Fix cancel of inner commands in ConditionalCommands (#858)

wpilibc/src/main/native/include/Commands/Command.h

@@ -62,6 +62,8 @@ class Command : public ErrorBase, public SendableBase {
   bool Run();
   void Cancel();
   bool IsRunning() const;
+  bool IsInitialized() const;
+  bool IsCompleted() const;
   bool IsInterruptible() const;
   void SetInterruptible(bool interruptible);
   bool DoesRequire(Subsystem* subsystem) const;
@@ -148,6 +150,9 @@ class Command : public ErrorBase, public SendableBase {
   // The CommandGroup this is in
   CommandGroup* m_parent = nullptr;
 
+  // Whether or not this command has completed running
+  bool m_completed = false;
+
   int m_commandID = m_commandCounter++;
   static int m_commandCounter;
 

wpilibc/src/main/native/include/Commands/ConditionalCommand.h

@@ -10,23 +10,25 @@
 #include <llvm/Twine.h>
 
 #include "Commands/Command.h"
-#include "Commands/InstantCommand.h"
 
 namespace frc {
 
 /**
  * A ConditionalCommand is a Command that starts one of two commands.
  *
- * A ConditionalCommand uses m_condition to determine whether it should run
- * m_onTrue or m_onFalse.
+ * A ConditionalCommand uses the Condition method to determine whether it should
+ * run onTrue or onFalse.
  *
  * A ConditionalCommand adds the proper Command to the Scheduler during
  * Initialize() and then IsFinished() will return true once that Command has
  * finished executing.
  *
- * If no Command is specified for m_onFalse, the occurrence of that condition
+ * If no Command is specified for onFalse, the occurrence of that condition
  * will be a no-op.
  *
+ * A CondtionalCommand will require the superset of subsystems of the onTrue
+ * and onFalse commands.
+ *
  * @see Command
  * @see Scheduler
  */
@@ -48,7 +50,7 @@ class ConditionalCommand : public Command {
   void _Initialize() override;
   void _Cancel() override;
   bool IsFinished() override;
-  void Interrupted() override;
+  void _Interrupted() override;
 
  private:
   // The Command to execute if Condition() returns true