[cmd] Add Commands.runStartEnd()

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

@@ -105,6 +105,22 @@ public static Command startRun(Runnable start, Runnable run, Subsystem... requir
     return new FunctionalCommand(start, run, interrupted -> {}, () -> false, requirements);
   }
 
+  /**
+   * Constructs a command that runs an action once, and then runs an action every iteration until
+   * interrupted, and then runs a third action.
+   *
+   * @param start the action to run on start
+   * @param run the action to run every iteration
+   * @param end the action to run on interrupt
+   * @param requirements subsystems the action requires
+   * @return the command
+   */
+  public static Command startRunEnd(
+      Runnable start, Runnable run, Runnable end, Subsystem... requirements) {
+    requireNonNullParam(end, "end", "Command.runEnd");
+    return new FunctionalCommand(start, run, interrupted -> end.run(), () -> false, requirements);
+  }
+
   /**
    * Constructs a command that prints a message and finishes.
    *

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

@@ -158,6 +158,19 @@ default Command startRun(Runnable start, Runnable run) {
     return Commands.startRun(start, run, this);
   }
 
+  /**
+   * Constructs a command that runs an action once, and then runs an action every iteration until
+   * interrupted, and then runs a third action. Requires this subsystem.
+   *
+   * @param start the action to run on start
+   * @param run the action to run every iteration
+   * @param end the action to run on interrupt
+   * @return the command
+   */
+  default Command startRunEnd(Runnable start, Runnable run, Runnable end) {
+    return Commands.startRunEnd(start, run, end, this);
+  }
+
   /**
    * Constructs a {@link DeferredCommand} with the provided supplier. This subsystem is added as a
    * requirement.

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

@@ -70,6 +70,17 @@ CommandPtr cmd::StartRun(std::function<void()> start, std::function<void()> run,
       .ToPtr();
 }
 
+CommandPtr cmd::StartRunEnd(std::function<void()> start,
+                            std::function<void()> run,
+                            std::function<void()> end,
+                            Requirements requirements) {
+  return FunctionalCommand(
+             std::move(start), std::move(run),
+             [end = std::move(end)](bool interrupted) { end(); },
+             [] { return false; }, requirements)
+      .ToPtr();
+}
+
 CommandPtr cmd::Print(std::string_view msg) {
   return PrintCommand(msg).ToPtr();
 }

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

@@ -69,6 +69,13 @@ CommandPtr Subsystem::StartRun(std::function<void()> start,
   return cmd::StartRun(std::move(start), std::move(run), {this});
 }
 
+CommandPtr Subsystem::StartRunEnd(std::function<void()> start,
+                                  std::function<void()> run,
+                                  std::function<void()> end) {
+  return cmd::StartRunEnd(std::move(start), std::move(run), std::move(end),
+                          {this});
+}
+
 CommandPtr Subsystem::Defer(wpi::unique_function<CommandPtr()> supplier) {
   return cmd::Defer(std::move(supplier), {this});
 }

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

@@ -98,6 +98,20 @@ CommandPtr RunEnd(std::function<void()> run, std::function<void()> end,
 CommandPtr StartRun(std::function<void()> start, std::function<void()> run,
                     Requirements requirements = {});
 
+/**
+ * Constructs a command that runs an action once, and then runs an action every
+ * iteration until interrupted, and then runs a third action.
+ *
+ * @param start the action to run on start
+ * @param run the action to run every iteration
+ * @param end the action to run on interrupt
+ * @param requirements subsystems the action requires
+ */
+[[nodiscard]]
+CommandPtr StartRunEnd(std::function<void()> start, std::function<void()> run,
+                       std::function<void()> end,
+                       Requirements requirements = {});
+
 /**
  * Constructs a command that prints a message and finishes.
  *

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

@@ -169,6 +169,19 @@ class Subsystem {
   [[nodiscard]]
   CommandPtr StartRun(std::function<void()> start, std::function<void()> run);
 
+  /**
+   * Constructs a command that runs an action once, and then runs an action
+   * every iteration until interrupted, and then runs a third action. Requires
+   * this subsystem.
+   *
+   * @param start the action to run on start
+   * @param run the action to run every iteration
+   * @param end the action to run on interrupt
+   */
+  [[nodiscard]]
+  CommandPtr StartRunEnd(std::function<void()> start, std::function<void()> run,
+                         std::function<void()> end);
+
   /**
    * Constructs a DeferredCommand with the provided supplier. This subsystem is
    * added as a requirement.