The most likely candidate for ordering the ranks to change would be the Optio (Centurian's 2ic). In any case I suspect it was more likely a question of moving through the ranks as they advanced.
First rank takes a pace, shield punch, kill.
Second rank takes a pace through first rank, shiel punch, kill.
In the same way with retiring, only reversed. Shield punch, kill, step back.
This would allow the Romans to execute the tactical withdralls they were famous for.
It certainly didn't involve a timed whistle. I defy anyone to do commands by whistle when all they can hear is the blood in their ears.
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