Port Commands to Pure Python

[TheTripleV]

No description provided.

[auscompgeek]

Please create a separate PR with the tests.

[virtuald]

It's weird that this is assigned here instead of __new__, but I see why.

[TheTripleV]

Yeah, I can only get rid of it if I force the constructor to crash.

[TheTripleV]

Added a run of the tests with wrapped commands to CI.

To make more tests pass, I put in some forwards compatibility changes at https://github.com/TheTripleV/robotpy-commands-v2/blob/mclaren/tests/util.py#L31. Pure commands still works with the old syntax is most cases.

breaking changes

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CommandBase and Command were merged into a unified Command.
SubsystemBase and Subsystem were merged into a unified Subsystem. This is breaking but is a 2024 change across cpp/java too.

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Methods like Command.beforeStarting now take a Command, not a function. I like the whole command framework taking Commands. When I add in some coroutine support after this PR gets merged, I'll inevitably add function support in a ton of places.

CommandScheduler.schedule has been changed from

1. (self: ..., command: Command) -> None
2. (self: ..., commands: List[Command]) -> None

to
(self: ..., *commands: Command) -> None

In fact, all of the CommandGroups now use *commands. I did make them silently accept lists of commands even though they don't advertise it.

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SelectCommand's constructor has been changed from
(selector, list[tuple[object, Command]]) to (dict[Hashable, Command], selector).
Idk why Java and C++ both have different order arguments but I moved to Java. I'd rather have consistency with Java than C++.

[lospugs]

Ran my tests, things look good for me. From an existing example we had to teach students in 2023, it's only four-ish sets of changes. My workflow:
1- Checkout this repo
1- Create virtualenv
1- Run setup.py install (inside virtual env)
1- Verify sys.path is proper
1- Implement examples with both inlined and class definition files
1- Simulate code to test

Changes that are forced with this PR:
1- Change any reference from CommandBase to Command
1- Change any reference from SubsystemBase to Subsystem
1- Change any in-line method lambdas defined inside subsystem file from [self] as a list, to just self
1- Change button bindings in CommandXboxController from upper case button letters to lower case. (e.g. A() -> a() )

More verbose info in the CD thread:
https://www.chiefdelphi.com/t/robotpy-2024-beta/443117/11?u=newtoncrosby

[virtuald]

A version of this has been merged to main and pushed to pypi as version 2024.0.0b3. There are a lot of missing pieces, tracking those at #28