[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();
+}