[commands] Enhance Command Sendable implementations (#4822)

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

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;

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;
 

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;

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;

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;

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));

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;
 

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;