[command] Add ignoringDisable decorator (#4305)

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

@@ -315,6 +315,21 @@ public interface Command {
     return new ConditionalCommand(new InstantCommand(), this, condition);
   }
 
+  /**
+   * Decorates this command to run or stop when disabled.
+   *
+   * @param doesRunWhenDisabled true to run when disabled.
+   * @return the decorated command
+   */
+  default WrapperCommand ignoringDisable(boolean doesRunWhenDisabled) {
+    return new WrapperCommand(this) {
+      @Override
+      public boolean runsWhenDisabled() {
+        return doesRunWhenDisabled;
+      }
+    };
+  }
+
   /**
    * Schedules this command.
    *

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

@@ -0,0 +1,107 @@
+// 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;
+
+import java.util.Set;
+
+/**
+ * A class used internally to wrap commands while overriding a specific method; all other methods
+ * will call through to the wrapped command.
+ *
+ * <p>Wrapped commands may only be used through the wrapper, trying to directly schedule them or add
+ * them to a group will throw an exception.
+ */
+public abstract class WrapperCommand implements Command {
+  protected final Command m_command;
+
+  /**
+   * Wrap a command.
+   *
+   * @param command the command being wrapped. Trying to directly schedule this command or add it to
+   *     a group will throw an exception.
+   */
+  protected WrapperCommand(Command command) {
+    requireUngrouped(command);
+    registerGroupedCommands(command);
+    m_command = command;
+  }
+
+  /** The initial subroutine of a command. Called once when the command is initially scheduled. */
+  @Override
+  public void initialize() {
+    m_command.initialize();
+  }
+
+  /** The main body of a command. Called repeatedly while the command is scheduled. */
+  @Override
+  public void execute() {
+    m_command.execute();
+  }
+
+  /**
+   * The action to take when the command ends. Called when either the command finishes normally, or
+   * when it interrupted/canceled.
+   *
+   * <p>Do not schedule commands here that share requirements with this command. Use {@link
+   * #andThen(Command...)} instead.
+   *
+   * @param interrupted whether the command was interrupted/canceled
+   */
+  @Override
+  public void end(boolean interrupted) {
+    m_command.end(interrupted);
+  }
+
+  /**
+   * Whether the command has finished. Once a command finishes, the scheduler will call its end()
+   * method and un-schedule it.
+   *
+   * @return whether the command has finished.
+   */
+  @Override
+  public boolean isFinished() {
+    return m_command.isFinished();
+  }
+
+  /**
+   * Specifies the set of subsystems used by this command. Two commands cannot use the same
+   * subsystem at the same time. If the command is scheduled as interruptible and another command is
+   * scheduled that shares a requirement, the command will be interrupted. Else, the command will
+   * not be scheduled. If no subsystems are required, return an empty set.
+   *
+   * <p>Note: it is recommended that user implementations contain the requirements as a field, and
+   * return that field here, rather than allocating a new set every time this is called.
+   *
+   * @return the set of subsystems that are required
+   */
+  @Override
+  public Set<Subsystem> getRequirements() {
+    return m_command.getRequirements();
+  }
+
+  /**
+   * Whether the given command should run when the robot is disabled. Override to return true if the
+   * command should run when disabled.
+   *
+   * @return whether the command should run when the robot is disabled
+   */
+  @Override
+  public boolean runsWhenDisabled() {
+    return m_command.runsWhenDisabled();
+  }
+
+  /**
+   * Gets the name of this Command.
+   *
+   * @return Name
+   */
+  @Override
+  public String getName() {
+    return m_command.getName();
+  }
+}