[commands] Enhance Command Sendable implementations (#4822)

2026-07-06 03:31:43 +00:00 · 2022-12-16 04:28:52 +02:00
parent 7713f68772
commit fbabd0ef15
33 changed files with 239 additions and 17 deletions
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -446,14 +446,15 @@ public interface Command {
  default void setName(String name) {}

  /**
-   * Decorates this Command with a name. Is an inline function for #setName(String);
+   * Decorates this Command with a name.
   *
   * @param name name
   * @return the decorated Command
   */
-  default Command withName(String name) {
-    this.setName(name);
-    return this;
+  default WrapperCommand withName(String name) {
+    WrapperCommand wrapper = new WrapperCommand(Command.this) {};
+    wrapper.setName(name);
+    return wrapper;
  }

  /**
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
@@ -56,12 +56,6 @@ public abstract class CommandBase implements Sendable, Command {
    SendableRegistry.setName(this, name);
  }

-  @Override
-  public CommandBase withName(String name) {
-    this.setName(name);
-    return this;
-  }
-
  /**
   * Gets the subsystem name of this Command.
   *
@@ -105,5 +99,8 @@ public abstract class CommandBase implements Sendable, Command {
        });
    builder.addBooleanProperty(
        ".isParented", () -> CommandScheduler.getInstance().isComposed(this), null);
+    builder.addStringProperty(
+        "interruptBehavior", () -> getInterruptionBehavior().toString(), null);
+    builder.addBooleanProperty("runsWhenDisabled", this::runsWhenDisabled, null);
  }
 }
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj2.command;

 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;

+import edu.wpi.first.util.sendable.SendableBuilder;
 import java.util.function.BooleanSupplier;

 /**
@@ -71,4 +72,21 @@ public class ConditionalCommand extends CommandBase {
  public boolean runsWhenDisabled() {
    return m_onTrue.runsWhenDisabled() && m_onFalse.runsWhenDisabled();
  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addStringProperty("onTrue", m_onTrue::getName, null);
+    builder.addStringProperty("onFalse", m_onFalse::getName, null);
+    builder.addStringProperty(
+        "selected",
+        () -> {
+          if (m_selectedCommand == null) {
+            return "null";
+          } else {
+            return m_selectedCommand.getName();
+          }
+        },
+        null);
+  }
 }
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
@@ -4,6 +4,7 @@

 package edu.wpi.first.wpilibj2.command;

+import edu.wpi.first.util.sendable.SendableBuilder;
 import java.util.Collections;
 import java.util.HashMap;
 import java.util.Map;
@@ -130,4 +131,11 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
  public InterruptionBehavior getInterruptionBehavior() {
    return m_interruptBehavior;
  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+
+    builder.addStringProperty("deadline", m_deadline::getName, null);
+  }
 }
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj2.command;

 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;

+import edu.wpi.first.util.sendable.SendableBuilder;
 import java.util.function.Supplier;

 /**
@@ -36,6 +37,7 @@ public class ProxyCommand extends CommandBase {
   */
  public ProxyCommand(Command command) {
    this(() -> command);
+    setName("Proxy(" + command.getName() + ")");
  }

  @Override
@@ -73,4 +75,11 @@ public class ProxyCommand extends CommandBase {
  public boolean runsWhenDisabled() {
    return true;
  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addStringProperty(
+        "proxied", () -> m_command == null ? "null" : m_command.getName(), null);
+  }
 }
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -14,6 +14,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.function.BiConsumer;
 import java.util.function.Supplier;
@@ -211,4 +212,11 @@ public class RamseteCommand extends CommandBase {
  public boolean isFinished() {
    return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addDoubleProperty("leftVelocity", () -> m_prevSpeeds.leftMetersPerSecond, null);
+    builder.addDoubleProperty("rightVelocity", () -> m_prevSpeeds.rightMetersPerSecond, null);
+  }
 }
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java
@@ -6,6 +6,8 @@ package edu.wpi.first.wpilibj2.command;

 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;

+import edu.wpi.first.util.sendable.SendableBuilder;
+
 /**
 * A command that runs another command repeatedly, restarting it when it ends, until this command is
 * interrupted. Command instances that are passed to it cannot be added to any other groups, or
@@ -31,6 +33,7 @@ public class RepeatCommand extends CommandBase {
    m_command = requireNonNullParam(command, "command", "RepeatCommand");
    CommandScheduler.getInstance().registerComposedCommands(command);
    m_requirements.addAll(command.getRequirements());
+    setName("Repeat(" + command.getName() + ")");
  }

  @Override
@@ -72,4 +75,10 @@ public class RepeatCommand extends CommandBase {
  public InterruptionBehavior getInterruptionBehavior() {
    return m_command.getInterruptionBehavior();
  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addStringProperty("command", m_command::getName, null);
+  }
 }
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj2.command;

 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;

+import edu.wpi.first.util.sendable.SendableBuilder;
 import java.util.Map;
 import java.util.function.Supplier;

@@ -108,4 +109,12 @@ public class SelectCommand extends CommandBase {
  public InterruptionBehavior getInterruptionBehavior() {
    return m_interruptBehavior;
  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+
+    builder.addStringProperty(
+        "selected", () -> m_selectedCommand == null ? "null" : m_selectedCommand.getName(), null);
+  }
 }
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
@@ -4,6 +4,7 @@

 package edu.wpi.first.wpilibj2.command;

+import edu.wpi.first.util.sendable.SendableBuilder;
 import java.util.ArrayList;
 import java.util.List;

@@ -104,4 +105,11 @@ public class SequentialCommandGroup extends CommandGroupBase {
  public InterruptionBehavior getInterruptionBehavior() {
    return m_interruptBehavior;
  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+
+    builder.addIntegerProperty("index", () -> m_currentCommandIndex, null);
+  }
 }
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
@@ -4,6 +4,7 @@

 package edu.wpi.first.wpilibj2.command;

+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.Timer;

@@ -47,4 +48,10 @@ public class WaitCommand extends CommandBase {
  public boolean runsWhenDisabled() {
    return true;
  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addDoubleProperty("duration", () -> m_duration, null);
+  }
 }
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java
@@ -26,6 +26,8 @@ public abstract class WrapperCommand extends CommandBase {
  protected WrapperCommand(Command command) {
    CommandScheduler.getInstance().registerComposedCommands(command);
    m_command = command;
+    // copy the wrapped command's name
+    setName(command.getName());
  }

  /** The initial subroutine of a command. Called once when the command is initially scheduled. */
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -105,8 +105,7 @@ CommandPtr Command::HandleInterrupt(std::function<void(void)> handler) && {
 }

 CommandPtr Command::WithName(std::string_view name) && {
-  SetName(name);
-  return std::move(*this).ToPtr();
+  return std::move(*this).ToPtr().WithName(name);
 }

 void Command::Schedule() {
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
@@ -64,4 +64,21 @@ void CommandBase::InitSendable(wpi::SendableBuilder& builder) {
          Cancel();
        }
      });
+  builder.AddBooleanProperty(
+      ".isParented", [this] { return IsComposed(); }, nullptr);
+  builder.AddStringProperty(
+      "interruptBehavior",
+      [this] {
+        switch (GetInterruptionBehavior()) {
+          case Command::InterruptionBehavior::kCancelIncoming:
+            return "kCancelIncoming";
+          case Command::InterruptionBehavior::kCancelSelf:
+            return "kCancelSelf";
+          default:
+            return "Invalid";
+        }
+      },
+      nullptr);
+  builder.AddBooleanProperty(
+      "runsWhenDisabled", [this] { return RunsWhenDisabled(); }, nullptr);
 }
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
@@ -221,8 +221,9 @@ CommandPtr CommandPtr::HandleInterrupt(std::function<void(void)> handler) && {

 CommandPtr CommandPtr::WithName(std::string_view name) && {
  AssertValid();
-  m_ptr->SetName(name);
-  return std::move(*this);
+  WrapperCommand wrapper{std::move(m_ptr)};
+  wrapper.SetName(name);
+  return std::move(wrapper).ToPtr();
 }

 CommandBase* CommandPtr::get() const {
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
@@ -4,6 +4,8 @@

 #include "frc2/command/ConditionalCommand.h"

+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;

 ConditionalCommand::ConditionalCommand(std::unique_ptr<Command>&& onTrue,
@@ -50,3 +52,21 @@ bool ConditionalCommand::IsFinished() {
 bool ConditionalCommand::RunsWhenDisabled() const {
  return m_runsWhenDisabled;
 }
+
+void ConditionalCommand::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddStringProperty(
+      "onTrue", [this] { return m_onTrue->GetName(); }, nullptr);
+  builder.AddStringProperty(
+      "onFalse", [this] { return m_onFalse->GetName(); }, nullptr);
+  builder.AddStringProperty(
+      "selected",
+      [this] {
+        if (m_selectedCommand) {
+          return m_selectedCommand->GetName();
+        } else {
+          return std::string{"null"};
+        }
+      },
+      nullptr);
+}
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
@@ -4,6 +4,8 @@

 #include "frc2/command/ParallelDeadlineGroup.h"

+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;

 ParallelDeadlineGroup::ParallelDeadlineGroup(
@@ -93,3 +95,10 @@ void ParallelDeadlineGroup::SetDeadline(std::unique_ptr<Command>&& deadline) {
  AddRequirements(m_deadline->GetRequirements());
  m_runWhenDisabled &= m_deadline->RunsWhenDisabled();
 }
+
+void ParallelDeadlineGroup::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+
+  builder.AddStringProperty(
+      "deadline", [this] { return m_deadline->GetName(); }, nullptr);
+}
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
@@ -4,13 +4,17 @@

 #include "frc2/command/ProxyCommand.h"

+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;

 ProxyCommand::ProxyCommand(wpi::unique_function<Command*()> supplier)
    : m_supplier(std::move(supplier)) {}

 ProxyCommand::ProxyCommand(Command* command)
-    : m_supplier([command] { return command; }) {}
+    : m_supplier([command] { return command; }) {
+  SetName(std::string{"Proxy("}.append(command->GetName()).append(")"));
+}

 ProxyCommand::ProxyCommand(std::unique_ptr<Command> command)
    : m_supplier([command = std::move(command)] { return command.get(); }) {}
@@ -35,3 +39,17 @@ bool ProxyCommand::IsFinished() {
  // do whatever we want -- like return true.
  return m_command == nullptr || !m_command->IsScheduled();
 }
+
+void ProxyCommand::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddStringProperty(
+      "proxied",
+      [this] {
+        if (m_command) {
+          return m_command->GetName();
+        } else {
+          return std::string{"null"};
+        }
+      },
+      nullptr);
+}
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
@@ -6,6 +6,8 @@

 #include <utility>

+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;

 RamseteCommand::RamseteCommand(
@@ -158,3 +160,11 @@ void RamseteCommand::End(bool interrupted) {
 bool RamseteCommand::IsFinished() {
  return m_timer.HasElapsed(m_trajectory.TotalTime());
 }
+
+void RamseteCommand::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddDoubleProperty(
+      "leftVelocity", [this] { return m_prevSpeeds.left.value(); }, nullptr);
+  builder.AddDoubleProperty(
+      "rightVelocity", [this] { return m_prevSpeeds.right.value(); }, nullptr);
+}
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
@@ -4,6 +4,8 @@

 #include "frc2/command/RepeatCommand.h"

+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;

 RepeatCommand::RepeatCommand(std::unique_ptr<Command>&& command) {
@@ -11,6 +13,7 @@ RepeatCommand::RepeatCommand(std::unique_ptr<Command>&& command) {
  m_command = std::move(command);
  m_command->SetComposed(true);
  AddRequirements(m_command->GetRequirements());
+  SetName(std::string{"Repeat("}.append(m_command->GetName()).append(")"));
 }

 void RepeatCommand::Initialize() {
@@ -46,3 +49,9 @@ bool RepeatCommand::RunsWhenDisabled() const {
 Command::InterruptionBehavior RepeatCommand::GetInterruptionBehavior() const {
  return m_command->GetInterruptionBehavior();
 }
+
+void RepeatCommand::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddStringProperty(
+      "command", [this] { return m_command->GetName(); }, nullptr);
+}
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
@@ -4,6 +4,8 @@

 #include "frc2/command/SequentialCommandGroup.h"

+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;

 SequentialCommandGroup::SequentialCommandGroup(
@@ -79,3 +81,9 @@ void SequentialCommandGroup::AddCommands(
    m_commands.emplace_back(std::move(command));
  }
 }
+
+void SequentialCommandGroup::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddIntegerProperty(
+      "index", [this] { return m_currentCommandIndex; }, nullptr);
+}
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
@@ -6,6 +6,7 @@

 #include <fmt/format.h>
 #include <frc/fmt/Units.h>
+#include <wpi/sendable/SendableBuilder.h>

 using namespace frc2;

@@ -29,3 +30,9 @@ bool WaitCommand::IsFinished() {
 bool WaitCommand::RunsWhenDisabled() const {
  return true;
 }
+
+void WaitCommand::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddDoubleProperty(
+      "duration", [this] { return m_duration.value(); }, nullptr);
+}
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp
@@ -12,6 +12,8 @@ WrapperCommand::WrapperCommand(std::unique_ptr<Command>&& command) {
  CommandScheduler::GetInstance().RequireUngrouped(command.get());
  m_command = std::move(command);
  m_command->SetComposed(true);
+  // copy the wrapped command's name
+  SetName(m_command->GetName());
 }

 void WrapperCommand::Initialize() {
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -282,8 +282,7 @@ safe) semantics.
  [[nodiscard]] CommandPtr HandleInterrupt(std::function<void()> handler) &&;

  /**
-   * Decorates this Command with a name. Is an inline function for
-   * #SetName(std::string_view);
+   * Decorates this Command with a name.
   *
   * @param name name
   * @return the decorated Command
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
@@ -73,6 +73,8 @@ class ConditionalCommand

  bool RunsWhenDisabled() const override;

+  void InitSendable(wpi::SendableBuilder& builder) override;
+
 private:
  std::unique_ptr<Command> m_onTrue;
  std::unique_ptr<Command> m_onFalse;
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
@@ -96,6 +96,8 @@ class ParallelDeadlineGroup

  Command::InterruptionBehavior GetInterruptionBehavior() const override;

+  void InitSendable(wpi::SendableBuilder& builder) override;
+
 private:
  void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;

--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h
@@ -61,6 +61,8 @@ class ProxyCommand : public CommandHelper<CommandBase, ProxyCommand> {

  bool IsFinished() override;

+  void InitSendable(wpi::SendableBuilder& builder) override;
+
 private:
  wpi::unique_function<Command*()> m_supplier;
  Command* m_command = nullptr;
--- a/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
@@ -174,6 +174,8 @@ class RamseteCommand : public CommandHelper<CommandBase, RamseteCommand> {

  bool IsFinished() override;

+  void InitSendable(wpi::SendableBuilder& builder) override;
+
 private:
  frc::Trajectory m_trajectory;
  std::function<frc::Pose2d()> m_pose;
--- a/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h
@@ -70,6 +70,8 @@ class RepeatCommand : public CommandHelper<CommandBase, RepeatCommand> {

  Command::InterruptionBehavior GetInterruptionBehavior() const override;

+  void InitSendable(wpi::SendableBuilder& builder) override;
+
 private:
  std::unique_ptr<Command> m_command;
  bool m_ended;
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
@@ -10,11 +10,14 @@
 #endif

 #include <memory>
+#include <string>
 #include <type_traits>
 #include <unordered_map>
 #include <utility>
 #include <vector>

+#include <wpi/sendable/SendableBuilder.h>
+
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/PrintCommand.h"

@@ -122,6 +125,21 @@ class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {
    return m_interruptBehavior;
  }

+  void InitSendable(wpi::SendableBuilder& builder) override {
+    CommandBase::InitSendable(builder);
+
+    builder.AddStringProperty(
+        "selected",
+        [this] {
+          if (m_selectedCommand) {
+            return m_selectedCommand->GetName();
+          } else {
+            return std::string{"null"};
+          }
+        },
+        nullptr);
+  }
+
 protected:
  std::unique_ptr<Command> TransferOwnership() && override {
    return std::make_unique<SelectCommand>(std::move(*this));
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
@@ -91,6 +91,8 @@ class SequentialCommandGroup

  Command::InterruptionBehavior GetInterruptionBehavior() const override;

+  void InitSendable(wpi::SendableBuilder& builder) override;
+
 private:
  void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;

--- a/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
@@ -40,6 +40,8 @@ class WaitCommand : public CommandHelper<CommandBase, WaitCommand> {

  bool RunsWhenDisabled() const override;

+  void InitSendable(wpi::SendableBuilder& builder) override;
+
 protected:
  frc::Timer m_timer;

--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
@@ -291,4 +291,12 @@ class CommandDecoratorTest extends CommandTestBase {
      assertEquals(2, second.get());
    }
  }
+
+  @Test
+  void withNameTest() {
+    InstantCommand command = new InstantCommand();
+    String name = "Named";
+    Command named = command.withName(name);
+    assertEquals(name, named.getName());
+  }
 }
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
@@ -198,3 +198,10 @@ TEST_F(CommandDecoratorTest, HandleInterrupt) {
  // if `second == 1`, the second lambda ran before the first one
  EXPECT_EQ(2, second);
 }
+
+TEST_F(CommandDecoratorTest, WithName) {
+  InstantCommand command;
+  std::string name{"Named"};
+  CommandPtr named = std::move(command).WithName(name);
+  EXPECT_EQ(name, named.get()->GetName());
+}