Validate various commands with minor adjustments

- Update docs
- Change member variables to be prefixed with _
- Add initSendable

Author: virtuald

Diff for: commands2/exceptions.py

@@ -1,3 +1,4 @@
+# notrack
 class IllegalCommandUse(Exception):
     """
     This exception is raised when a command is used in a way that it shouldn't be.

Diff for: commands2/functionalcommand.py

@@ -1,3 +1,4 @@
+# validated: 2024-01-19 DS 6e58db398d63 FunctionalCommand.java
 from __future__ import annotations
 
 from typing import Any, Callable
@@ -11,7 +12,8 @@ class FunctionalCommand(Command):
     A command that allows the user to pass in functions for each of the basic command methods through
     the constructor. Useful for inline definitions of complex commands - note, however, that if a
     command is beyond a certain complexity it is usually better practice to write a proper class for
-    it than to inline it."""
+    it than to inline it.
+    """
 
     def __init__(
         self,
@@ -28,7 +30,8 @@ def __init__(
         :param onExecute: the function to run on command execution
         :param onEnd: the function to run on command end
         :param isFinished: the function that determines whether the command has finished
-        :param requirements: the subsystems required by this command"""
+        :param requirements: the subsystems required by this command
+        """
         super().__init__()
 
         assert callable(onInit)

Diff for: commands2/instantcommand.py

@@ -1,3 +1,4 @@
+# validated: 2024-01-19 DS 5cf961edb973 InstantCommand.java
 from __future__ import annotations
 
 from typing import Callable, Optional
@@ -9,17 +10,19 @@
 class InstantCommand(FunctionalCommand):
     """
     A Command that runs instantly; it will initialize, execute once, and end on the same iteration of
-    the scheduler. Users can either pass in a Runnable and a set of requirements, or else subclass
-    this command if desired."""
+    the scheduler. Users can either pass in a Callable and a set of requirements, or else subclass
+    this command if desired.
+    """
 
     def __init__(
         self, toRun: Optional[Callable[[], None]] = None, *requirements: Subsystem
     ):
         """
-        Creates a new InstantCommand that runs the given Runnable with the given requirements.
+        Creates a new InstantCommand that runs the given Callable with the given requirements.
 
-        :param toRun: the Runnable to run
-        :param requirements: the subsystems required by this command"""
+        :param toRun: the Callable to run
+        :param requirements: the subsystems required by this command
+        """
         super().__init__(
             toRun or (lambda: None),
             lambda: None,

Diff for: commands2/notifiercommand.py

@@ -1,40 +1,44 @@
+# validated: 2024-01-19 DS 6e58db398d63 NotifierCommand.java
 from __future__ import annotations
 
 from typing import Any, Callable
 
 from wpilib import Notifier
+from wpimath import units
 
 from .command import Command
 from .subsystem import Subsystem
 
 
 class NotifierCommand(Command):
     """
-    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 {@link
-    Command#until(java.util.function.BooleanSupplier)} to give it one.
+    A command that starts a notifier to run the given Callable periodically in a separate thread. Has
+    no end condition as-is; either subclass it or use :func:`commands2.Command.withTimeout` or :func:`commands2.Command.until` to give it one.
 
-    WARNING: Do not use this class unless you are confident in your ability to make the executed
-    code thread-safe. If you do not know what "thread-safe" means, that is a good sign that you
-    should not use this class."""
+    .. warning:: Do not use this class unless you are confident in your ability
+                 to make the executed code thread-safe. If you do not know what
+                 "thread-safe" means, that is a good sign that you should not use
+                 this class.
+    """
 
     def __init__(
-        self, toRun: Callable[[], Any], period: float, *requirements: Subsystem
+        self, toRun: Callable[[], Any], period: units.seconds, *requirements: Subsystem
     ):
         """
         Creates a new NotifierCommand.
 
-        :param toRun: the runnable for the notifier to run
+        :param toRun: the Callable for the notifier to run
         :param period: the period at which the notifier should run, in seconds
-        :param requirements: the subsystems required by this command"""
+        :param requirements: the subsystems required by this command
+        """
         super().__init__()
 
-        self.notifier = Notifier(toRun)
-        self.period = period
+        self._notifier = Notifier(toRun)
+        self._period = period
         self.addRequirements(*requirements)
 
     def initialize(self):
-        self.notifier.startPeriodic(self.period)
+        self._notifier.startPeriodic(self._period)
 
     def end(self, interrupted: bool):
-        self.notifier.stop()
+        self._notifier.stop()

Diff for: commands2/parallelcommandgroup.py

@@ -1,3 +1,4 @@
+# validated: 2024-01-19 DS aaea85ff1656 ParallelCommandGroup.java
 from __future__ import annotations
 
 from typing import Dict
@@ -14,22 +15,29 @@ class ParallelCommandGroup(Command):
 
     The rules for command compositions apply: command instances that are passed to it cannot be
     added to any other composition or scheduled individually, and the composition requires all
-    subsystems its components require."""
+    subsystems its components require.
+    """
 
     def __init__(self, *commands: Command):
         """
         Creates a new ParallelCommandGroup. The given commands will be executed simultaneously. The
         command composition will finish when the last command finishes. If the composition is
         interrupted, only the commands that are still running will be interrupted.
 
-        :param commands: the commands to include in this composition."""
+        :param commands: the commands to include in this composition.
+        """
         super().__init__()
         self._commands: Dict[Command, bool] = {}
         self._runsWhenDisabled = True
         self._interruptBehavior = InterruptionBehavior.kCancelIncoming
         self.addCommands(*commands)
 
     def addCommands(self, *commands: Command):
+        """
+        Adds the given commands to the group.
+
+        :param commands: Commands to add to the group
+        """
         commands = flatten_args_commands(commands)
         if True in self._commands.values():
             raise IllegalCommandUse(

Diff for: commands2/paralleldeadlinegroup.py

@@ -1,7 +1,10 @@
+# validated: 2024-01-19 DS e07de37e64f2 ParallelDeadlineGroup.java
 from __future__ import annotations
 
 from typing import Dict
 
+from wpiutil import SendableBuilder
+
 from .command import Command, InterruptionBehavior
 from .commandscheduler import CommandScheduler
 from .exceptions import IllegalCommandUse
@@ -10,35 +13,66 @@
 
 class ParallelDeadlineGroup(Command):
     """
-    A command composition that runs one of a selection of commands, either using a selector and a key
-    to command mapping, or a supplier that returns the command directly at runtime.
+    A command composition that runs a set of commands in parallel, ending only when a specific
+    command (the "deadline") ends, interrupting all other commands that are still running at that
+    point.
 
     The rules for command compositions apply: command instances that are passed to it cannot be
     added to any other composition or scheduled individually, and the composition requires all
-    subsystems its components require."""
+    subsystems its components require.
+    """
 
     def __init__(self, deadline: Command, *commands: Command):
         """
-        Creates a new SelectCommand.
+        Creates a new ParallelDeadlineGroup. The given commands (including the
+        deadline) will be executed simultaneously. The composition will finish when
+        the deadline finishes, interrupting all other still-running commands. If
+        the composition is interrupted, only the commands still running will be
+        interrupted.
+
+        :param deadline: the command that determines when the composition ends
+        :param commands: the commands to be executed
 
-        :param commands: the map of commands to choose from
-        :param selector: the selector to determine which command to run"""
+        :raises IllegalCommandUse: if the deadline command is also in the otherCommands argument
+        """
         super().__init__()
         self._commands: Dict[Command, bool] = {}
         self._runsWhenDisabled = True
         self._finished = True
-        self._deadline = deadline
         self._interruptBehavior = InterruptionBehavior.kCancelIncoming
         self.addCommands(*commands)
-        if deadline not in self._commands:
-            self.addCommands(deadline)
+        self.setDeadline(deadline)
 
     def setDeadline(self, deadline: Command):
-        if deadline not in self._commands:
-            self.addCommands(deadline)
+        """
+        Sets the deadline to the given command. The deadline is added to the group if it is not already
+        contained.
+
+        :param deadline: the command that determines when the group ends
+
+        :raises IllegalCommandUse: if the deadline command is already in the composition
+        """
+
+        # use getattr here because deadline not set in constructor
+        isAlreadyDeadline = deadline == getattr(self, "_deadline", None)
+        if isAlreadyDeadline:
+            return
+
+        if deadline in self._commands:
+            raise IllegalCommandUse(
+                f"The deadline command cannot also be in the other commands!"
+            )
+        self.addCommands(deadline)
         self._deadline = deadline
 
     def addCommands(self, *commands: Command):
+        """
+        Adds the given commands to the group.
+
+        :param commands: Commands to add to the group.
+
+        :raises IllegalCommandUse: if the deadline command is already in the composition
+        """
         commands = flatten_args_commands(commands)
         if not self._finished:
             raise IllegalCommandUse(
@@ -50,7 +84,7 @@ def addCommands(self, *commands: Command):
         for command in commands:
             if not command.getRequirements().isdisjoint(self.requirements):
                 raise IllegalCommandUse(
-                    "Multiple comands in a parallel composition cannot require the same subsystems."
+                    "Multiple commands in a parallel composition cannot require the same subsystems."
                 )
 
             self._commands[command] = False
@@ -94,3 +128,10 @@ def runsWhenDisabled(self) -> bool:
 
     def getInterruptionBehavior(self) -> InterruptionBehavior:
         return self._interruptBehavior
+
+    def initSendable(self, builder: SendableBuilder):
+        super().initSendable(builder)
+
+        builder.addStringProperty(
+            "deadline", lambda: self._deadline.getName(), lambda _: None
+        )

Diff for: commands2/parallelracegroup.py

@@ -1,3 +1,4 @@
+# validated: 2024-01-19 DS aaea85ff1656 ParallelRaceGroup.java
 from __future__ import annotations
 
 from typing import Set
@@ -15,23 +16,30 @@ class ParallelRaceGroup(Command):
 
     The rules for command compositions apply: command instances that are passed to it cannot be
     added to any other composition or scheduled individually, and the composition requires all
-    subsystems its components require."""
+    subsystems its components require.
+    """
 
     def __init__(self, *commands: Command):
         """
         Creates a new ParallelCommandRace. The given commands will be executed simultaneously, and will
         "race to the finish" - the first command to finish ends the entire command, with all other
         commands being interrupted.
 
-        :param commands: the commands to include in this composition."""
+        :param commands: the commands to include in this composition.
+        """
         super().__init__()
         self._commands: Set[Command] = set()
         self._runsWhenDisabled = True
-        self._interruptBehavior = InterruptionBehavior.kCancelIncoming
         self._finished = True
+        self._interruptBehavior = InterruptionBehavior.kCancelIncoming
         self.addCommands(*commands)
 
     def addCommands(self, *commands: Command):
+        """
+        Adds the given commands to the group.
+
+        :param commands: Commands to add to the group.
+        """
         commands = flatten_args_commands(commands)
         if not self._finished:
             raise IllegalCommandUse(

Diff for: commands2/pidcommand.py

@@ -1,3 +1,4 @@
+# validated: 2024-01-19 DS f29a7d2e501b PIDCommand.java
 # 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.
@@ -13,7 +14,7 @@
 
 class PIDCommand(Command):
     """
-    A command that controls an output with a PIDController. Runs forever by default - to add
+    A command that controls an output with a :class:`wpimath.controller.PIDController`. Runs forever by default - to add
     exit conditions and/or other behavior, subclass this class. The controller calculation and output
     are performed synchronously in the command's execute() method.
     """
@@ -27,7 +28,7 @@ def __init__(
         *requirements: Subsystem,
     ):
         """
-        Creates a new PIDCommand, which controls the given output with a PIDController.
+        Creates a new PIDCommand, which controls the given output with a :class:`wpimath.controller.PIDController`.
 
         :param controller: the controller that controls the output.
         :param measurementSource: the measurement of the process variable

Diff for: commands2/pidsubsystem.py

@@ -1,3 +1,4 @@
+# validated: 2024-01-19 DS f29a7d2e501b PIDSubsystem.java
 # 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.
@@ -10,7 +11,7 @@
 
 class PIDSubsystem(Subsystem):
     """
-    A subsystem that uses a {@link PIDController} to control an output. The
+    A subsystem that uses a :class:`wpimath.controller.PIDController` to control an output. The
     controller is run synchronously from the subsystem's periodic() method.
     """
 

Diff for: commands2/printcommand.py

@@ -1,17 +1,20 @@
+# validated: 2024-01-19 DS 8ac45f20bb47 PrintCommand.java
 from __future__ import annotations
 
 from .instantcommand import InstantCommand
 
 
 class PrintCommand(InstantCommand):
     """
-    A command that prints a string when initialized."""
+    A command that prints a string when initialized.
+    """
 
     def __init__(self, message: str):
         """
         Creates a new a PrintCommand.
 
-        :param message: the message to print"""
+        :param message: the message to print
+        """
         super().__init__(lambda: print(message))
 
     def runsWhenDisabled(self) -> bool: