[commands] Remove EndlessCommand (#4483)

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

@@ -200,19 +200,21 @@ class Command {
    * conditions.  The decorated command can still be interrupted or canceled.
    *
    * @return the decorated command
-   * @deprecated replace with 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.
    */
-  WPI_DEPRECATED("Replace with Endlessly()")
+  WPI_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.")
   PerpetualCommand Perpetually() &&;
 
-  /**
-   * Decorates this command to run endlessly, ignoring its ordinary end
-   * conditions. The decorated command can still be interrupted or canceled.
-   *
-   * @return the decorated command
-   */
-  [[nodiscard]] CommandPtr Endlessly() &&;
-
   /**
    * 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/native/include/frc2/command/CommandPtr.h

@@ -46,14 +46,6 @@ class CommandPtr final {
    */
   [[nodiscard]] CommandPtr Repeatedly() &&;
 
-  /**
-   * Decorates this command to run endlessly, ignoring its ordinary end
-   * conditions. The decorated command can still be interrupted or canceled.
-   *
-   * @return the decorated command
-   */
-  [[nodiscard]] CommandPtr Endlessly() &&;
-
   /**
    * Decorates this command to run "by proxy" by wrapping it in a
    * ProxyScheduleCommand. This is useful for "forking off" from command groups

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

@@ -1,77 +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.
-
-#pragma once
-
-#ifdef _WIN32
-#pragma warning(push)
-#pragma warning(disable : 4521)
-#endif
-
-#include <memory>
-#include <utility>
-
-#include "frc2/command/CommandBase.h"
-#include "frc2/command/CommandGroupBase.h"
-#include "frc2/command/CommandHelper.h"
-
-namespace frc2 {
-/**
- * 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.
- *
- * This class is provided by the NewCommands VendorDep
- */
-class EndlessCommand : public CommandHelper<CommandBase, EndlessCommand> {
- public:
-  /**
-   * 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
-   */
-  explicit EndlessCommand(std::unique_ptr<Command>&& 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
-   */
-  template <class T, typename = std::enable_if_t<std::is_base_of_v<
-                         Command, std::remove_reference_t<T>>>>
-  explicit EndlessCommand(T&& command)
-      : EndlessCommand(std::make_unique<std::remove_reference_t<T>>(
-            std::forward<T>(command))) {}
-
-  EndlessCommand(EndlessCommand&& other) = default;
-
-  // No copy constructors for command groups
-  EndlessCommand(const EndlessCommand& other) = delete;
-
-  // Prevent template expansion from emulating copy ctor
-  EndlessCommand(EndlessCommand&) = delete;
-
-  void Initialize() override;
-
-  void Execute() override;
-
-  void End(bool interrupted) override;
-
- private:
-  std::unique_ptr<Command> m_command;
-};
-}  // namespace frc2
-
-#ifdef _WIN32
-#pragma warning(pop)
-#endif

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

@@ -29,7 +29,11 @@ namespace frc2 {
  *
  * This class is provided by the NewCommands VendorDep
  *
- * @deprecated replace with 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.
  */
 class PerpetualCommand : public CommandHelper<CommandBase, PerpetualCommand> {
  public:
@@ -40,10 +44,16 @@ class PerpetualCommand : public CommandHelper<CommandBase, PerpetualCommand> {
    *
    * @param command the command to run perpetually
    */
-  WPI_DEPRECATED("Replace with EndlessCommand")
+  WPI_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.")
   explicit PerpetualCommand(std::unique_ptr<Command>&& command);
-
   WPI_IGNORE_DEPRECATED
+
   /**
    * Creates a new PerpetualCommand.  Will run another command in perpetuity,
    * ignoring that command's end conditions, unless this command itself is
@@ -53,7 +63,13 @@ class PerpetualCommand : public CommandHelper<CommandBase, PerpetualCommand> {
    */
   template <class T, typename = std::enable_if_t<std::is_base_of_v<
                          Command, std::remove_reference_t<T>>>>
-  WPI_DEPRECATED("Replace with EndlessCommand")
+  WPI_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.")
   explicit PerpetualCommand(T&& command)
       : PerpetualCommand(std::make_unique<std::remove_reference_t<T>>(
             std::forward<T>(command))) {}