[command] Add ignoringDisable decorator (#4305)

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