Fix Untils not Including "Until Condition"

commandsv3/src/main/java/org/wpilib/command3/ParallelGroupBuilder.java

@@ -100,6 +100,10 @@ public ParallelGroupBuilder until(BooleanSupplier condition) {
    * @return The built group
    */
   public ParallelGroup named(String name) {
+    return named(name, false);
+  }
+
+  private ParallelGroup named(String name, boolean useAutomaticName) {
     requireNonNullParam(name, "name", "ParallelGroupBuilder.named");
 
     var group = new ParallelGroup(name, m_requiredCommands, m_optionalCommands);
@@ -109,9 +113,10 @@ public ParallelGroup named(String name) {
     }
 
     // We have a custom end condition, so we need to wrap the group in a race
-    return new ParallelGroupBuilder()
-        .optional(group, Command.waitUntil(m_endCondition).named("Until Condition"))
-        .named(name);
+    var out =
+        new ParallelGroupBuilder()
+            .optional(group, Command.waitUntil(m_endCondition).named("Until Condition"));
+    return useAutomaticName ? out.withAutomaticName() : out.named(name);
   }
 
   /**
@@ -130,15 +135,15 @@ public ParallelGroup withAutomaticName() {
 
     if (m_requiredCommands.isEmpty()) {
       // No required commands, pure race
-      return named(optional);
+      return named(optional, true);
     } else if (m_optionalCommands.isEmpty()) {
       // Everything required
-      return named(required);
+      return named(required, true);
     } else {
       // Some form of deadline
       // eg "[(CommandA & CommandB) * (CommandX | CommandY | ...)]"
       String name = "[%s * %s]".formatted(required, optional);
-      return named(name);
+      return named(name, true);
     }
   }
 }

commandsv3/src/main/java/org/wpilib/command3/SequentialGroupBuilder.java

@@ -82,16 +82,21 @@ public SequentialGroupBuilder until(BooleanSupplier endCondition) {
    * @return The built command
    */
   public Command named(String name) {
+    return named(name, false);
+  }
+
+  private Command named(String name, boolean useAutomaticName) {
     var seq = new SequentialGroup(name, m_steps);
     if (m_endCondition == null) {
       // No custom end condition, return the group as is
       return seq;
     }
 
+    var out =
+        new ParallelGroupBuilder()
+            .optional(seq, Command.waitUntil(m_endCondition).named("Until Condition"));
     // We have a custom end condition, so we need to wrap the group in a race
-    return new ParallelGroupBuilder()
-        .optional(seq, Command.waitUntil(m_endCondition).named("Until Condition"))
-        .named(name);
+    return useAutomaticName ? out.withAutomaticName() : out.named(name);
   }
 
   /**
@@ -101,6 +106,6 @@ public Command named(String name) {
    * @return The built command
    */
   public Command withAutomaticName() {
-    return named(m_steps.stream().map(Command::name).collect(Collectors.joining(" -> ")));
+    return named(m_steps.stream().map(Command::name).collect(Collectors.joining(" -> ")), true);
   }
 }

commandsv3/src/test/java/org/wpilib/command3/ParallelGroupBuilderTest.java

@@ -80,4 +80,13 @@ void namedWithNull() {
     var builder = new ParallelGroupBuilder();
     assertThrows(NullPointerException.class, () -> builder.named(null));
   }
+
+  @Test
+  void automaticNameWithUntil() {
+    var a = Command.noRequirements(Coroutine::park).named("A");
+    var b = Command.noRequirements(Coroutine::park).named("B");
+
+    var group = new ParallelGroupBuilder().requiring(a, b).until(() -> false).withAutomaticName();
+    assertEquals("((A & B) | Until Condition)", group.name());
+  }
 }

commandsv3/src/test/java/org/wpilib/command3/SequentialGroupBuilderTest.java

@@ -105,4 +105,13 @@ void automaticNameWithMultipleCommands() {
     var sequence = builder.andThen(c1, c2).withAutomaticName();
     assertEquals("C1 -> C2", sequence.name());
   }
+
+  @Test
+  void automaticNameWithUntilCondition() {
+    var c1 = Command.noRequirements(Coroutine::park).named("C1");
+    var c2 = Command.noRequirements(Coroutine::park).named("C2");
+    var builder = new SequentialGroupBuilder();
+    var sequence = builder.andThen(c1, c2).until(() -> true).withAutomaticName();
+    assertEquals("(C1 -> C2 | Until Condition)", sequence.name());
+  }
 }