[commands] Remove EndlessCommand (#4483)

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

@@ -258,7 +258,10 @@ public interface Command {
    * decorated without issue.
    *
    * @return the decorated command
-   * @deprecated use {@link #endlessly()} instead.
+   * @deprecated PerpetualCommand violates the assumption that execute() doesn't get called after
+   *     isFinished() returns true -- an assumption that should be valid. This was unsafe/undefined
+   *     behavior from the start, and RepeatCommand provides an easy way to achieve similar end
+   *     results with slightly different (and safe) semantics.
    */
   @SuppressWarnings("removal") // PerpetualCommand
   @Deprecated(forRemoval = true, since = "2023")
@@ -266,22 +269,6 @@ public interface Command {
     return new PerpetualCommand(this);
   }
 
-  /**
-   * Decorates this command to run endlessly, ignoring its ordinary end conditions. The decorated
-   * command can still be interrupted or canceled.
-   *
-   * <p>Note: This decorator works by composing this command within a CommandGroup. The command
-   * cannot be used independently after being decorated, or be re-decorated with a different
-   * decorator, unless it is manually cleared from the list of grouped commands with {@link
-   * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
-   * decorated without issue.
-   *
-   * @return the decorated command
-   */
-  default EndlessCommand endlessly() {
-    return new EndlessCommand(this);
-  }
-
   /**
    * Decorates this command to run repeatedly, restarting it when it ends, until this command is
    * interrupted. The decorated command can still be canceled.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/EndlessCommand.java

@@ -1,55 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.wpilibj2.command;
-
-import static edu.wpi.first.wpilibj2.command.CommandGroupBase.registerGroupedCommands;
-import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
-
-/**
- * A command that runs another command endlessly, ignoring that command's end conditions. While this
- * class does not extend {@link CommandGroupBase}, it is still considered a CommandGroup, as it
- * allows one to compose another command within it; the command instances that are passed to it
- * cannot be added to any other groups, or scheduled individually.
- *
- * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
- *
- * <p>This class is provided by the NewCommands VendorDep
- */
-public class EndlessCommand extends CommandBase {
-  protected final Command m_command;
-
-  /**
-   * Creates a new EndlessCommand. Will run another command endlessly, ignoring that command's end
-   * conditions, unless this command itself is interrupted.
-   *
-   * @param command the command to run endlessly
-   */
-  public EndlessCommand(Command command) {
-    requireUngrouped(command);
-    registerGroupedCommands(command);
-    m_command = command;
-    m_requirements.addAll(command.getRequirements());
-  }
-
-  @Override
-  public void initialize() {
-    m_command.initialize();
-  }
-
-  @Override
-  public void execute() {
-    m_command.execute();
-  }
-
-  @Override
-  public void end(boolean interrupted) {
-    m_command.end(interrupted);
-  }
-
-  @Override
-  public boolean runsWhenDisabled() {
-    return m_command.runsWhenDisabled();
-  }
-}

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java

@@ -17,7 +17,10 @@ import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
  *
  * <p>This class is provided by the NewCommands VendorDep
  *
- * @deprecated Replaced by {@link EndlessCommand}.
+ * @deprecated PerpetualCommand violates the assumption that execute() doesn't get called after
+ *     isFinished() returns true -- an assumption that should be valid. This was unsafe/undefined
+ *     behavior from the start, and RepeatCommand provides an easy way to achieve similar end
+ *     results with slightly different (and safe) semantics.
  */
 @Deprecated(forRemoval = true, since = "2023")
 public class PerpetualCommand extends CommandBase {