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

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

wpilibc/src/main/native/include/frc/Notifier.h

@@ -8,13 +8,13 @@
 
 #include <atomic>
 #include <functional>
+#include <string_view>
 #include <thread>
 #include <type_traits>
 #include <utility>
 
 #include <hal/Types.h>
 #include <units/time.h>
-#include <wpi/Twine.h>
 #include <wpi/deprecated.h>
 #include <wpi/mutex.h>
 
@@ -71,7 +71,7 @@ class Notifier {
    *
    * @param name Name
    */
-  void SetName(const wpi::Twine& name);
+  void SetName(std::string_view name);
 
   /**
    * Change the handler function.

wpilibc/src/main/native/include/frc/ScopedTracer.h

@@ -5,9 +5,7 @@
 #pragma once
 
 #include <string>
-
-#include <wpi/StringRef.h>
-#include <wpi/Twine.h>
+#include <string_view>
 
 #include "frc/Tracer.h"
 
@@ -31,7 +29,7 @@ class ScopedTracer {
    * @param name The name of the epoch.
    * @param os A reference to the raw_ostream to print data to.
    */
-  ScopedTracer(wpi::Twine name, wpi::raw_ostream& os);
+  ScopedTracer(std::string_view name, wpi::raw_ostream& os);
   ~ScopedTracer();
 
   ScopedTracer(const ScopedTracer&) = delete;

wpilibc/src/main/native/include/frc/SerialPort.h

@@ -5,10 +5,9 @@
 #pragma once
 
 #include <string>
+#include <string_view>
 
 #include <hal/Types.h>
-#include <wpi/StringRef.h>
-#include <wpi/Twine.h>
 #include <wpi/deprecated.h>
 
 namespace frc {
@@ -82,7 +81,7 @@ class SerialPort {
    * @param stopBits The number of stop bits to use as defined by the enum
    *                 StopBits.
    */
-  SerialPort(int baudRate, const wpi::Twine& portName, Port port = kOnboard,
+  SerialPort(int baudRate, std::string_view portName, Port port = kOnboard,
              int dataBits = 8, Parity parity = kParity_None,
              StopBits stopBits = kStopBits_One);
 
@@ -148,7 +147,7 @@ class SerialPort {
    * @param buffer StringRef to the buffer to read the bytes from.
    * @return The number of bytes actually written into the port.
    */
-  int Write(wpi::StringRef buffer);
+  int Write(std::string_view buffer);
 
   /**
    * Configure the timeout of the serial port.

wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h

@@ -5,8 +5,7 @@
 #pragma once
 
 #include <string>
-
-#include <wpi/Twine.h>
+#include <string_view>
 
 #include "frc/MotorSafety.h"
 #include "frc/PWM.h"
@@ -66,7 +65,7 @@ class PWMMotorController : public MotorController,
    * @param channel The PWM channel that the controller is attached to. 0-9 are
    *                on-board, 10-19 are on the MXP port
    */
-  PWMMotorController(const wpi::Twine& name, int channel);
+  PWMMotorController(std::string_view name, int channel);
 
   void InitSendable(SendableBuilder& builder) override;
 

wpilibc/src/main/native/include/frc/shuffleboard/ComplexWidget.h

@@ -5,9 +5,9 @@
 #pragma once
 
 #include <memory>
+#include <string_view>
 
 #include <networktables/NetworkTable.h>
-#include <wpi/Twine.h>
 
 #include "frc/shuffleboard/ShuffleboardWidget.h"
 #include "frc/smartdashboard/SendableBuilder.h"
@@ -24,7 +24,7 @@ class ShuffleboardContainer;
  */
 class ComplexWidget final : public ShuffleboardWidget<ComplexWidget> {
  public:
-  ComplexWidget(ShuffleboardContainer& parent, const wpi::Twine& title,
+  ComplexWidget(ShuffleboardContainer& parent, std::string_view title,
                 Sendable& sendable);
 
   void EnableIfActuator() override;

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponent.h

@@ -6,11 +6,11 @@
 
 #include <memory>
 #include <string>
+#include <string_view>
 
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableValue.h>
 #include <wpi/StringMap.h>
-#include <wpi/Twine.h>
 
 #include "frc/shuffleboard/ShuffleboardComponentBase.h"
 
@@ -26,8 +26,8 @@ class ShuffleboardContainer;
 template <typename Derived>
 class ShuffleboardComponent : public ShuffleboardComponentBase {
  public:
-  ShuffleboardComponent(ShuffleboardContainer& parent, const wpi::Twine& title,
-                        const wpi::Twine& type = "");
+  ShuffleboardComponent(ShuffleboardContainer& parent, std::string_view title,
+                        std::string_view type = "");
 
   ~ShuffleboardComponent() override = default;
 

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponent.inc

@@ -6,6 +6,7 @@
 
 #include <memory>
 #include <string>
+#include <string_view>
 
 #include "frc/shuffleboard/ShuffleboardComponent.h"
 
@@ -13,8 +14,8 @@ namespace frc {
 
 template <typename Derived>
 ShuffleboardComponent<Derived>::ShuffleboardComponent(
-    ShuffleboardContainer& parent, const wpi::Twine& title,
-    const wpi::Twine& type)
+    ShuffleboardContainer& parent, std::string_view title,
+    std::string_view type)
     : ShuffleboardValue(title),
       ShuffleboardComponentBase(parent, title, type) {}
 

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponentBase.h

@@ -6,11 +6,11 @@
 
 #include <memory>
 #include <string>
+#include <string_view>
 
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableValue.h>
 #include <wpi/StringMap.h>
-#include <wpi/Twine.h>
 
 #include "frc/shuffleboard/ShuffleboardValue.h"
 
@@ -24,12 +24,11 @@ class ShuffleboardContainer;
 class ShuffleboardComponentBase : public virtual ShuffleboardValue {
  public:
   ShuffleboardComponentBase(ShuffleboardContainer& parent,
-                            const wpi::Twine& title,
-                            const wpi::Twine& type = "");
+                            std::string_view title, std::string_view type = "");
 
   ~ShuffleboardComponentBase() override = default;
 
-  void SetType(const wpi::Twine& type);
+  void SetType(std::string_view type);
 
   void BuildMetadata(std::shared_ptr<nt::NetworkTable> metaTable);
 

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h

@@ -7,6 +7,7 @@
 #include <functional>
 #include <memory>
 #include <string>
+#include <string_view>
 #include <vector>
 
 #include <networktables/NetworkTableEntry.h>
@@ -14,7 +15,6 @@
 #include <wpi/ArrayRef.h>
 #include <wpi/SmallSet.h>
 #include <wpi/StringMap.h>
-#include <wpi/Twine.h>
 
 #include "frc/shuffleboard/BuiltInLayouts.h"
 #include "frc/shuffleboard/LayoutType.h"
@@ -38,7 +38,7 @@ class SimpleWidget;
  */
 class ShuffleboardContainer : public virtual ShuffleboardValue {
  public:
-  explicit ShuffleboardContainer(const wpi::Twine& title);
+  explicit ShuffleboardContainer(std::string_view title);
 
   ShuffleboardContainer(ShuffleboardContainer&& rhs) = default;
 
@@ -58,7 +58,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @param layoutType the type of the layout, eg "List" or "Grid"
    * @return the layout
    */
-  ShuffleboardLayout& GetLayout(const wpi::Twine& title, BuiltInLayouts type);
+  ShuffleboardLayout& GetLayout(std::string_view title, BuiltInLayouts type);
 
   /**
    * Gets the layout with the given type and title, creating it if it does not
@@ -68,8 +68,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @param layoutType the type of the layout, eg "List" or "Grid"
    * @return the layout
    */
-  ShuffleboardLayout& GetLayout(const wpi::Twine& title,
-                                const LayoutType& type);
+  ShuffleboardLayout& GetLayout(std::string_view title, const LayoutType& type);
 
   /**
    * Gets the layout with the given type and title, creating it if it does not
@@ -84,8 +83,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return the layout
    * @see #GetLayout(String, LayoutType)
    */
-  ShuffleboardLayout& GetLayout(const wpi::Twine& title,
-                                const wpi::Twine& type);
+  ShuffleboardLayout& GetLayout(std::string_view title, std::string_view type);
 
   /**
    * Gets the already-defined layout in this container with the given title.
@@ -102,7 +100,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return the layout with the given title
    * @throws if no layout has yet been defined with the given title
    */
-  ShuffleboardLayout& GetLayout(const wpi::Twine& title);
+  ShuffleboardLayout& GetLayout(std::string_view title);
 
   /**
    * Adds a widget to this container to display the given sendable.
@@ -113,7 +111,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @throws IllegalArgumentException if a widget already exists in this
    * container with the given title
    */
-  ComplexWidget& Add(const wpi::Twine& title, Sendable& sendable);
+  ComplexWidget& Add(std::string_view title, Sendable& sendable);
 
   /**
    * Adds a widget to this container to display the given video stream.
@@ -124,7 +122,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @throws IllegalArgumentException if a widget already exists in this
    * container with the given title
    */
-  ComplexWidget& Add(const wpi::Twine& title, const cs::VideoSource& video);
+  ComplexWidget& Add(std::string_view title, const cs::VideoSource& video);
 
   /**
    * Adds a widget to this container to display the given sendable.
@@ -157,7 +155,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    *         container with the given title
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& Add(const wpi::Twine& title,
+  SimpleWidget& Add(std::string_view title,
                     std::shared_ptr<nt::Value> defaultValue);
 
   /**
@@ -170,7 +168,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    *         container with the given title
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& Add(const wpi::Twine& title, bool defaultValue);
+  SimpleWidget& Add(std::string_view title, bool defaultValue);
 
   /**
    * Adds a widget to this container to display the given data.
@@ -182,7 +180,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    *         container with the given title
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& Add(const wpi::Twine& title, double defaultValue);
+  SimpleWidget& Add(std::string_view title, double defaultValue);
 
   /**
    * Adds a widget to this container to display the given data.
@@ -194,7 +192,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    *         container with the given title
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& Add(const wpi::Twine& title, int defaultValue);
+  SimpleWidget& Add(std::string_view title, int defaultValue);
 
   /**
    * Adds a widget to this container to display the given data.
@@ -206,7 +204,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    *         container with the given title
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& Add(const wpi::Twine& title, const wpi::Twine& defaultValue);
+  SimpleWidget& Add(std::string_view title, std::string_view defaultValue);
 
   /**
    * Adds a widget to this container to display the given data.
@@ -218,7 +216,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    *         container with the given title
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& Add(const wpi::Twine& title, const char* defaultValue);
+  SimpleWidget& Add(std::string_view title, const char* defaultValue);
 
   /**
    * Adds a widget to this container to display the given data.
@@ -230,7 +228,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    *         container with the given title
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& Add(const wpi::Twine& title, wpi::ArrayRef<bool> defaultValue);
+  SimpleWidget& Add(std::string_view title, wpi::ArrayRef<bool> defaultValue);
 
   /**
    * Adds a widget to this container to display the given data.
@@ -242,8 +240,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    *         container with the given title
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& Add(const wpi::Twine& title,
-                    wpi::ArrayRef<double> defaultValue);
+  SimpleWidget& Add(std::string_view title, wpi::ArrayRef<double> defaultValue);
 
   /**
    * Adds a widget to this container to display the given data.
@@ -255,7 +252,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    *         container with the given title
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& Add(const wpi::Twine& title,
+  SimpleWidget& Add(std::string_view title,
                     wpi::ArrayRef<std::string> defaultValue);
 
   /**
@@ -269,7 +266,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display data
    */
   SuppliedValueWidget<std::string>& AddString(
-      const wpi::Twine& title, std::function<std::string()> supplier);
+      std::string_view title, std::function<std::string()> supplier);
 
   /**
    * Adds a widget to this container. The widget will display the data provided
@@ -281,7 +278,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @param valueSupplier the supplier for values
    * @return a widget to display data
    */
-  SuppliedValueWidget<double>& AddNumber(const wpi::Twine& title,
+  SuppliedValueWidget<double>& AddNumber(std::string_view title,
                                          std::function<double()> supplier);
 
   /**
@@ -294,7 +291,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @param valueSupplier the supplier for values
    * @return a widget to display data
    */
-  SuppliedValueWidget<bool>& AddBoolean(const wpi::Twine& title,
+  SuppliedValueWidget<bool>& AddBoolean(std::string_view title,
                                         std::function<bool()> supplier);
 
   /**
@@ -308,7 +305,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display data
    */
   SuppliedValueWidget<std::vector<std::string>>& AddStringArray(
-      const wpi::Twine& title,
+      std::string_view title,
       std::function<std::vector<std::string>()> supplier);
 
   /**
@@ -322,7 +319,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display data
    */
   SuppliedValueWidget<std::vector<double>>& AddNumberArray(
-      const wpi::Twine& title, std::function<std::vector<double>()> supplier);
+      std::string_view title, std::function<std::vector<double>()> supplier);
 
   /**
    * Adds a widget to this container. The widget will display the data provided
@@ -335,7 +332,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display data
    */
   SuppliedValueWidget<std::vector<int>>& AddBooleanArray(
-      const wpi::Twine& title, std::function<std::vector<int>()> supplier);
+      std::string_view title, std::function<std::vector<int>()> supplier);
 
   /**
    * Adds a widget to this container. The widget will display the data provided
@@ -347,8 +344,8 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @param valueSupplier the supplier for values
    * @return a widget to display data
    */
-  SuppliedValueWidget<wpi::StringRef>& AddRaw(
-      const wpi::Twine& title, std::function<wpi::StringRef()> supplier);
+  SuppliedValueWidget<std::string_view>& AddRaw(
+      std::string_view title, std::function<std::string_view()> supplier);
 
   /**
    * Adds a widget to this container to display a simple piece of data.
@@ -362,7 +359,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display the sendable data
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& AddPersistent(const wpi::Twine& title,
+  SimpleWidget& AddPersistent(std::string_view title,
                               std::shared_ptr<nt::Value> defaultValue);
 
   /**
@@ -377,7 +374,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display the sendable data
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& AddPersistent(const wpi::Twine& title, bool defaultValue);
+  SimpleWidget& AddPersistent(std::string_view title, bool defaultValue);
 
   /**
    * Adds a widget to this container to display a simple piece of data.
@@ -391,7 +388,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display the sendable data
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& AddPersistent(const wpi::Twine& title, double defaultValue);
+  SimpleWidget& AddPersistent(std::string_view title, double defaultValue);
 
   /**
    * Adds a widget to this container to display a simple piece of data.
@@ -405,7 +402,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display the sendable data
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& AddPersistent(const wpi::Twine& title, int defaultValue);
+  SimpleWidget& AddPersistent(std::string_view title, int defaultValue);
 
   /**
    * Adds a widget to this container to display a simple piece of data.
@@ -419,8 +416,8 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display the sendable data
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& AddPersistent(const wpi::Twine& title,
-                              const wpi::Twine& defaultValue);
+  SimpleWidget& AddPersistent(std::string_view title,
+                              std::string_view defaultValue);
 
   /**
    * Adds a widget to this container to display a simple piece of data.
@@ -434,7 +431,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display the sendable data
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& AddPersistent(const wpi::Twine& title,
+  SimpleWidget& AddPersistent(std::string_view title,
                               wpi::ArrayRef<bool> defaultValue);
 
   /**
@@ -449,7 +446,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display the sendable data
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& AddPersistent(const wpi::Twine& title,
+  SimpleWidget& AddPersistent(std::string_view title,
                               wpi::ArrayRef<double> defaultValue);
 
   /**
@@ -464,7 +461,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @return a widget to display the sendable data
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& AddPersistent(const wpi::Twine& title,
+  SimpleWidget& AddPersistent(std::string_view title,
                               wpi::ArrayRef<std::string> defaultValue);
 
   void EnableIfActuator() override;
@@ -484,7 +481,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    *
    * @return True if title isn't in use; false otherwise.
    */
-  void CheckTitle(const wpi::Twine& title);
+  void CheckTitle(std::string_view title);
 
   friend class SimpleWidget;
 };
@@ -505,7 +502,7 @@ inline frc::ComplexWidget& frc::ShuffleboardContainer::Add(
 }
 
 inline frc::ComplexWidget& frc::ShuffleboardContainer::Add(
-    const wpi::Twine& title, const cs::VideoSource& video) {
+    std::string_view title, const cs::VideoSource& video) {
   return Add(title, frc::SendableCameraWrapper::Wrap(video));
 }
 #endif

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardLayout.h

@@ -5,9 +5,9 @@
 #pragma once
 
 #include <memory>
+#include <string_view>
 
 #include <networktables/NetworkTable.h>
-#include <wpi/Twine.h>
 
 #include "frc/shuffleboard/ShuffleboardComponent.h"
 #include "frc/shuffleboard/ShuffleboardContainer.h"
@@ -26,8 +26,8 @@ namespace frc {
 class ShuffleboardLayout : public ShuffleboardComponent<ShuffleboardLayout>,
                            public ShuffleboardContainer {
  public:
-  ShuffleboardLayout(ShuffleboardContainer& parent, const wpi::Twine& name,
-                     const wpi::Twine& type);
+  ShuffleboardLayout(ShuffleboardContainer& parent, std::string_view name,
+                     std::string_view type);
 
   void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
                  std::shared_ptr<nt::NetworkTable> metaTable) override;

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardValue.h

@@ -6,26 +6,22 @@
 
 #include <memory>
 #include <string>
+#include <string_view>
 
 #include <networktables/NetworkTable.h>
-#include <wpi/SmallVector.h>
-#include <wpi/StringRef.h>
 
 namespace frc {
 
 class ShuffleboardValue {
  public:
-  explicit ShuffleboardValue(const wpi::Twine& title) {
-    wpi::SmallVector<char, 16> storage;
-    m_title = title.toStringRef(storage);
-  }
+  explicit ShuffleboardValue(std::string_view title) : m_title(title) {}
 
   virtual ~ShuffleboardValue() = default;
 
   /**
    * Gets the title of this Shuffleboard value.
    */
-  wpi::StringRef GetTitle() const { return m_title; }
+  const std::string& GetTitle() const { return m_title; }
 
   /**
    * Builds the entries for this value.

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardWidget.h

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/Twine.h>
+#include <string_view>
 
 #include "frc/shuffleboard/BuiltInWidgets.h"
 #include "frc/shuffleboard/ShuffleboardComponent.h"
@@ -28,7 +28,7 @@ const char* GetStringForWidgetType(BuiltInWidgets type);
 template <typename Derived>
 class ShuffleboardWidget : public ShuffleboardComponent<Derived> {
  public:
-  ShuffleboardWidget(ShuffleboardContainer& parent, const wpi::Twine& title)
+  ShuffleboardWidget(ShuffleboardContainer& parent, std::string_view title)
       : ShuffleboardValue(title),
         ShuffleboardComponent<Derived>(parent, title) {}
 
@@ -66,7 +66,7 @@ class ShuffleboardWidget : public ShuffleboardComponent<Derived> {
    * @param widgetType the type of the widget used to display the data
    * @return this widget object
    */
-  Derived& WithWidget(const wpi::Twine& widgetType) {
+  Derived& WithWidget(std::string_view widgetType) {
     this->SetType(widgetType);
     return *static_cast<Derived*>(this);
   }

wpilibc/src/main/native/include/frc/shuffleboard/SimpleWidget.h

@@ -5,10 +5,10 @@
 #pragma once
 
 #include <memory>
+#include <string_view>
 
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableEntry.h>
-#include <wpi/Twine.h>
 
 #include "frc/shuffleboard/ShuffleboardWidget.h"
 
@@ -22,7 +22,7 @@ class ShuffleboardContainer;
  */
 class SimpleWidget final : public ShuffleboardWidget<SimpleWidget> {
  public:
-  SimpleWidget(ShuffleboardContainer& parent, const wpi::Twine& title);
+  SimpleWidget(ShuffleboardContainer& parent, std::string_view title);
 
   /**
    * Gets the NetworkTable entry that contains the data for this widget.

wpilibc/src/main/native/include/frc/shuffleboard/SuppliedValueWidget.h

@@ -6,10 +6,10 @@
 
 #include <functional>
 #include <memory>
+#include <string_view>
 
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableEntry.h>
-#include <wpi/Twine.h>
 
 #include "frc/shuffleboard/ShuffleboardComponent.h"
 #include "frc/shuffleboard/ShuffleboardComponent.inc"
@@ -22,7 +22,7 @@ class ShuffleboardContainer;
 template <typename T>
 class SuppliedValueWidget : public ShuffleboardWidget<SuppliedValueWidget<T> > {
  public:
-  SuppliedValueWidget(ShuffleboardContainer& parent, const wpi::Twine& title,
+  SuppliedValueWidget(ShuffleboardContainer& parent, std::string_view title,
                       std::function<T()> supplier,
                       std::function<void(nt::NetworkTableEntry, T)> setter)
       : ShuffleboardValue(title),

wpilibc/src/main/native/include/frc/smartdashboard/Field2d.h

@@ -5,12 +5,12 @@
 #pragma once
 
 #include <memory>
+#include <string_view>
 #include <vector>
 
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <units/length.h>
-#include <wpi/Twine.h>
 #include <wpi/mutex.h>
 
 #include "frc/geometry/Pose2d.h"
@@ -76,7 +76,7 @@ class Field2d : public Sendable, public SendableHelper<Field2d> {
    *
    * @return Field object
    */
-  FieldObject2d* GetObject(const wpi::Twine& name);
+  FieldObject2d* GetObject(std::string_view name);
 
   /**
    * Get the robot object.

wpilibc/src/main/native/include/frc/smartdashboard/FieldObject2d.h

@@ -6,6 +6,7 @@
 
 #include <initializer_list>
 #include <string>
+#include <string_view>
 #include <utility>
 #include <vector>
 
@@ -31,8 +32,7 @@ class FieldObject2d {
   struct private_init {};
 
  public:
-  FieldObject2d(std::string&& name, const private_init&)
-      : m_name{std::move(name)} {}
+  FieldObject2d(std::string_view name, const private_init&) : m_name{name} {}
 
   FieldObject2d(FieldObject2d&& rhs);
   FieldObject2d& operator=(FieldObject2d&& rhs);

wpilibc/src/main/native/include/frc/smartdashboard/MechanismLigament2d.h

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <memory>
+#include <string_view>
 
 #include <networktables/NetworkTableEntry.h>
 #include <units/angle.h>
@@ -21,7 +22,7 @@ namespace frc {
  */
 class MechanismLigament2d : public MechanismObject2d {
  public:
-  MechanismLigament2d(const wpi::Twine& name, double length,
+  MechanismLigament2d(std::string_view name, double length,
                       units::degree_t angle, double lineWidth = 6,
                       const frc::Color8Bit& color = {235, 137, 52});
 

wpilibc/src/main/native/include/frc/smartdashboard/MechanismObject2d.h

@@ -7,12 +7,12 @@
 #include <memory>
 #include <stdexcept>
 #include <string>
+#include <string_view>
 #include <type_traits>
 #include <utility>
 
 #include <networktables/NetworkTable.h>
 #include <wpi/StringMap.h>
-#include <wpi/Twine.h>
 
 namespace frc {
 
@@ -30,7 +30,7 @@ class MechanismObject2d {
   friend class Mechanism2d;
 
  protected:
-  explicit MechanismObject2d(const wpi::Twine& name);
+  explicit MechanismObject2d(std::string_view name);
 
   /**
    * Update all entries with new ones from a new table.

wpilibc/src/main/native/include/frc/smartdashboard/MechanismRoot2d.h

@@ -5,9 +5,9 @@
 #pragma once
 
 #include <memory>
+#include <string_view>
 
 #include <networktables/NetworkTableEntry.h>
-#include <wpi/Twine.h>
 
 #include "MechanismObject2d.h"
 
@@ -24,7 +24,7 @@ class MechanismRoot2d : private MechanismObject2d {
   struct private_init {};
 
  public:
-  MechanismRoot2d(const wpi::Twine& name, double x, double y,
+  MechanismRoot2d(std::string_view name, double x, double y,
                   const private_init&);
 
   /**

wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilder.h

@@ -7,6 +7,7 @@
 #include <functional>
 #include <memory>
 #include <string>
+#include <string_view>
 #include <vector>
 
 #include <networktables/NetworkTable.h>
@@ -14,7 +15,6 @@
 #include <networktables/NetworkTableValue.h>
 #include <wpi/ArrayRef.h>
 #include <wpi/SmallVector.h>
-#include <wpi/Twine.h>
 
 namespace frc {
 
@@ -28,7 +28,7 @@ class SendableBuilder {
    *
    * @param type    data type
    */
-  virtual void SetSmartDashboardType(const wpi::Twine& type) = 0;
+  virtual void SetSmartDashboardType(std::string_view type) = 0;
 
   /**
    * Set a flag indicating if this sendable should be treated as an actuator.
@@ -63,7 +63,7 @@ class SendableBuilder {
    * @param key   property name
    * @return Network table entry
    */
-  virtual nt::NetworkTableEntry GetEntry(const wpi::Twine& key) = 0;
+  virtual nt::NetworkTableEntry GetEntry(std::string_view key) = 0;
 
   /**
    * Add a boolean property.
@@ -72,7 +72,7 @@ class SendableBuilder {
    * @param getter  getter function (returns current value)
    * @param setter  setter function (sets new value)
    */
-  virtual void AddBooleanProperty(const wpi::Twine& key,
+  virtual void AddBooleanProperty(std::string_view key,
                                   std::function<bool()> getter,
                                   std::function<void(bool)> setter) = 0;
 
@@ -83,7 +83,7 @@ class SendableBuilder {
    * @param getter  getter function (returns current value)
    * @param setter  setter function (sets new value)
    */
-  virtual void AddDoubleProperty(const wpi::Twine& key,
+  virtual void AddDoubleProperty(std::string_view key,
                                  std::function<double()> getter,
                                  std::function<void(double)> setter) = 0;
 
@@ -95,7 +95,7 @@ class SendableBuilder {
    * @param setter  setter function (sets new value)
    */
   virtual void 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) = 0;
 
   /**
@@ -106,7 +106,7 @@ class SendableBuilder {
    * @param setter  setter function (sets new value)
    */
   virtual void 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) = 0;
 
   /**
@@ -117,7 +117,7 @@ class SendableBuilder {
    * @param setter  setter function (sets new value)
    */
   virtual void 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) = 0;
 
   /**
@@ -128,7 +128,7 @@ class SendableBuilder {
    * @param setter  setter function (sets new value)
    */
   virtual void 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) = 0;
 
   /**
@@ -138,7 +138,7 @@ class SendableBuilder {
    * @param getter  getter function (returns current value)
    * @param setter  setter function (sets new value)
    */
-  virtual void AddRawProperty(const wpi::Twine& key,
+  virtual void AddRawProperty(std::string_view key,
                               std::function<std::string()> getter,
                               std::function<void(wpi::StringRef)> setter) = 0;
 
@@ -150,7 +150,7 @@ class SendableBuilder {
    * @param setter  setter function (sets new value)
    */
   virtual void 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) = 0;
 
   /**
@@ -161,7 +161,7 @@ class SendableBuilder {
    * @param setter  setter function (sets new value)
    */
   virtual void AddSmallStringProperty(
-      const wpi::Twine& key,
+      std::string_view key,
       std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
       std::function<void(wpi::StringRef)> setter) = 0;
 
@@ -173,7 +173,7 @@ class SendableBuilder {
    * @param setter  setter function (sets new value)
    */
   virtual void 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) = 0;
 
@@ -185,7 +185,7 @@ class SendableBuilder {
    * @param setter  setter function (sets new value)
    */
   virtual void 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) = 0;
@@ -198,7 +198,7 @@ class SendableBuilder {
    * @param setter  setter function (sets new value)
    */
   virtual void AddSmallStringArrayProperty(
-      const wpi::Twine& key,
+      std::string_view key,
       std::function<
           wpi::ArrayRef<std::string>(wpi::SmallVectorImpl<std::string>& buf)>
           getter,
@@ -212,7 +212,7 @@ class SendableBuilder {
    * @param setter  setter function (sets new value)
    */
   virtual void AddSmallRawProperty(
-      const wpi::Twine& key,
+      std::string_view key,
       std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
       std::function<void(wpi::StringRef)> setter) = 0;
 

wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h

@@ -7,6 +7,7 @@
 #include <functional>
 #include <memory>
 #include <string>
+#include <string_view>
 #include <utility>
 #include <vector>
 
@@ -15,7 +16,6 @@
 #include <networktables/NetworkTableValue.h>
 #include <wpi/ArrayRef.h>
 #include <wpi/SmallVector.h>
-#include <wpi/Twine.h>
 
 #include "frc/smartdashboard/SendableBuilder.h"
 
@@ -86,73 +86,72 @@ class SendableBuilderImpl : public SendableBuilder {
    */
   void ClearProperties();
 
-  void SetSmartDashboardType(const wpi::Twine& type) override;
+  void SetSmartDashboardType(std::string_view type) override;
   void SetActuator(bool value) override;
   void SetSafeState(std::function<void()> func) override;
   void SetUpdateTable(std::function<void()> func) override;
-  nt::NetworkTableEntry GetEntry(const wpi::Twine& key) override;
+  nt::NetworkTableEntry GetEntry(std::string_view key) override;
 
-  void AddBooleanProperty(const wpi::Twine& key, std::function<bool()> getter,
+  void AddBooleanProperty(std::string_view key, std::function<bool()> getter,
                           std::function<void(bool)> setter) override;
 
-  void AddDoubleProperty(const wpi::Twine& key, std::function<double()> getter,
+  void AddDoubleProperty(std::string_view key, std::function<double()> getter,
                          std::function<void(double)> setter) override;
 
-  void AddStringProperty(const wpi::Twine& key,
+  void AddStringProperty(std::string_view key,
                          std::function<std::string()> getter,
                          std::function<void(wpi::StringRef)> setter) override;
 
   void 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) override;
 
   void 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) override;
 
   void 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) override;
 
-  void AddRawProperty(const wpi::Twine& key,
-                      std::function<std::string()> getter,
+  void AddRawProperty(std::string_view key, std::function<std::string()> getter,
                       std::function<void(wpi::StringRef)> setter) override;
 
   void 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) override;
 
   void AddSmallStringProperty(
-      const wpi::Twine& key,
+      std::string_view key,
       std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
       std::function<void(wpi::StringRef)> setter) override;
 
   void 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) override;
 
   void 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) override;
 
   void AddSmallStringArrayProperty(
-      const wpi::Twine& key,
+      std::string_view key,
       std::function<
           wpi::ArrayRef<std::string>(wpi::SmallVectorImpl<std::string>& buf)>
           getter,
       std::function<void(wpi::ArrayRef<std::string>)> setter) override;
 
   void AddSmallRawProperty(
-      const wpi::Twine& key,
+      std::string_view key,
       std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
       std::function<void(wpi::StringRef)> setter) override;
 
  private:
   struct Property {
-    Property(nt::NetworkTable& table, const wpi::Twine& key)
+    Property(nt::NetworkTable& table, std::string_view key)
         : entry(table.GetEntry(key)) {}
 
     Property(const Property&) = delete;

wpilibc/src/main/native/include/frc/smartdashboard/SendableHelper.h

@@ -6,8 +6,8 @@
 
 #include <memory>
 #include <string>
+#include <string_view>
 
-#include <wpi/Twine.h>
 #include <wpi/deprecated.h>
 
 #include "frc/smartdashboard/SendableRegistry.h"
@@ -61,7 +61,7 @@ class SendableHelper {
    * @param name name
    */
   WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(const wpi::Twine& name) {
+  void SetName(std::string_view name) {
     SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this), name);
   }
 
@@ -74,7 +74,7 @@ class SendableHelper {
    * @param name device name
    */
   WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(const wpi::Twine& subsystem, const wpi::Twine& name) {
+  void SetName(std::string_view subsystem, std::string_view name) {
     SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
                                             subsystem, name);
   }
@@ -100,7 +100,7 @@ class SendableHelper {
    * @param subsystem subsystem name
    */
   WPI_DEPRECATED("use SendableRegistry::SetSubsystem()")
-  void SetSubsystem(const wpi::Twine& subsystem) {
+  void SetSubsystem(std::string_view subsystem) {
     SendableRegistry::GetInstance().SetSubsystem(static_cast<Derived*>(this),
                                                  subsystem);
   }
@@ -142,7 +142,7 @@ class SendableHelper {
    * @param channel    The channel number the device is plugged into
    */
   WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(const wpi::Twine& moduleType, int channel) {
+  void SetName(std::string_view moduleType, int channel) {
     SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
                                             moduleType, channel);
   }
@@ -159,7 +159,7 @@ class SendableHelper {
    * PWM)
    */
   WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(const wpi::Twine& moduleType, int moduleNumber, int channel) {
+  void SetName(std::string_view moduleType, int moduleNumber, int channel) {
     SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
                                             moduleType, moduleNumber, channel);
   }

wpilibc/src/main/native/include/frc/smartdashboard/SendableRegistry.h

@@ -6,10 +6,10 @@
 
 #include <memory>
 #include <string>
+#include <string_view>
 
 #include <networktables/NetworkTable.h>
 #include <wpi/STLExtras.h>
-#include <wpi/Twine.h>
 
 namespace frc {
 
@@ -41,7 +41,7 @@ class SendableRegistry {
    * @param sendable object to add
    * @param name component name
    */
-  void Add(Sendable* sendable, const wpi::Twine& name);
+  void Add(Sendable* sendable, std::string_view name);
 
   /**
    * Adds an object to the registry.
@@ -51,7 +51,7 @@ class SendableRegistry {
    *                     the value
    * @param channel      The channel number the device is plugged into
    */
-  void Add(Sendable* sendable, const wpi::Twine& moduleType, int channel);
+  void Add(Sendable* sendable, std::string_view moduleType, int channel);
 
   /**
    * Adds an object to the registry.
@@ -62,7 +62,7 @@ class SendableRegistry {
    * @param moduleNumber The number of the particular module type
    * @param channel      The channel number the device is plugged into
    */
-  void Add(Sendable* sendable, const wpi::Twine& moduleType, int moduleNumber,
+  void Add(Sendable* sendable, std::string_view moduleType, int moduleNumber,
            int channel);
 
   /**
@@ -72,8 +72,8 @@ class SendableRegistry {
    * @param subsystem subsystem name
    * @param name component name
    */
-  void Add(Sendable* sendable, const wpi::Twine& subsystem,
-           const wpi::Twine& name);
+  void Add(Sendable* sendable, std::string_view subsystem,
+           std::string_view name);
 
   /**
    * Adds an object to the registry and LiveWindow.
@@ -81,7 +81,7 @@ class SendableRegistry {
    * @param sendable object to add
    * @param name component name
    */
-  void AddLW(Sendable* sendable, const wpi::Twine& name);
+  void AddLW(Sendable* sendable, std::string_view name);
 
   /**
    * Adds an object to the registry and LiveWindow.
@@ -91,7 +91,7 @@ class SendableRegistry {
    *                     the value
    * @param channel      The channel number the device is plugged into
    */
-  void AddLW(Sendable* sendable, const wpi::Twine& moduleType, int channel);
+  void AddLW(Sendable* sendable, std::string_view moduleType, int channel);
 
   /**
    * Adds an object to the registry and LiveWindow.
@@ -102,7 +102,7 @@ class SendableRegistry {
    * @param moduleNumber The number of the particular module type
    * @param channel      The channel number the device is plugged into
    */
-  void AddLW(Sendable* sendable, const wpi::Twine& moduleType, int moduleNumber,
+  void AddLW(Sendable* sendable, std::string_view moduleType, int moduleNumber,
              int channel);
 
   /**
@@ -112,8 +112,8 @@ class SendableRegistry {
    * @param subsystem subsystem name
    * @param name component name
    */
-  void AddLW(Sendable* sendable, const wpi::Twine& subsystem,
-             const wpi::Twine& name);
+  void AddLW(Sendable* sendable, std::string_view subsystem,
+             std::string_view name);
 
   /**
    * Adds a child object to an object.  Adds the child object to the registry
@@ -171,7 +171,7 @@ class SendableRegistry {
    * @param sendable object
    * @param name name
    */
-  void SetName(Sendable* sendable, const wpi::Twine& name);
+  void SetName(Sendable* sendable, std::string_view name);
 
   /**
    * Sets the name of an object with a channel number.
@@ -181,7 +181,7 @@ class SendableRegistry {
    *                   the value
    * @param channel    The channel number the device is plugged into
    */
-  void SetName(Sendable* sendable, const wpi::Twine& moduleType, int channel);
+  void SetName(Sendable* sendable, std::string_view moduleType, int channel);
 
   /**
    * Sets the name of an object with a module and channel number.
@@ -192,7 +192,7 @@ class SendableRegistry {
    * @param moduleNumber The number of the particular module type
    * @param channel      The channel number the device is plugged into
    */
-  void SetName(Sendable* sendable, const wpi::Twine& moduleType,
+  void SetName(Sendable* sendable, std::string_view moduleType,
                int moduleNumber, int channel);
 
   /**
@@ -202,8 +202,8 @@ class SendableRegistry {
    * @param subsystem subsystem name
    * @param name device name
    */
-  void SetName(Sendable* sendable, const wpi::Twine& subsystem,
-               const wpi::Twine& name);
+  void SetName(Sendable* sendable, std::string_view subsystem,
+               std::string_view name);
 
   /**
    * Gets the subsystem name of an object.
@@ -219,7 +219,7 @@ class SendableRegistry {
    * @param sendable object
    * @param subsystem subsystem name
    */
-  void SetSubsystem(Sendable* sendable, const wpi::Twine& subsystem);
+  void SetSubsystem(Sendable* sendable, std::string_view subsystem);
 
   /**
    * Gets a unique handle for setting/getting data with SetData() and GetData().