Make Command tests use command factories and decorators.

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java

@@ -23,7 +23,7 @@ void withTimeoutTest() {
     HAL.initialize(500, 0);
     SimHooks.pauseTiming();
     try (CommandScheduler scheduler = new CommandScheduler()) {
-      Command timeout = new RunCommand(() -> {}).withTimeout(0.1);
+      Command timeout = Commands.idle().withTimeout(0.1);
 
       scheduler.schedule(timeout);
       scheduler.run();
@@ -44,7 +44,7 @@ void untilTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {
       AtomicBoolean finish = new AtomicBoolean();
 
-      Command command = new RunCommand(() -> {}).until(finish::get);
+      Command command = Commands.idle().until(finish::get);
 
       scheduler.schedule(command);
       scheduler.run();
@@ -93,7 +93,7 @@ void onlyWhileTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {
       AtomicBoolean run = new AtomicBoolean(true);
 
-      Command command = new RunCommand(() -> {}).onlyWhile(run::get);
+      Command command = Commands.idle().onlyWhile(run::get);
 
       scheduler.schedule(command);
       scheduler.run();
@@ -140,7 +140,7 @@ void onlyWhileOrderTest() {
   @Test
   void ignoringDisableTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {
-      var command = new RunCommand(() -> {}).ignoringDisable(true);
+      var command = Commands.idle().ignoringDisable(true);
 
       setDSEnabled(false);
 
@@ -157,7 +157,7 @@ void beforeStartingTest() {
       AtomicBoolean finished = new AtomicBoolean();
       finished.set(false);
 
-      Command command = new InstantCommand().beforeStarting(() -> finished.set(true));
+      Command command = Commands.none().beforeStarting(() -> finished.set(true));
 
       scheduler.schedule(command);
 
@@ -178,7 +178,7 @@ void andThenLambdaTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {
       AtomicBoolean finished = new AtomicBoolean(false);
 
-      Command command = new InstantCommand().andThen(() -> finished.set(true));
+      Command command = Commands.none().andThen(() -> finished.set(true));
 
       scheduler.schedule(command);
 
@@ -199,8 +199,8 @@ void andThenTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {
       AtomicBoolean condition = new AtomicBoolean(false);
 
-      Command command1 = new InstantCommand();
-      Command command2 = new InstantCommand(() -> condition.set(true));
+      Command command1 = Commands.none();
+      Command command2 = Commands.runOnce(() -> condition.set(true));
       Command group = command1.andThen(command2);
 
       scheduler.schedule(group);
@@ -222,9 +222,9 @@ void deadlineForTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {
       AtomicBoolean finish = new AtomicBoolean(false);
 
-      Command dictator = new WaitUntilCommand(finish::get);
-      Command endsBefore = new InstantCommand();
-      Command endsAfter = new WaitUntilCommand(() -> false);
+      Command dictator = Commands.waitUntil(finish::get);
+      Command endsBefore = Commands.none();
+      Command endsAfter = Commands.idle();
 
       Command group = dictator.deadlineFor(endsBefore, endsAfter);
 
@@ -276,8 +276,8 @@ void alongWithTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {
       AtomicBoolean finish = new AtomicBoolean(false);
 
-      Command command1 = new WaitUntilCommand(finish::get);
-      Command command2 = new InstantCommand();
+      Command command1 = Commands.waitUntil(finish::get);
+      Command command2 = Commands.none();
 
       Command group = command1.alongWith(command2);
 
@@ -326,8 +326,8 @@ void alongWithOrderTest() {
   @Test
   void raceWithTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {
-      Command command1 = new WaitUntilCommand(() -> false);
-      Command command2 = new InstantCommand();
+      Command command1 = Commands.idle();
+      Command command2 = Commands.none();
 
       Command group = command1.raceWith(command2);
 
@@ -375,7 +375,7 @@ void unlessTest() {
       AtomicBoolean hasRun = new AtomicBoolean(false);
       AtomicBoolean unlessCondition = new AtomicBoolean(true);
 
-      Command command = new InstantCommand(() -> hasRun.set(true)).unless(unlessCondition::get);
+      Command command = Commands.runOnce(() -> hasRun.set(true)).unless(unlessCondition::get);
 
       scheduler.schedule(command);
       scheduler.run();
@@ -394,7 +394,7 @@ void onlyIfTest() {
       AtomicBoolean hasRun = new AtomicBoolean(false);
       AtomicBoolean onlyIfCondition = new AtomicBoolean(false);
 
-      Command command = new InstantCommand(() -> hasRun.set(true)).onlyIf(onlyIfCondition::get);
+      Command command = Commands.runOnce(() -> hasRun.set(true)).onlyIf(onlyIfCondition::get);
 
       scheduler.schedule(command);
       scheduler.run();
@@ -480,7 +480,7 @@ void handleInterruptTest() {
 
   @Test
   void withNameTest() {
-    InstantCommand command = new InstantCommand();
+    Command command = Commands.none();
     String name = "Named";
     Command named = command.withName(name);
     assertEquals(name, named.getName());

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java

@@ -45,7 +45,7 @@ void requirementUninterruptibleTest() {
       Subsystem requirement = new SubsystemBase() {};
 
       Command notInterrupted =
-          new RunCommand(() -> {}, requirement)
+          Commands.idle(requirement)
               .withInterruptBehavior(Command.InterruptionBehavior.kCancelIncoming);
       MockCommandHolder interrupterHolder = new MockCommandHolder(true, requirement);
       Command interrupter = interrupterHolder.getMock();
@@ -63,7 +63,7 @@ void defaultCommandRequirementErrorTest() {
     try (CommandScheduler scheduler = new CommandScheduler()) {
       Subsystem system = new SubsystemBase() {};
 
-      Command missingRequirement = new WaitUntilCommand(() -> false);
+      Command missingRequirement = Commands.idle();
 
       assertThrows(
           IllegalArgumentException.class,

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java

@@ -74,34 +74,26 @@ static Stream<Arguments> interruptible() {
         arguments(
             "AllCancelSelf",
             InterruptionBehavior.kCancelSelf,
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelSelf),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelSelf),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelSelf),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelSelf),
             (BooleanSupplier) () -> true),
         arguments(
             "AllCancelIncoming",
             InterruptionBehavior.kCancelIncoming,
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
             (BooleanSupplier) () -> true),
         arguments(
             "OneCancelSelfOneIncoming",
             InterruptionBehavior.kCancelSelf,
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelSelf),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelSelf),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
             (BooleanSupplier) () -> true),
         arguments(
             "OneCancelIncomingOneSelf",
             InterruptionBehavior.kCancelSelf,
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelSelf),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelSelf),
             (BooleanSupplier) () -> true));
   }
 
@@ -122,26 +114,26 @@ static Stream<Arguments> runsWhenDisabled() {
         arguments(
             "AllFalse",
             false,
-            new WaitUntilCommand(() -> false).ignoringDisable(false),
-            new WaitUntilCommand(() -> false).ignoringDisable(false),
+            Commands.idle().ignoringDisable(false),
+            Commands.idle().ignoringDisable(false),
             (BooleanSupplier) () -> true),
         arguments(
             "AllTrue",
             true,
-            new WaitUntilCommand(() -> false).ignoringDisable(true),
-            new WaitUntilCommand(() -> false).ignoringDisable(true),
+            Commands.idle().ignoringDisable(true),
+            Commands.idle().ignoringDisable(true),
             (BooleanSupplier) () -> true),
         arguments(
             "OneTrueOneFalse",
             false,
-            new WaitUntilCommand(() -> false).ignoringDisable(true),
-            new WaitUntilCommand(() -> false).ignoringDisable(false),
+            Commands.idle().ignoringDisable(true),
+            Commands.idle().ignoringDisable(false),
             (BooleanSupplier) () -> true),
         arguments(
             "OneFalseOneTrue",
             false,
-            new WaitUntilCommand(() -> false).ignoringDisable(false),
-            new WaitUntilCommand(() -> false).ignoringDisable(true),
+            Commands.idle().ignoringDisable(false),
+            Commands.idle().ignoringDisable(true),
             (BooleanSupplier) () -> true));
   }
 

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MultiCompositionTestBase.java

@@ -27,39 +27,27 @@ static Stream<Arguments> interruptible() {
         arguments(
             "AllCancelSelf",
             InterruptionBehavior.kCancelSelf,
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelSelf),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelSelf),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelSelf)),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelSelf),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelSelf),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelSelf)),
         arguments(
             "AllCancelIncoming",
             InterruptionBehavior.kCancelIncoming,
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelIncoming)),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelIncoming)),
         arguments(
             "TwoCancelSelfOneIncoming",
             InterruptionBehavior.kCancelSelf,
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelSelf),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelSelf),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelIncoming)),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelSelf),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelSelf),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelIncoming)),
         arguments(
             "TwoCancelIncomingOneSelf",
             InterruptionBehavior.kCancelSelf,
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
-            new WaitUntilCommand(() -> false)
-                .withInterruptBehavior(InterruptionBehavior.kCancelSelf)));
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelIncoming),
+            Commands.idle().withInterruptBehavior(InterruptionBehavior.kCancelSelf)));
   }
 
   @MethodSource
@@ -79,27 +67,27 @@ static Stream<Arguments> runsWhenDisabled() {
         arguments(
             "AllFalse",
             false,
-            new WaitUntilCommand(() -> false).ignoringDisable(false),
-            new WaitUntilCommand(() -> false).ignoringDisable(false),
-            new WaitUntilCommand(() -> false).ignoringDisable(false)),
+            Commands.idle().ignoringDisable(false),
+            Commands.idle().ignoringDisable(false),
+            Commands.idle().ignoringDisable(false)),
         arguments(
             "AllTrue",
             true,
-            new WaitUntilCommand(() -> false).ignoringDisable(true),
-            new WaitUntilCommand(() -> false).ignoringDisable(true),
-            new WaitUntilCommand(() -> false).ignoringDisable(true)),
+            Commands.idle().ignoringDisable(true),
+            Commands.idle().ignoringDisable(true),
+            Commands.idle().ignoringDisable(true)),
         arguments(
             "TwoTrueOneFalse",
             false,
-            new WaitUntilCommand(() -> false).ignoringDisable(true),
-            new WaitUntilCommand(() -> false).ignoringDisable(true),
-            new WaitUntilCommand(() -> false).ignoringDisable(false)),
+            Commands.idle().ignoringDisable(true),
+            Commands.idle().ignoringDisable(true),
+            Commands.idle().ignoringDisable(false)),
         arguments(
             "TwoFalseOneTrue",
             false,
-            new WaitUntilCommand(() -> false).ignoringDisable(false),
-            new WaitUntilCommand(() -> false).ignoringDisable(false),
-            new WaitUntilCommand(() -> false).ignoringDisable(true)));
+            Commands.idle().ignoringDisable(false),
+            Commands.idle().ignoringDisable(false),
+            Commands.idle().ignoringDisable(true)));
   }
 
   @MethodSource
@@ -115,8 +103,8 @@ void runsWhenDisabled(
   }
 
   static Stream<Arguments> composeDuplicates() {
-    Command a = new InstantCommand(() -> {});
-    Command b = new InstantCommand(() -> {});
+    Command a = Commands.none();
+    Command b = Commands.none();
     return Stream.of(
         arguments("AA", new Command[] {a, a}),
         arguments("ABA", new Command[] {a, b, a}),

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java

@@ -127,15 +127,15 @@ void parallelDeadlineRequirementErrorTest() {
 
   @Test
   void parallelDeadlineSetDeadlineToDeadlineTest() {
-    Command a = new InstantCommand(() -> {});
+    Command a = Commands.none();
     ParallelDeadlineGroup group = new ParallelDeadlineGroup(a);
     assertDoesNotThrow(() -> group.setDeadline(a));
   }
 
   @Test
   void parallelDeadlineSetDeadlineDuplicateTest() {
-    Command a = new InstantCommand(() -> {});
-    Command b = new InstantCommand(() -> {});
+    Command a = Commands.none();
+    Command b = Commands.none();
     ParallelDeadlineGroup group = new ParallelDeadlineGroup(a, b);
     assertThrows(IllegalArgumentException.class, () -> group.setDeadline(b));
   }

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java

@@ -140,7 +140,7 @@ void parallelRaceOnlyCallsEndOnceTest() {
     MockCommandHolder command3Holder = new MockCommandHolder(true);
     Command command3 = command3Holder.getMock();
 
-    Command group1 = new SequentialCommandGroup(command1, command2);
+    Command group1 = Commands.sequence(command1, command2);
     assertNotNull(group1);
     assertNotNull(command3);
     Command group2 = new ParallelRaceGroup(group1, command3);

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java

@@ -31,7 +31,7 @@ void proxyCommandEndTest() {
     try (CommandScheduler scheduler = CommandScheduler.getInstance()) {
       AtomicBoolean cond = new AtomicBoolean();
 
-      WaitUntilCommand command = new WaitUntilCommand(cond::get);
+      Command command = Commands.waitUntil(cond::get);
 
       ProxyCommand scheduleCommand = new ProxyCommand(command);
 

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java

@@ -30,13 +30,12 @@ void scheduleCommandScheduleTest() {
   @Test
   void scheduleCommandDuringRunTest() {
     try (CommandScheduler scheduler = CommandScheduler.getInstance()) {
-      InstantCommand toSchedule = new InstantCommand();
+      Command toSchedule = Commands.none();
       ScheduleCommand scheduleCommand = new ScheduleCommand(toSchedule);
-      SequentialCommandGroup group =
-          new SequentialCommandGroup(new InstantCommand(), scheduleCommand);
+      Command group = Commands.sequence(Commands.none(), scheduleCommand);
 
       scheduler.schedule(group);
-      scheduler.schedule(new RunCommand(() -> {}));
+      scheduler.schedule(Commands.idle());
       scheduler.run();
       assertDoesNotThrow(scheduler::run);
     }