[command] Add ignoringDisable decorator (#4305)

wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp

@@ -4,6 +4,7 @@
 
 #include "frc2/command/Command.h"
 
+#include "frc2/command/CommandHelper.h"
 #include "frc2/command/CommandScheduler.h"
 #include "frc2/command/ConditionalCommand.h"
 #include "frc2/command/EndlessCommand.h"
@@ -17,6 +18,7 @@
 #include "frc2/command/SequentialCommandGroup.h"
 #include "frc2/command/WaitCommand.h"
 #include "frc2/command/WaitUntilCommand.h"
+#include "frc2/command/WrapperCommand.h"
 
 using namespace frc2;
 
@@ -47,6 +49,24 @@ ParallelRaceGroup Command::Until(std::function<bool()> condition) && {
   return ParallelRaceGroup(std::move(temp));
 }
 
+std::unique_ptr<Command> Command::IgnoringDisable(bool doesRunWhenDisabled) && {
+  class RunsWhenDisabledCommand
+      : public CommandHelper<WrapperCommand, RunsWhenDisabledCommand> {
+   public:
+    RunsWhenDisabledCommand(std::unique_ptr<Command>&& command,
+                            bool doesRunWhenDisabled)
+        : CommandHelper(std::move(command)),
+          m_runsWhenDisabled(doesRunWhenDisabled) {}
+    bool RunsWhenDisabled() const override { return m_runsWhenDisabled; }
+
+   private:
+    bool m_runsWhenDisabled;
+  };
+
+  return std::make_unique<RunsWhenDisabledCommand>(
+      std::move(*this).TransferOwnership(), doesRunWhenDisabled);
+}
+
 ParallelRaceGroup Command::WithInterrupt(std::function<bool()> condition) && {
   std::vector<std::unique_ptr<Command>> temp;
   temp.emplace_back(std::make_unique<WaitUntilCommand>(std::move(condition)));

wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp

@@ -0,0 +1,35 @@
+// 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.
+
+#include "frc2/command/WrapperCommand.h"
+
+using namespace frc2;
+
+WrapperCommand::WrapperCommand(std::unique_ptr<Command>&& command) {
+  if (!CommandGroupBase::RequireUngrouped(*command)) {
+    return;
+  }
+  m_command = std::move(command);
+  m_command->SetGrouped(true);
+}
+
+void WrapperCommand::Initialize() {
+  m_command->Initialize();
+}
+
+void WrapperCommand::Execute() {
+  m_command->Execute();
+}
+
+bool WrapperCommand::IsFinished() {
+  return m_command->IsFinished();
+}
+
+void WrapperCommand::End(bool interrupted) {
+  m_command->End(interrupted);
+}
+
+bool WrapperCommand::RunsWhenDisabled() const {
+  return m_command->RunsWhenDisabled();
+}

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

@@ -229,6 +229,14 @@ class Command {
    */
   virtual ConditionalCommand Unless(std::function<bool()> condition) &&;
 
+  /**
+   * Decorates this command to run or stop when disabled.
+   *
+   * @param doesRunWhenDisabled true to run when disabled.
+   * @return the decorated command
+   */
+  virtual std::unique_ptr<Command> IgnoringDisable(bool doesRunWhenDisabled) &&;
+
   /**
    * Schedules this command.
    *

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

@@ -0,0 +1,74 @@
+// 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 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.
+ */
+class WrapperCommand : public CommandHelper<CommandBase, WrapperCommand> {
+ public:
+  /**
+   * 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.
+   */
+  explicit WrapperCommand(std::unique_ptr<Command>&& 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.
+   */
+  template <class T, typename = std::enable_if_t<std::is_base_of_v<
+                         Command, std::remove_reference_t<T>>>>
+  explicit WrapperCommand(T&& command)
+      : WrapperCommand(std::make_unique<std::remove_reference_t<T>>(
+            std::forward<T>(command))) {}
+
+  WrapperCommand(WrapperCommand&& other) = default;
+
+  // No copy constructors for command groups
+  WrapperCommand(const WrapperCommand& other) = delete;
+
+  // Prevent template expansion from emulating copy ctor
+  WrapperCommand(WrapperCommand&) = delete;
+
+  void Initialize() override;
+
+  void Execute() override;
+
+  bool IsFinished() override;
+
+  void End(bool interrupted) override;
+
+  bool RunsWhenDisabled() const override;
+
+ protected:
+  std::unique_ptr<Command> m_command;
+};
+}  // namespace frc2
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif