Merge branch 'main' into armFeedForwardCalculateOverload

.github/workflows/comment-command.yml

@@ -43,7 +43,7 @@ jobs:
           distribution: 'zulu'
           java-version: 17
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.33
+        run: pip3 install wpiformat==2024.34
       - name: Run wpiformat
         run: wpiformat
       - name: Run spotlessApply

.github/workflows/lint-format.yml

@@ -27,7 +27,7 @@ jobs:
         with:
           python-version: '3.10'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.33
+        run: pip3 install wpiformat==2024.34
       - name: Run
         run: wpiformat
       - name: Check output
@@ -66,7 +66,7 @@ jobs:
         with:
           python-version: '3.10'
       - name: Install wpiformat
-        run: pip3 install wpiformat
+        run: pip3 install wpiformat==2024.34
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java

@@ -35,7 +35,9 @@ public enum AprilTagFields {
    *
    * @return AprilTagFieldLayout of the field
    * @throws UncheckedIOException If the layout does not exist
+   * @deprecated Use {@link AprilTagFieldLayout#loadField(AprilTagFields)} instead.
    */
+  @Deprecated(forRemoval = true, since = "2025")
   public AprilTagFieldLayout loadAprilTagLayoutField() {
     return AprilTagFieldLayout.loadField(this);
   }

apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h

@@ -166,7 +166,9 @@ void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
  *
  * @param field The predefined field
  * @return AprilTagFieldLayout of the field
+ * @deprecated Use AprilTagFieldLayout::LoadField() instead
  */
+[[deprecated("Use AprilTagFieldLayout::LoadField() instead")]]
 WPILIB_DLLEXPORT AprilTagFieldLayout
 LoadAprilTagLayoutField(AprilTagField field);
 

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

@@ -349,11 +349,16 @@ public RepeatCommand repeatedly() {
   }
 
   /**
-   * Decorates this command to run "by proxy" by wrapping it in a {@link ProxyCommand}. This is
-   * useful for "forking off" from command compositions when the user does not wish to extend the
-   * command's requirements to the entire command composition.
+   * Decorates this command to run "by proxy" by wrapping it in a {@link ProxyCommand}. Use this for
+   * "forking off" from command compositions when the user does not wish to extend the command's
+   * requirements to the entire command composition. ProxyCommand has unique implications and
+   * semantics, see the WPILib docs for a full explanation.
    *
    * @return the decorated command
+   * @see ProxyCommand
+   * @see <a
+   *     href="https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html#scheduling-other-commands">WPILib
+   *     docs</a>
    */
   public ProxyCommand asProxy() {
     return new ProxyCommand(this);

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

@@ -11,9 +11,9 @@
 import java.util.function.Supplier;
 
 /**
- * Defers Command construction to runtime. Runs the command returned by the supplier when this
- * command is initialized, and ends when it ends. Useful for performing runtime tasks before
- * creating a new command. If this command is interrupted, it will cancel the command.
+ * Defers Command construction to runtime. Runs the command returned by a supplier when this command
+ * is initialized, and ends when it ends. Useful for performing runtime tasks before creating a new
+ * command. If this command is interrupted, it will cancel the command.
  *
  * <p>Note that the supplier <i>must</i> create a new Command each call. For selecting one of a
  * preallocated set of commands, use {@link SelectCommand}.
@@ -28,9 +28,10 @@ public class DeferredCommand extends Command {
   private Command m_command = m_nullCommand;
 
   /**
-   * Creates a new DeferredCommand that runs the supplied command when initialized, and ends when it
-   * ends. Useful for lazily creating commands at runtime. The {@link Supplier} will be called each
-   * time this command is initialized. The Supplier <i>must</i> create a new Command each call.
+   * Creates a new DeferredCommand that directly runs the supplied command when initialized, and
+   * ends when it ends. Useful for lazily creating commands when the DeferredCommand is initialized,
+   * such as if the supplied command depends on runtime state. The {@link Supplier} will be called
+   * each time this command is initialized. The Supplier <i>must</i> create a new Command each call.
    *
    * @param supplier The command supplier
    * @param requirements The command requirements. This is a {@link Set} to prevent accidental

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

@@ -10,8 +10,13 @@
 import java.util.function.Supplier;
 
 /**
- * Schedules the given command when this command is initialized, and ends when it ends. Useful for
- * forking off from CommandGroups. If this command is interrupted, it will cancel the command.
+ * Schedules a given command when this command is initialized and ends when it ends, but does not
+ * directly run it. Use this for including a command in a composition without adding its
+ * requirements, <strong>but only if you know what you are doing. If you are unsure, see <a
+ * href="https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html#scheduling-other-commands">the
+ * WPILib docs</a> for a complete explanation of proxy semantics.</strong> Do not proxy a command
+ * from a subsystem already required by the composition, or else the composition will cancel itself
+ * when the proxy is reached. If this command is interrupted, it will cancel the command.
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
@@ -21,9 +26,12 @@ public class ProxyCommand extends Command {
 
   /**
    * Creates a new ProxyCommand that schedules the supplied command when initialized, and ends when
-   * it is no longer scheduled. Useful for lazily creating commands at runtime.
+   * it is no longer scheduled. Use this for lazily creating <strong>proxied</strong> commands at
+   * runtime. Proxying should only be done to escape from composition requirement semantics, so if
+   * only initialization time command construction is needed, use {@link DeferredCommand} instead.
    *
    * @param supplier the command supplier
+   * @see DeferredCommand
    */
   public ProxyCommand(Supplier<Command> supplier) {
     m_supplier = requireNonNullParam(supplier, "supplier", "ProxyCommand");

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

@@ -22,7 +22,6 @@ public class TrapezoidProfileCommand extends Command {
   private final Consumer<State> m_output;
   private final Supplier<State> m_goal;
   private final Supplier<State> m_currentState;
-  private final boolean m_newAPI; // TODO: Remove
   private final Timer m_timer = new Timer();
 
   /**
@@ -46,29 +45,6 @@ public TrapezoidProfileCommand(
     m_output = requireNonNullParam(output, "output", "TrapezoidProfileCommand");
     m_goal = goal;
     m_currentState = currentState;
-    m_newAPI = true;
-    addRequirements(requirements);
-  }
-
-  /**
-   * Creates a new TrapezoidProfileCommand that will execute the given {@link TrapezoidProfile}.
-   * Output will be piped to the provided consumer function.
-   *
-   * @param profile The motion profile to execute.
-   * @param output The consumer for the profile output.
-   * @param requirements The subsystems required by this command.
-   * @deprecated The new constructor allows you to pass in a supplier for desired and current state.
-   *     This allows you to change goals at runtime.
-   */
-  @Deprecated(since = "2024", forRemoval = true)
-  @SuppressWarnings("this-escape")
-  public TrapezoidProfileCommand(
-      TrapezoidProfile profile, Consumer<State> output, Subsystem... requirements) {
-    m_profile = requireNonNullParam(profile, "profile", "TrapezoidProfileCommand");
-    m_output = requireNonNullParam(output, "output", "TrapezoidProfileCommand");
-    m_newAPI = false;
-    m_goal = null;
-    m_currentState = null;
     addRequirements(requirements);
   }
 
@@ -80,11 +56,7 @@ public void initialize() {
   @Override
   @SuppressWarnings("removal")
   public void execute() {
-    if (m_newAPI) {
-      m_output.accept(m_profile.calculate(m_timer.get(), m_currentState.get(), m_goal.get()));
-    } else {
-      m_output.accept(m_profile.calculate(m_timer.get()));
-    }
+    m_output.accept(m_profile.calculate(m_timer.get(), m_currentState.get(), m_goal.get()));
   }
 
   @Override

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

@@ -4,6 +4,7 @@
 
 #include "frc2/command/ProxyCommand.h"
 
+#include <fmt/core.h>
 #include <wpi/sendable/SendableBuilder.h>
 
 using namespace frc2;
@@ -20,11 +21,11 @@ ProxyCommand::ProxyCommand(wpi::unique_function<CommandPtr()> supplier)
 
 ProxyCommand::ProxyCommand(Command* command)
     : ProxyCommand([command] { return command; }) {
-  SetName(std::string{"Proxy("}.append(command->GetName()).append(")"));
+  SetName(fmt::format("Proxy({})", command->GetName()));
 }
 
 ProxyCommand::ProxyCommand(std::unique_ptr<Command> command) {
-  SetName(std::string{"Proxy("}.append(command->GetName()).append(")"));
+  SetName(fmt::format("Proxy({})", command->GetName()));
   m_supplier = [command = std::move(command)] { return command.get(); };
 }
 

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

@@ -249,14 +249,17 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
   CommandPtr Repeatedly() &&;
 
   /**
-   * Decorates this command to run "by proxy" by wrapping it in a
-   * ProxyCommand. This is useful for "forking off" from command groups
-   * when the user does not wish to extend the command's requirements to the
-   * entire command group.
+   * Decorates this command to run "by proxy" by wrapping it in a ProxyCommand.
+   * Use this for "forking off" from command compositions when the user does not
+   * wish to extend the command's requirements to the entire command
+   * composition. ProxyCommand has unique implications and semantics, see <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html#scheduling-other-commands">the
+   * WPILib docs</a> for a full explanation.
    *
    * <p>This overload transfers command ownership to the returned CommandPtr.
    *
    * @return the decorated command
+   * @see ProxyCommand
    */
   [[nodiscard]]
   CommandPtr AsProxy() &&;

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

@@ -7,7 +7,6 @@
 #include <concepts>
 #include <functional>
 #include <memory>
-#include <optional>
 #include <string>
 #include <utility>
 #include <vector>
@@ -51,12 +50,15 @@ class CommandPtr final {
   CommandPtr Repeatedly() &&;
 
   /**
-   * Decorates this command to run "by proxy" by wrapping it in a
-   * ProxyCommand. This is useful for "forking off" from command groups
-   * when the user does not wish to extend the command's requirements to the
-   * entire command group.
+   * Decorates this command to run "by proxy" by wrapping it in a ProxyCommand.
+   * Use this for "forking off" from command compositions when the user does not
+   * wish to extend the command's requirements to the entire command
+   * composition. ProxyCommand has unique implications and semantics, see <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html#scheduling-other-commands">the
+   * WPILib docs</a> for a full explanation.
    *
    * @return the decorated command
+   * @see ProxyCommand
    */
   [[nodiscard]]
   CommandPtr AsProxy() &&;

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

@@ -16,7 +16,7 @@
 
 namespace frc2 {
 /**
- * Defers Command construction to runtime. Runs the command returned by the
+ * Defers Command construction to runtime. Runs the command returned by a
  * supplier when this command is initialized, and ends when it ends. Useful for
  * performing runtime tasks before creating a new command. If this command is
  * interrupted, it will cancel the command.
@@ -29,9 +29,10 @@ namespace frc2 {
 class DeferredCommand : public CommandHelper<Command, DeferredCommand> {
  public:
   /**
-   * Creates a new DeferredCommand that runs the supplied command when
-   * initialized, and ends when it ends. Useful for lazily
-   * creating commands at runtime. The supplier will be called each time this
+   * Creates a new DeferredCommand that directly runs the supplied command when
+   * initialized, and ends when it ends. Useful for lazily creating commands
+   * when the DeferredCommand is initialized, such as if the supplied command
+   * depends on runtime state. The supplier will be called each time this
    * command is initialized. The supplier <i>must</i> create a new Command each
    * call.
    *

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

@@ -9,7 +9,6 @@
 #pragma warning(disable : 4521)
 #endif
 
-#include <concepts>
 #include <memory>
 #include <type_traits>
 #include <utility>

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

@@ -9,7 +9,6 @@
 #pragma warning(disable : 4521)
 #endif
 
-#include <concepts>
 #include <memory>
 #include <type_traits>
 #include <utility>

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

@@ -13,29 +13,43 @@
 
 namespace frc2 {
 /**
- * Schedules the given command when this command is initialized, and ends when
- * it ends. Useful for forking off from CommandGroups. If this command is
- * interrupted, it will cancel the command.
+ * Schedules a given command when this command is initialized and ends when it
+ * ends, but does not directly run it. Use this for including a command in a
+ * composition without adding its requirements, <strong>but only if you know
+ * what you are doing. If you are unsure, see <a
+ * href="https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html#scheduling-other-commands">the
+ * WPILib docs</a> for a complete explanation of proxy semantics.</strong> Do
+ * not proxy a command from a subsystem already required by the composition, or
+ * else the composition will cancel itself when the proxy is reached. If this
+ * command is interrupted, it will cancel the command.
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
 class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
  public:
   /**
    * Creates a new ProxyCommand that schedules the supplied command when
-   * initialized, and ends when it is no longer scheduled. Useful for lazily
-   * creating commands at runtime.
+   * initialized, and ends when it is no longer scheduled. Use this for lazily
+   * creating <strong>proxied</strong> commands at runtime. Proxying should only
+   * be done to escape from composition requirement semantics, so if only
+   * initialization time command construction is needed, use {@link
+   * DeferredCommand} instead.
    *
    * @param supplier the command supplier
+   * @see DeferredCommand
    */
   explicit ProxyCommand(wpi::unique_function<Command*()> supplier);
 
   /**
    * Creates a new ProxyCommand that schedules the supplied command when
-   * initialized, and ends when it is no longer scheduled. Useful for lazily
-   * creating commands at runtime.
+   * initialized, and ends when it is no longer scheduled. Use this for lazily
+   * creating <strong>proxied</strong> commands at runtime. Proxying should only
+   * be done to escape from composition requirement semantics, so if only
+   * initialization time command construction is needed, use {@link
+   * DeferredCommand} instead.
    *
    * @param supplier the command supplier
+   * @see DeferredCommand
    */
   explicit ProxyCommand(wpi::unique_function<CommandPtr()> supplier);
 

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

@@ -9,7 +9,6 @@
 #pragma warning(disable : 4521)
 #endif
 
-#include <concepts>
 #include <limits>
 #include <memory>
 #include <type_traits>

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

@@ -52,28 +52,6 @@ class TrapezoidProfileCommand
         m_goal(goal),
         m_currentState(currentState) {
     this->AddRequirements(requirements);
-    m_newAPI = true;
-  }
-
-  /**
-   * Creates a new TrapezoidProfileCommand that will execute the given
-   * TrapezoidalProfile. Output will be piped to the provided consumer function.
-   *
-   * @param profile      The motion profile to execute.
-   * @param output       The consumer for the profile output.
-   * @param requirements The list of requirements.
-   * @deprecated The new constructor allows you to pass in a supplier for
-   * desired and current state. This allows you to change goals at runtime.
-   */
-  [[deprecated(
-      "The new constructor allows you to pass in a supplier for desired and "
-      "current state. This allows you to change goals at runtime.")]]
-  TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
-                          std::function<void(State)> output,
-                          Requirements requirements = {})
-      : m_profile(profile), m_output(output) {
-    this->AddRequirements(requirements);
-    m_newAPI = false;
   }
 
   void Initialize() override { m_timer.Restart(); }
@@ -93,7 +71,6 @@ class TrapezoidProfileCommand
   std::function<void(State)> m_output;
   std::function<State()> m_goal;
   std::function<State()> m_currentState;
-  bool m_newAPI;  // TODO: Remove
   frc::Timer m_timer;
 };
 

wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp

@@ -5,12 +5,9 @@
 #include <frc/simulation/SimHooks.h>
 
 #include "CommandTestBase.h"
-#include "frc2/command/ConditionalCommand.h"
 #include "frc2/command/FunctionalCommand.h"
 #include "frc2/command/InstantCommand.h"
-#include "frc2/command/ParallelRaceGroup.h"
 #include "frc2/command/RunCommand.h"
-#include "frc2/command/SequentialCommandGroup.h"
 
 using namespace frc2;
 class CommandDecoratorTest : public CommandTestBase {};