Merge commit '65487119a64417443618623940a7856e480bbdbb' into upstream

Author: virtuald

commands2/src/cpp/frc2/command/Command.cpp

@@ -37,6 +37,13 @@ ParallelRaceGroup Command::WithTimeout(units::second_t duration) && {
   return ParallelRaceGroup(std::move(temp));
 }
 
+ParallelRaceGroup Command::Until(std::function<bool()> condition) && {
+  std::vector<std::unique_ptr<Command>> temp;
+  temp.emplace_back(std::make_unique<WaitUntilCommand>(std::move(condition)));
+  temp.emplace_back(std::move(*this).TransferOwnership());
+  return ParallelRaceGroup(std::move(temp));
+}
+
 ParallelRaceGroup Command::WithInterrupt(std::function<bool()> condition) && {
   std::vector<std::unique_ptr<Command>> temp;
   temp.emplace_back(std::make_unique<WaitUntilCommand>(std::move(condition)));

commands2/src/include/frc2/command/Command.h

@@ -111,6 +111,17 @@ class Command {
    */
   virtual ParallelRaceGroup WithTimeout(units::second_t duration) &&;
 
+  /**
+   * Decorates this command with an interrupt condition.  If the specified
+   * condition becomes true before the command finishes normally, the command
+   * will be interrupted and un-scheduled. Note that this only applies to the
+   * command returned by this method; the calling command is not itself changed.
+   *
+   * @param condition the interrupt condition
+   * @return the command with the interrupt condition added
+   */
+  virtual ParallelRaceGroup Until(std::function<bool()> condition) &&;
+
   /**
    * Decorates this command with an interrupt condition.  If the specified
    * condition becomes true before the command finishes normally, the command

commands2/src/include/frc2/command/NotifierCommand.h

@@ -18,7 +18,7 @@ namespace frc2 {
 /**
  * A command that starts a notifier to run the given runnable periodically in a
  * separate thread. Has no end condition as-is; either subclass it or use
- * Command::WithTimeout(double) or Command::WithInterrupt(BooleanSupplier) to
+ * Command::WithTimeout(double) or Command::Until(BooleanSupplier) to
  * give it one.
  *
  * <p>WARNING: Do not use this class unless you are confident in your ability to

commands2/src/include/frc2/command/RunCommand.h

@@ -16,7 +16,7 @@ namespace frc2 {
 /**
  * A command that runs a Runnable continuously.  Has no end condition as-is;
  * either subclass it or use Command.WithTimeout() or
- * Command.WithInterrupt() to give it one.  If you only wish
+ * Command.Until() to give it one.  If you only wish
  * to execute a Runnable once, use InstantCommand.
  *
  * This class is provided by the NewCommands VendorDep

commands2/src/include/frc2/command/StartEndCommand.h

@@ -17,7 +17,7 @@ namespace frc2 {
  * A command that runs a given runnable when it is initialized, and another
  * runnable when it ends. Useful for running and then stopping a motor, or
  * extending and then retracting a solenoid. Has no end condition as-is; either
- * subclass it or use Command.WithTimeout() or Command.WithInterrupt() to give
+ * subclass it or use Command.WithTimeout() or Command.Until() to give
  * it one.
  *
  * This class is provided by the NewCommands VendorDep