[commands] Revert "Change grouping decorator impl to flatten nested group structures (#3335)" (#4402)

This reverts commit ef4ea84cb5.

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

@@ -130,7 +130,7 @@ class Command {
    * @param duration the timeout duration
    * @return the command with the timeout added
    */
-  virtual ParallelRaceGroup WithTimeout(units::second_t duration) &&;
+  ParallelRaceGroup WithTimeout(units::second_t duration) &&;
 
   /**
    * Decorates this command with an interrupt condition.  If the specified
@@ -141,7 +141,7 @@ class Command {
    * @param condition the interrupt condition
    * @return the command with the interrupt condition added
    */
-  virtual ParallelRaceGroup Until(std::function<bool()> condition) &&;
+  ParallelRaceGroup Until(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command with an interrupt condition.  If the specified
@@ -152,7 +152,7 @@ class Command {
    * @param condition the interrupt condition
    * @return the command with the interrupt condition added
    */
-  virtual ParallelRaceGroup WithInterrupt(std::function<bool()> condition) &&;
+  ParallelRaceGroup WithInterrupt(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command with a runnable to run before this command starts.
@@ -161,7 +161,7 @@ class Command {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  virtual SequentialCommandGroup BeforeStarting(
+  SequentialCommandGroup BeforeStarting(
       std::function<void()> toRun,
       std::initializer_list<Subsystem*> requirements) &&;
 
@@ -172,7 +172,7 @@ class Command {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  virtual SequentialCommandGroup BeforeStarting(
+  SequentialCommandGroup BeforeStarting(
       std::function<void()> toRun,
       wpi::span<Subsystem* const> requirements = {}) &&;
 
@@ -183,7 +183,7 @@ class Command {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  virtual SequentialCommandGroup AndThen(
+  SequentialCommandGroup AndThen(
       std::function<void()> toRun,
       std::initializer_list<Subsystem*> requirements) &&;
 
@@ -194,7 +194,7 @@ class Command {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  virtual SequentialCommandGroup AndThen(
+  SequentialCommandGroup AndThen(
       std::function<void()> toRun,
       wpi::span<Subsystem* const> requirements = {}) &&;
 
@@ -206,7 +206,7 @@ class Command {
    * @deprecated replace with EndlessCommand
    */
   WPI_DEPRECATED("Replace with Endlessly()")
-  virtual PerpetualCommand Perpetually() &&;
+  PerpetualCommand Perpetually() &&;
 
   /**
    * Decorates this command to run endlessly, ignoring its ordinary end
@@ -214,7 +214,7 @@ class Command {
    *
    * @return the decorated command
    */
-  virtual EndlessCommand Endlessly() &&;
+  EndlessCommand Endlessly() &&;
 
   /**
    * Decorates this command to run repeatedly, restarting it when it ends, until
@@ -222,7 +222,7 @@ class Command {
    *
    * @return the decorated command
    */
-  virtual RepeatCommand Repeatedly() &&;
+  RepeatCommand Repeatedly() &&;
 
   /**
    * Decorates this command to run "by proxy" by wrapping it in a
@@ -232,7 +232,7 @@ class Command {
    *
    * @return the decorated command
    */
-  virtual ProxyScheduleCommand AsProxy();
+  ProxyScheduleCommand AsProxy();
 
   /**
    * Decorates this command to only run if this condition is not met. If the
@@ -243,7 +243,7 @@ class Command {
    * @param condition the condition that will prevent the command from running
    * @return the decorated command
    */
-  virtual ConditionalCommand Unless(std::function<bool()> condition) &&;
+  ConditionalCommand Unless(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command to run or stop when disabled.
@@ -251,7 +251,7 @@ class Command {
    * @param doesRunWhenDisabled true to run when disabled.
    * @return the decorated command
    */
-  virtual std::unique_ptr<Command> IgnoringDisable(bool doesRunWhenDisabled) &&;
+  std::unique_ptr<Command> IgnoringDisable(bool doesRunWhenDisabled) &&;
 
   /**
    * Decorates this command to run or stop when disabled.
@@ -259,7 +259,7 @@ class Command {
    * @param interruptBehavior true to run when disabled.
    * @return the decorated command
    */
-  virtual std::unique_ptr<Command> WithInterruptBehavior(
+  std::unique_ptr<Command> WithInterruptBehavior(
       InterruptionBehavior interruptBehavior) &&;
 
   /**

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

@@ -67,8 +67,6 @@ class EndlessCommand : public CommandHelper<CommandBase, EndlessCommand> {
 
   void End(bool interrupted) override;
 
-  EndlessCommand Endlessly() && override;
-
  private:
   std::unique_ptr<Command> m_command;
 };

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

@@ -73,8 +73,6 @@ class PerpetualCommand : public CommandHelper<CommandBase, PerpetualCommand> {
 
   void End(bool interrupted) override;
 
-  PerpetualCommand Perpetually() && override;
-
  private:
   std::unique_ptr<Command> m_command;
 };

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

@@ -69,8 +69,6 @@ class RepeatCommand : public CommandHelper<CommandBase, RepeatCommand> {
 
   bool RunsWhenDisabled() const override;
 
-  RepeatCommand Repeatedly() && override;
-
  private:
   std::unique_ptr<Command> m_command;
 };

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

@@ -15,8 +15,6 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/span.h>
-
 #include "frc2/command/CommandGroupBase.h"
 #include "frc2/command/CommandHelper.h"
 
@@ -88,16 +86,6 @@ class SequentialCommandGroup
 
   bool RunsWhenDisabled() const override;
 
-  SequentialCommandGroup BeforeStarting(
-      std::function<void()> toRun,
-      wpi::span<Subsystem* const> requirements = {}) &&
-      override;
-
-  SequentialCommandGroup AndThen(
-      std::function<void()> toRun,
-      wpi::span<Subsystem* const> requirements = {}) &&
-      override;
-
  private:
   void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;