Subsystem Disable Option

[mebrahimaleem]

Implements being able to disable a subsystem, meaning that both the default command and periodic function will not execute while the subsystem is disabled.

[mebrahimaleem]

Resolves #4061

[Starlight220]

Feels like this adds unneeded complexity for a rather niche use case. What significant benefit does this add over simply calling unregisterSubsystem or completely not initializing the subsystem?

[mebrahimaleem]

Unlike not initializing the subsystem, this implementation allows disabling both the periodic and the default command while still being able to call other methods implemented by teams, often used to get information about the robot's current state. Unlike calling the unregisterSubsystem method, this implementation also allows restoring the default command upon re-enable.

I do understand that this implementation is rather complex. Do you have any suggestions on what parts of the code should be simplified/removed?

[Starlight220]

while still being able to call other methods implemented by teams, often used to get information about the robot's current state

This is opposite to the feature request that all calls to the subsystem are blocked without erroring.

Regardless of the feature request, what benefit do these changes bring? What use cases does it help?

[calcmogul]

Abandoned by author.