[wpilibc] Use std::string_view instead of Twine (#3380)

Use fmtlib where needed for string formatting into std::string_view.

wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp

@@ -46,16 +46,15 @@ Pose2d Field2d::GetRobotPose() const {
   return m_objects[0]->GetPose();
 }
 
-FieldObject2d* Field2d::GetObject(const wpi::Twine& name) {
+FieldObject2d* Field2d::GetObject(std::string_view name) {
   std::scoped_lock lock(m_mutex);
-  std::string nameStr = name.str();
   for (auto&& obj : m_objects) {
-    if (obj->m_name == nameStr) {
+    if (obj->m_name == name) {
       return obj.get();
     }
   }
-  m_objects.emplace_back(std::make_unique<FieldObject2d>(
-      std::move(nameStr), FieldObject2d::private_init{}));
+  m_objects.emplace_back(
+      std::make_unique<FieldObject2d>(name, FieldObject2d::private_init{}));
   auto obj = m_objects.back().get();
   if (m_table) {
     obj->m_entry = m_table->GetEntry(obj->m_name);

wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp

@@ -8,7 +8,7 @@
 
 using namespace frc;
 
-MechanismLigament2d::MechanismLigament2d(const wpi::Twine& name, double length,
+MechanismLigament2d::MechanismLigament2d(std::string_view name, double length,
                                          units::degree_t angle,
                                          double lineWeight,
                                          const frc::Color8Bit& color)

wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp

@@ -6,8 +6,7 @@
 
 using namespace frc;
 
-MechanismObject2d::MechanismObject2d(const wpi::Twine& name)
-    : m_name{name.str()} {}
+MechanismObject2d::MechanismObject2d(std::string_view name) : m_name{name} {}
 
 const std::string& MechanismObject2d::GetName() const {
   return m_name;

wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp

@@ -12,9 +12,9 @@ using namespace frc;
 
 static constexpr char kPosition[] = "pos";
 
-MechanismRoot2d::MechanismRoot2d(const wpi::Twine& name, double x, double y,
+MechanismRoot2d::MechanismRoot2d(std::string_view name, double x, double y,
                                  const private_init&)
-    : MechanismObject2d(name.str()), m_x{x}, m_y{y} {}
+    : MechanismObject2d(name), m_x{x}, m_y{y} {}
 
 void MechanismRoot2d::SetPosition(double x, double y) {
   std::scoped_lock lock(m_mutex);

wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp

@@ -76,7 +76,7 @@ void SendableBuilderImpl::ClearProperties() {
   m_properties.clear();
 }
 
-void SendableBuilderImpl::SetSmartDashboardType(const wpi::Twine& type) {
+void SendableBuilderImpl::SetSmartDashboardType(std::string_view type) {
   m_table->GetEntry(".type").SetString(type);
 }
 
@@ -93,11 +93,11 @@ void SendableBuilderImpl::SetUpdateTable(std::function<void()> func) {
   m_updateTables.emplace_back(std::move(func));
 }
 
-nt::NetworkTableEntry SendableBuilderImpl::GetEntry(const wpi::Twine& key) {
+nt::NetworkTableEntry SendableBuilderImpl::GetEntry(std::string_view key) {
   return m_table->GetEntry(key);
 }
 
-void SendableBuilderImpl::AddBooleanProperty(const wpi::Twine& key,
+void SendableBuilderImpl::AddBooleanProperty(std::string_view key,
                                              std::function<bool()> getter,
                                              std::function<void(bool)> setter) {
   m_properties.emplace_back(*m_table, key);
@@ -124,7 +124,7 @@ void SendableBuilderImpl::AddBooleanProperty(const wpi::Twine& key,
 }
 
 void SendableBuilderImpl::AddDoubleProperty(
-    const wpi::Twine& key, std::function<double()> getter,
+    std::string_view key, std::function<double()> getter,
     std::function<void(double)> setter) {
   m_properties.emplace_back(*m_table, key);
   if (getter) {
@@ -150,7 +150,7 @@ void SendableBuilderImpl::AddDoubleProperty(
 }
 
 void SendableBuilderImpl::AddStringProperty(
-    const wpi::Twine& key, std::function<std::string()> getter,
+    std::string_view key, std::function<std::string()> getter,
     std::function<void(wpi::StringRef)> setter) {
   m_properties.emplace_back(*m_table, key);
   if (getter) {
@@ -176,7 +176,7 @@ void SendableBuilderImpl::AddStringProperty(
 }
 
 void SendableBuilderImpl::AddBooleanArrayProperty(
-    const wpi::Twine& key, std::function<std::vector<int>()> getter,
+    std::string_view key, std::function<std::vector<int>()> getter,
     std::function<void(wpi::ArrayRef<int>)> setter) {
   m_properties.emplace_back(*m_table, key);
   if (getter) {
@@ -202,7 +202,7 @@ void SendableBuilderImpl::AddBooleanArrayProperty(
 }
 
 void SendableBuilderImpl::AddDoubleArrayProperty(
-    const wpi::Twine& key, std::function<std::vector<double>()> getter,
+    std::string_view key, std::function<std::vector<double>()> getter,
     std::function<void(wpi::ArrayRef<double>)> setter) {
   m_properties.emplace_back(*m_table, key);
   if (getter) {
@@ -228,7 +228,7 @@ void SendableBuilderImpl::AddDoubleArrayProperty(
 }
 
 void SendableBuilderImpl::AddStringArrayProperty(
-    const wpi::Twine& key, std::function<std::vector<std::string>()> getter,
+    std::string_view key, std::function<std::vector<std::string>()> getter,
     std::function<void(wpi::ArrayRef<std::string>)> setter) {
   m_properties.emplace_back(*m_table, key);
   if (getter) {
@@ -254,7 +254,7 @@ void SendableBuilderImpl::AddStringArrayProperty(
 }
 
 void SendableBuilderImpl::AddRawProperty(
-    const wpi::Twine& key, std::function<std::string()> getter,
+    std::string_view key, std::function<std::string()> getter,
     std::function<void(wpi::StringRef)> setter) {
   m_properties.emplace_back(*m_table, key);
   if (getter) {
@@ -280,7 +280,7 @@ void SendableBuilderImpl::AddRawProperty(
 }
 
 void SendableBuilderImpl::AddValueProperty(
-    const wpi::Twine& key, std::function<std::shared_ptr<nt::Value>()> getter,
+    std::string_view key, std::function<std::shared_ptr<nt::Value>()> getter,
     std::function<void(std::shared_ptr<nt::Value>)> setter) {
   m_properties.emplace_back(*m_table, key);
   if (getter) {
@@ -302,7 +302,7 @@ void SendableBuilderImpl::AddValueProperty(
 }
 
 void SendableBuilderImpl::AddSmallStringProperty(
-    const wpi::Twine& key,
+    std::string_view key,
     std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
     std::function<void(wpi::StringRef)> setter) {
   m_properties.emplace_back(*m_table, key);
@@ -330,7 +330,7 @@ void SendableBuilderImpl::AddSmallStringProperty(
 }
 
 void SendableBuilderImpl::AddSmallBooleanArrayProperty(
-    const wpi::Twine& key,
+    std::string_view key,
     std::function<wpi::ArrayRef<int>(wpi::SmallVectorImpl<int>& buf)> getter,
     std::function<void(wpi::ArrayRef<int>)> setter) {
   m_properties.emplace_back(*m_table, key);
@@ -358,7 +358,7 @@ void SendableBuilderImpl::AddSmallBooleanArrayProperty(
 }
 
 void SendableBuilderImpl::AddSmallDoubleArrayProperty(
-    const wpi::Twine& key,
+    std::string_view key,
     std::function<wpi::ArrayRef<double>(wpi::SmallVectorImpl<double>& buf)>
         getter,
     std::function<void(wpi::ArrayRef<double>)> setter) {
@@ -387,7 +387,7 @@ void SendableBuilderImpl::AddSmallDoubleArrayProperty(
 }
 
 void SendableBuilderImpl::AddSmallStringArrayProperty(
-    const wpi::Twine& key,
+    std::string_view key,
     std::function<
         wpi::ArrayRef<std::string>(wpi::SmallVectorImpl<std::string>& buf)>
         getter,
@@ -417,7 +417,7 @@ void SendableBuilderImpl::AddSmallStringArrayProperty(
 }
 
 void SendableBuilderImpl::AddSmallRawProperty(
-    const wpi::Twine& key,
+    std::string_view key,
     std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
     std::function<void(wpi::StringRef)> setter) {
   m_properties.emplace_back(*m_table, key);

wpilibc/src/main/native/cpp/smartdashboard/SendableRegistry.cpp

@@ -6,6 +6,7 @@
 
 #include <memory>
 
+#include <fmt/format.h>
 #include <wpi/DenseMap.h>
 #include <wpi/SmallVector.h>
 #include <wpi/UidVector.h>
@@ -26,16 +27,12 @@ struct SendableRegistry::Impl {
     bool liveWindow = false;
     wpi::SmallVector<std::shared_ptr<void>, 2> data;
 
-    void SetName(const wpi::Twine& moduleType, int channel) {
-      name =
-          (moduleType + wpi::Twine('[') + wpi::Twine(channel) + wpi::Twine(']'))
-              .str();
+    void SetName(std::string_view moduleType, int channel) {
+      name = fmt::format("{}[{}]", moduleType, channel);
     }
 
-    void SetName(const wpi::Twine& moduleType, int moduleNumber, int channel) {
-      name = (moduleType + wpi::Twine('[') + wpi::Twine(moduleNumber) +
-              wpi::Twine(',') + wpi::Twine(channel) + wpi::Twine(']'))
-                 .str();
+    void SetName(std::string_view moduleType, int moduleNumber, int channel) {
+      name = fmt::format("{}[{},{}]", moduleType, moduleNumber, channel);
     }
   };
 
@@ -66,14 +63,14 @@ SendableRegistry& SendableRegistry::GetInstance() {
   return instance;
 }
 
-void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& name) {
+void SendableRegistry::Add(Sendable* sendable, std::string_view name) {
   std::scoped_lock lock(m_impl->mutex);
   auto& comp = m_impl->GetOrAdd(sendable);
   comp.sendable = sendable;
-  comp.name = name.str();
+  comp.name = name;
 }
 
-void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& moduleType,
+void SendableRegistry::Add(Sendable* sendable, std::string_view moduleType,
                            int channel) {
   std::scoped_lock lock(m_impl->mutex);
   auto& comp = m_impl->GetOrAdd(sendable);
@@ -81,7 +78,7 @@ void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& moduleType,
   comp.SetName(moduleType, channel);
 }
 
-void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& moduleType,
+void SendableRegistry::Add(Sendable* sendable, std::string_view moduleType,
                            int moduleNumber, int channel) {
   std::scoped_lock lock(m_impl->mutex);
   auto& comp = m_impl->GetOrAdd(sendable);
@@ -89,24 +86,24 @@ void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& moduleType,
   comp.SetName(moduleType, moduleNumber, channel);
 }
 
-void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& subsystem,
-                           const wpi::Twine& name) {
+void SendableRegistry::Add(Sendable* sendable, std::string_view subsystem,
+                           std::string_view name) {
   std::scoped_lock lock(m_impl->mutex);
   auto& comp = m_impl->GetOrAdd(sendable);
   comp.sendable = sendable;
-  comp.name = name.str();
-  comp.subsystem = subsystem.str();
+  comp.name = name;
+  comp.subsystem = subsystem;
 }
 
-void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& name) {
+void SendableRegistry::AddLW(Sendable* sendable, std::string_view name) {
   std::scoped_lock lock(m_impl->mutex);
   auto& comp = m_impl->GetOrAdd(sendable);
   comp.sendable = sendable;
   comp.liveWindow = true;
-  comp.name = name.str();
+  comp.name = name;
 }
 
-void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& moduleType,
+void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
                              int channel) {
   std::scoped_lock lock(m_impl->mutex);
   auto& comp = m_impl->GetOrAdd(sendable);
@@ -115,7 +112,7 @@ void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& moduleType,
   comp.SetName(moduleType, channel);
 }
 
-void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& moduleType,
+void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
                              int moduleNumber, int channel) {
   std::scoped_lock lock(m_impl->mutex);
   auto& comp = m_impl->GetOrAdd(sendable);
@@ -124,14 +121,14 @@ void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& moduleType,
   comp.SetName(moduleType, moduleNumber, channel);
 }
 
-void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& subsystem,
-                             const wpi::Twine& name) {
+void SendableRegistry::AddLW(Sendable* sendable, std::string_view subsystem,
+                             std::string_view name) {
   std::scoped_lock lock(m_impl->mutex);
   auto& comp = m_impl->GetOrAdd(sendable);
   comp.sendable = sendable;
   comp.liveWindow = true;
-  comp.name = name.str();
-  comp.subsystem = subsystem.str();
+  comp.name = name;
+  comp.subsystem = subsystem;
 }
 
 void SendableRegistry::AddChild(Sendable* parent, Sendable* child) {
@@ -204,17 +201,17 @@ std::string SendableRegistry::GetName(const Sendable* sendable) const {
   return m_impl->components[it->getSecond() - 1]->name;
 }
 
-void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& name) {
+void SendableRegistry::SetName(Sendable* sendable, std::string_view name) {
   std::scoped_lock lock(m_impl->mutex);
   auto it = m_impl->componentMap.find(sendable);
   if (it == m_impl->componentMap.end() ||
       !m_impl->components[it->getSecond() - 1]) {
     return;
   }
-  m_impl->components[it->getSecond() - 1]->name = name.str();
+  m_impl->components[it->getSecond() - 1]->name = name;
 }
 
-void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& moduleType,
+void SendableRegistry::SetName(Sendable* sendable, std::string_view moduleType,
                                int channel) {
   std::scoped_lock lock(m_impl->mutex);
   auto it = m_impl->componentMap.find(sendable);
@@ -225,7 +222,7 @@ void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& moduleType,
   m_impl->components[it->getSecond() - 1]->SetName(moduleType, channel);
 }
 
-void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& moduleType,
+void SendableRegistry::SetName(Sendable* sendable, std::string_view moduleType,
                                int moduleNumber, int channel) {
   std::scoped_lock lock(m_impl->mutex);
   auto it = m_impl->componentMap.find(sendable);
@@ -237,8 +234,8 @@ void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& moduleType,
                                                    channel);
 }
 
-void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& subsystem,
-                               const wpi::Twine& name) {
+void SendableRegistry::SetName(Sendable* sendable, std::string_view subsystem,
+                               std::string_view name) {
   std::scoped_lock lock(m_impl->mutex);
   auto it = m_impl->componentMap.find(sendable);
   if (it == m_impl->componentMap.end() ||
@@ -246,8 +243,8 @@ void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& subsystem,
     return;
   }
   auto& comp = *m_impl->components[it->getSecond() - 1];
-  comp.name = name.str();
-  comp.subsystem = subsystem.str();
+  comp.name = name;
+  comp.subsystem = subsystem;
 }
 
 std::string SendableRegistry::GetSubsystem(const Sendable* sendable) const {
@@ -261,14 +258,14 @@ std::string SendableRegistry::GetSubsystem(const Sendable* sendable) const {
 }
 
 void SendableRegistry::SetSubsystem(Sendable* sendable,
-                                    const wpi::Twine& subsystem) {
+                                    std::string_view subsystem) {
   std::scoped_lock lock(m_impl->mutex);
   auto it = m_impl->componentMap.find(sendable);
   if (it == m_impl->componentMap.end() ||
       !m_impl->components[it->getSecond() - 1]) {
     return;
   }
-  m_impl->components[it->getSecond() - 1]->subsystem = subsystem.str();
+  m_impl->components[it->getSecond() - 1]->subsystem = subsystem;
 }
 
 int SendableRegistry::GetDataHandle() {