Remove deprecated classes and aliases

virtuald · virtuald · commit 475da2b98afa · 2024-01-23T23:49:53.000-05:00
- CommandGroup
- PerpetualCommand
- ProxyScheduleCommand
diff --git a/commands2/__init__.py b/commands2/__init__.py
@@ -1,40 +1,21 @@
-from .button import Trigger
 from .command import Command, InterruptionBehavior
 
+from . import button
 from . import cmd
 
-# from .cmd import (
-#     deadline,
-#     either,
-#     none,
-#     parallel,
-#     print_,
-#     race,
-#     repeatingSequence,
-#     run,
-#     runEnd,
-#     runOnce,
-#     select,
-#     sequence,
-#     startEnd,
-#     waitSeconds,
-#     waitUntil,
-# )
-from .commandgroup import CommandGroup, IllegalCommandUse
 from .commandscheduler import CommandScheduler
 from .conditionalcommand import ConditionalCommand
+from .exceptions import IllegalCommandUse
 from .functionalcommand import FunctionalCommand
 from .instantcommand import InstantCommand
 from .notifiercommand import NotifierCommand
 from .parallelcommandgroup import ParallelCommandGroup
 from .paralleldeadlinegroup import ParallelDeadlineGroup
 from .parallelracegroup import ParallelRaceGroup
-from .perpetualcommand import PerpetualCommand
 from .pidcommand import PIDCommand
 from .pidsubsystem import PIDSubsystem
 from .printcommand import PrintCommand
 from .proxycommand import ProxyCommand
-from .proxyschedulecommand import ProxyScheduleCommand
 from .repeatcommand import RepeatCommand
 from .runcommand import RunCommand
 from .schedulecommand import ScheduleCommand
@@ -52,9 +33,9 @@
 from typing import TYPE_CHECKING
 
 __all__ = [
+    "button",
     "cmd",
     "Command",
-    "CommandGroup",
     "CommandScheduler",
     "ConditionalCommand",
     "FunctionalCommand",
@@ -65,12 +46,10 @@
     "ParallelCommandGroup",
     "ParallelDeadlineGroup",
     "ParallelRaceGroup",
-    "PerpetualCommand",
     "PIDCommand",
     "PIDSubsystem",
     "PrintCommand",
     "ProxyCommand",
-    "ProxyScheduleCommand",
     "RepeatCommand",
     "RunCommand",
     "ScheduleCommand",
@@ -84,21 +63,6 @@
     "WaitCommand",
     "WaitUntilCommand",
     "WrapperCommand",
-    # "none",
-    # "runOnce",
-    # "run",
-    # "startEnd",
-    # "runEnd",
-    # "print_",
-    # "waitSeconds",
-    # "waitUntil",
-    # "either",
-    # "select",
-    # "sequence",
-    # "repeatingSequence",
-    # "parallel",
-    # "race",
-    # "deadline",
     "Trigger",  # was here in 2023
 ]
 
diff --git a/commands2/command.py b/commands2/command.py
@@ -15,7 +15,6 @@
     from .sequentialcommandgroup import SequentialCommandGroup
     from .paralleldeadlinegroup import ParallelDeadlineGroup
     from .parallelcommandgroup import ParallelCommandGroup
-    from .perpetualcommand import PerpetualCommand
     from .repeatcommand import RepeatCommand
     from .proxycommand import ProxyCommand
     from .conditionalcommand import ConditionalCommand
@@ -341,27 +340,6 @@ def raceWith(self, *parallel: Command) -> ParallelRaceGroup:
 
         return ParallelRaceGroup(self, *parallel)
 
-    def perpetually(self) -> PerpetualCommand:
-        """
-        Decorates this command to run perpetually, ignoring its ordinary end conditions. The decorated
-        command can still be interrupted or canceled.
-
-        Note: This decorator works by adding this command to a composition. The command the
-        decorator was called on cannot be scheduled independently or be added to a different
-        composition (namely, decorators), unless it is manually cleared from the list of composed
-        commands with CommandScheduler#removeComposedCommand(Command). The command composition
-        returned from this method can be further decorated without issue.
-
-        :returns: the decorated command
-        @deprecated PerpetualCommand violates the assumption that execute() doesn't get called after
-            isFinished() returns true -- an assumption that should be valid. This was unsafe/undefined
-            behavior from the start, and RepeatCommand provides an easy way to achieve similar end
-            results with slightly different (and safe) semantics.
-        """
-        from .perpetualcommand import PerpetualCommand
-
-        return PerpetualCommand(self)
-
     def repeatedly(self) -> RepeatCommand:
         """
         Decorates this command to run repeatedly, restarting it when it ends, until this command is
diff --git a/commands2/commandgroup.py b/commands2/commandgroup.py
diff --git a/commands2/commandscheduler.py b/commands2/commandscheduler.py
@@ -8,7 +8,7 @@
 from wpilib.event import EventLoop
 
 from .command import Command, InterruptionBehavior
-from .commandgroup import *
+from .exceptions import IllegalCommandUse
 from .subsystem import Subsystem
 
 
diff --git a/commands2/conditionalcommand.py b/commands2/conditionalcommand.py
@@ -3,7 +3,6 @@
 from typing import Callable
 
 from .command import Command
-from .commandgroup import *
 from .commandscheduler import CommandScheduler
 
 
diff --git a/commands2/exceptions.py b/commands2/exceptions.py
@@ -0,0 +1,7 @@
+class IllegalCommandUse(Exception):
+    """
+    This exception is raised when a command is used in a way that it shouldn't be.
+
+    You shouldn't try to catch this exception, if it occurs it means your code is
+    doing something it probably shouldn't be doing
+    """
diff --git a/commands2/functionalcommand.py b/commands2/functionalcommand.py
@@ -3,7 +3,6 @@
 from typing import Any, Callable
 
 from .command import Command
-from .commandgroup import *
 from .subsystem import Subsystem
 
 
diff --git a/commands2/notifiercommand.py b/commands2/notifiercommand.py
@@ -5,7 +5,6 @@
 from wpilib import Notifier
 
 from .command import Command
-from .commandgroup import *
 from .subsystem import Subsystem
 
 
diff --git a/commands2/parallelcommandgroup.py b/commands2/parallelcommandgroup.py
@@ -2,15 +2,13 @@
 
 from typing import Dict
 
-from commands2.command import Command, InterruptionBehavior
-
 from .command import Command, InterruptionBehavior
-from .commandgroup import *
 from .commandscheduler import CommandScheduler
+from .exceptions import IllegalCommandUse
 from .util import flatten_args_commands
 
 
-class ParallelCommandGroup(CommandGroup):
+class ParallelCommandGroup(Command):
     """
     A command composition that runs a set of commands in parallel, ending when the last command ends.
 
diff --git a/commands2/paralleldeadlinegroup.py b/commands2/paralleldeadlinegroup.py
@@ -2,15 +2,13 @@
 
 from typing import Dict
 
-from commands2.command import Command, InterruptionBehavior
-
 from .command import Command, InterruptionBehavior
-from .commandgroup import *
 from .commandscheduler import CommandScheduler
+from .exceptions import IllegalCommandUse
 from .util import flatten_args_commands
 
 
-class ParallelDeadlineGroup(CommandGroup):
+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.
diff --git a/commands2/parallelracegroup.py b/commands2/parallelracegroup.py
@@ -2,15 +2,13 @@
 
 from typing import Set
 
-from commands2.command import Command, InterruptionBehavior
-
 from .command import Command, InterruptionBehavior
-from .commandgroup import *
 from .commandscheduler import CommandScheduler
+from .exceptions import IllegalCommandUse
 from .util import flatten_args_commands
 
 
-class ParallelRaceGroup(CommandGroup):
+class ParallelRaceGroup(Command):
     """
     A composition that runs a set of commands in parallel, ending when any one of the commands ends
     and interrupting all the others.
diff --git a/commands2/perpetualcommand.py b/commands2/perpetualcommand.py
diff --git a/commands2/proxycommand.py b/commands2/proxycommand.py
@@ -3,7 +3,6 @@
 from typing import Callable, overload
 
 from .command import Command
-from .commandgroup import *
 from .util import format_args_kwargs
 
 
diff --git a/commands2/proxyschedulecommand.py b/commands2/proxyschedulecommand.py
diff --git a/commands2/repeatcommand.py b/commands2/repeatcommand.py
@@ -1,9 +1,6 @@
 from __future__ import annotations
 
-from commands2.command import InterruptionBehavior
-
-from .command import Command
-from .commandgroup import *
+from .command import Command, InterruptionBehavior
 
 
 class RepeatCommand(Command):
diff --git a/commands2/runcommand.py b/commands2/runcommand.py
@@ -2,7 +2,6 @@
 
 from typing import Any, Callable
 
-from .commandgroup import *
 from .functionalcommand import FunctionalCommand
 from .subsystem import Subsystem
 
diff --git a/commands2/schedulecommand.py b/commands2/schedulecommand.py
@@ -1,7 +1,6 @@
 from __future__ import annotations
 
 from .command import Command
-from .commandgroup import *
 
 
 class ScheduleCommand(Command):
diff --git a/commands2/selectcommand.py b/commands2/selectcommand.py
@@ -2,10 +2,7 @@
 
 from typing import Callable, Dict, Hashable
 
-from commands2.command import InterruptionBehavior
-
 from .command import Command, InterruptionBehavior
-from .commandgroup import *
 from .commandscheduler import CommandScheduler
 from .printcommand import PrintCommand
 
diff --git a/commands2/sequentialcommandgroup.py b/commands2/sequentialcommandgroup.py
@@ -2,15 +2,13 @@
 
 from typing import List
 
-from commands2.command import Command, InterruptionBehavior
-
 from .command import Command, InterruptionBehavior
-from .commandgroup import *
 from .commandscheduler import CommandScheduler
+from .exceptions import IllegalCommandUse
 from .util import flatten_args_commands
 
 
-class SequentialCommandGroup(CommandGroup):
+class SequentialCommandGroup(Command):
     """
     A command composition that runs a list of commands in sequence.
 
diff --git a/commands2/startendcommand.py b/commands2/startendcommand.py
diff --git a/commands2/waitcommand.py b/commands2/waitcommand.py
diff --git a/commands2/wrappercommand.py b/commands2/wrappercommand.py
diff --git a/tests/test_command_decorators.py b/tests/test_command_decorators.py
diff --git a/tests/test_perpetualcommand.py b/tests/test_perpetualcommand.py
