include "wpi/util/deprecated.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 
 using namespace wpi::cmd;
 
-WPI_IGNORE_DEPRECATED
-ProxyCommand::ProxyCommand(wpi::util::unique_function<Command*()> supplier)
-    : m_supplier(std::move(supplier)) {}
-
-ProxyCommand::ProxyCommand(wpi::util::unique_function<CommandPtr()> supplier)
-    : ProxyCommand([supplier = std::move(supplier),
-                    holder = std::optional<CommandPtr>{}]() mutable {
-        holder = supplier();
-        return holder->get();
-      }) {}
-WPI_UNIGNORE_DEPRECATED
-
 ProxyCommand::ProxyCommand(Command* command)
     : m_supplier([command] { return command; }) {
   SetName(fmt::format("Proxy({})", command->GetName()));

commandsv2/src/main/native/include/wpi/commands2/Command.hpp

@@ -396,14 +396,6 @@ class Command : public wpi::util::Sendable,
    */
   CommandPtr WithName(std::string_view name) &&;
 
-  /**
-   * Schedules this command.
-   *
-   * @deprecated Use CommandScheduler::GetInstance().Schedule() instead
-   */
-  [[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]]
-  void Schedule();
-
   /**
    * Cancels this command. Will call End(true). Commands will be canceled
    * regardless of interruption behavior.

commandsv2/src/main/native/include/wpi/commands2/CommandPtr.hpp

@@ -179,18 +179,6 @@ class [[nodiscard]] CommandPtr final {
    */
   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
-   * convenient/less-verbose than constructing a new {@link
-   * ParallelDeadlineGroup} explicitly.
-   *
-   * @param parallel the commands to run in parallel
-   * @return the decorated command
-   */
-  [[deprecated("Replace with DeadlineFor")]]
-  CommandPtr DeadlineWith(CommandPtr&& parallel) &&;
-
   /**
    * 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
@@ -274,17 +262,6 @@ class [[nodiscard]] CommandPtr final {
    */
   std::unique_ptr<Command> Unwrap() &&;
 
-  /**
-   * Schedules this command.
-   *
-   * @deprecated Use CommandScheduler::GetInstance().Schedule() instead
-   */
-  [[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]]
-  void Schedule() const&;
-
-  // Prevent calls on a temporary, as the returned pointer would be invalid
-  void Schedule() && = delete;
-
   /**
    * Cancels this command. Will call End(true). Commands will be canceled
    * regardless of interruption behavior.

commandsv2/src/main/native/include/wpi/commands2/Commands.hpp

@@ -15,7 +15,6 @@
 #include "wpi/commands2/CommandPtr.hpp"
 #include "wpi/commands2/Requirements.hpp"
 #include "wpi/commands2/SelectCommand.hpp"
-#include "wpi/util/deprecated.hpp"
 
 namespace wpi::cmd {
 class Subsystem;

commandsv2/src/main/native/include/wpi/commands2/ProxyCommand.hpp

@@ -9,7 +9,6 @@
 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/CommandHelper.hpp"
 #include "wpi/util/FunctionExtras.hpp"
-#include "wpi/util/deprecated.hpp"
 
 namespace wpi::cmd {
 /**
@@ -27,46 +26,6 @@ namespace wpi::cmd {
  */
 class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
  public:
-  /**
-   * Creates a new ProxyCommand that schedules the supplied command when
-   * initialized, and ends when it is no longer scheduled. Use this for lazily
-   * creating <strong>proxied</strong> commands at runtime. Proxying should only
-   * be done to escape from composition requirement semantics, so if only
-   * initialization time command construction is needed, use {@link
-   * 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 defer a proxy command.
-   * @see DeferredCommand
-   */
-  WPI_IGNORE_DEPRECATED
-  [[deprecated("Defer a proxy command instead.")]]
-  explicit ProxyCommand(wpi::util::unique_function<Command*()> supplier);
-
-  /**
-   * Creates a new ProxyCommand that schedules the supplied command when
-   * initialized, and ends when it is no longer scheduled. Use this for lazily
-   * creating <strong>proxied</strong> commands at runtime. Proxying should only
-   * be done to escape from composition requirement semantics, so if only
-   * initialization time command construction is needed, use {@link
-   * 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 defer a proxy command.
-   * @see DeferredCommand
-   */
-  [[deprecated("Defer a proxy command instead.")]]
-  explicit ProxyCommand(wpi::util::unique_function<CommandPtr()> supplier);
-  WPI_UNIGNORE_DEPRECATED
-
   /**
    * Creates a new ProxyCommand that schedules the given command when
    * initialized, and ends when it is no longer scheduled.