Use wpi::span instead of wpi::ArrayRef across all libraries (#3414)

- Remove ArrayRef.h
- Add SpanExtras.h for a couple of convenience functions

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

@@ -9,7 +9,7 @@
 #include <hal/AddressableLEDTypes.h>
 #include <hal/Types.h>
 #include <units/time.h>
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "util/Color.h"
 #include "util/Color8Bit.h"
@@ -107,7 +107,7 @@ class AddressableLED {
    *
    * @param ledData the buffer to write
    */
-  void SetData(wpi::ArrayRef<LEDData> ledData);
+  void SetData(wpi::span<const LEDData> ledData);
 
   /**
    * Sets the led output data.

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

@@ -10,8 +10,8 @@
 
 #include <hal/SPITypes.h>
 #include <units/time.h>
-#include <wpi/ArrayRef.h>
 #include <wpi/deprecated.h>
+#include <wpi/span.h>
 
 namespace frc {
 
@@ -173,7 +173,7 @@ class SPI {
    * @param dataToSend data to send (maximum 16 bytes)
    * @param zeroSize number of zeros to send after the data
    */
-  void SetAutoTransmitData(wpi::ArrayRef<uint8_t> dataToSend, int zeroSize);
+  void SetAutoTransmitData(wpi::span<const uint8_t> dataToSend, int zeroSize);
 
   /**
    * Start running the automatic SPI transfer engine at a periodic rate.

wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h

@@ -7,7 +7,7 @@
 #include <memory>
 #include <string>
 
-#include <wpi/ArrayRef.h>
+#include <wpi/span.h>
 
 #include "frc/MotorSafety.h"
 
@@ -82,7 +82,7 @@ class RobotDriveBase : public MotorSafety {
    * Normalize all wheel speeds if the magnitude of any wheel is greater than
    * 1.0.
    */
-  static void Normalize(wpi::MutableArrayRef<double> wheelSpeeds);
+  static void Normalize(wpi::span<double> wheelSpeeds);
 
   double m_deadband = 0.02;
   double m_maxOutput = 1.0;

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

@@ -12,9 +12,9 @@
 
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableValue.h>
-#include <wpi/ArrayRef.h>
 #include <wpi/SmallSet.h>
 #include <wpi/StringMap.h>
+#include <wpi/span.h>
 
 #include "frc/shuffleboard/BuiltInLayouts.h"
 #include "frc/shuffleboard/LayoutType.h"
@@ -228,19 +228,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    *         container with the given title
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
-  SimpleWidget& Add(std::string_view title, wpi::ArrayRef<bool> defaultValue);
-
-  /**
-   * Adds a widget to this container to display the given data.
-   *
-   * @param title the title of the widget
-   * @param defaultValue  the default value of the widget
-   * @return a widget to display the sendable data
-   * @throws IllegalArgumentException if a widget already exists in this
-   *         container with the given title
-   * @see #addPersistent(String, Object) add(String title, Object defaultValue)
-   */
-  SimpleWidget& Add(std::string_view title, wpi::ArrayRef<double> defaultValue);
+  SimpleWidget& Add(std::string_view title, wpi::span<const bool> defaultValue);
 
   /**
    * Adds a widget to this container to display the given data.
@@ -253,7 +241,20 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @see #addPersistent(String, Object) add(String title, Object defaultValue)
    */
   SimpleWidget& Add(std::string_view title,
-                    wpi::ArrayRef<std::string> defaultValue);
+                    wpi::span<const double> defaultValue);
+
+  /**
+   * Adds a widget to this container to display the given data.
+   *
+   * @param title the title of the widget
+   * @param defaultValue  the default value of the widget
+   * @return a widget to display the sendable data
+   * @throws IllegalArgumentException if a widget already exists in this
+   *         container with the given title
+   * @see #addPersistent(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& Add(std::string_view title,
+                    wpi::span<const std::string> defaultValue);
 
   /**
    * Adds a widget to this container. The widget will display the data provided
@@ -432,7 +433,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
   SimpleWidget& AddPersistent(std::string_view title,
-                              wpi::ArrayRef<bool> defaultValue);
+                              wpi::span<const bool> defaultValue);
 
   /**
    * Adds a widget to this container to display a simple piece of data.
@@ -447,7 +448,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
   SimpleWidget& AddPersistent(std::string_view title,
-                              wpi::ArrayRef<double> defaultValue);
+                              wpi::span<const double> defaultValue);
 
   /**
    * Adds a widget to this container to display a simple piece of data.
@@ -462,7 +463,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @see #add(String, Object) add(String title, Object defaultValue)
    */
   SimpleWidget& AddPersistent(std::string_view title,
-                              wpi::ArrayRef<std::string> defaultValue);
+                              wpi::span<const std::string> defaultValue);
 
   void EnableIfActuator() override;
 

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

@@ -12,9 +12,9 @@
 
 #include <networktables/NetworkTableEntry.h>
 #include <units/length.h>
-#include <wpi/ArrayRef.h>
 #include <wpi/SmallVector.h>
 #include <wpi/mutex.h>
+#include <wpi/span.h>
 
 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
@@ -66,7 +66,7 @@ class FieldObject2d {
    *
    * @param poses array of 2D poses
    */
-  void SetPoses(wpi::ArrayRef<Pose2d> poses);
+  void SetPoses(wpi::span<const Pose2d> poses);
 
   /**
    * Set multiple poses from an array of Pose objects.
@@ -97,9 +97,9 @@ class FieldObject2d {
    *
    * @param obj Object entry
    * @param out output SmallVector to hold 2D poses
-   * @return ArrayRef referring to output SmallVector
+   * @return span referring to output SmallVector
    */
-  wpi::ArrayRef<Pose2d> GetPoses(wpi::SmallVectorImpl<Pose2d>& out) const;
+  wpi::span<const Pose2d> GetPoses(wpi::SmallVectorImpl<Pose2d>& out) const;
 
  private:
   void UpdateEntry(bool setDefault = false);

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

@@ -13,8 +13,8 @@
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableValue.h>
-#include <wpi/ArrayRef.h>
 #include <wpi/SmallVector.h>
+#include <wpi/span.h>
 
 namespace frc {
 
@@ -107,7 +107,7 @@ class SendableBuilder {
    */
   virtual void AddBooleanArrayProperty(
       std::string_view key, std::function<std::vector<int>()> getter,
-      std::function<void(wpi::ArrayRef<int>)> setter) = 0;
+      std::function<void(wpi::span<const int>)> setter) = 0;
 
   /**
    * Add a double array property.
@@ -118,7 +118,7 @@ class SendableBuilder {
    */
   virtual void AddDoubleArrayProperty(
       std::string_view key, std::function<std::vector<double>()> getter,
-      std::function<void(wpi::ArrayRef<double>)> setter) = 0;
+      std::function<void(wpi::span<const double>)> setter) = 0;
 
   /**
    * Add a string array property.
@@ -129,7 +129,7 @@ class SendableBuilder {
    */
   virtual void AddStringArrayProperty(
       std::string_view key, std::function<std::vector<std::string>()> getter,
-      std::function<void(wpi::ArrayRef<std::string>)> setter) = 0;
+      std::function<void(wpi::span<const std::string>)> setter) = 0;
 
   /**
    * Add a raw property.
@@ -174,8 +174,9 @@ class SendableBuilder {
    */
   virtual void AddSmallBooleanArrayProperty(
       std::string_view key,
-      std::function<wpi::ArrayRef<int>(wpi::SmallVectorImpl<int>& buf)> getter,
-      std::function<void(wpi::ArrayRef<int>)> setter) = 0;
+      std::function<wpi::span<const int>(wpi::SmallVectorImpl<int>& buf)>
+          getter,
+      std::function<void(wpi::span<const int>)> setter) = 0;
 
   /**
    * Add a double array property (SmallVector form).
@@ -186,9 +187,9 @@ class SendableBuilder {
    */
   virtual void AddSmallDoubleArrayProperty(
       std::string_view key,
-      std::function<wpi::ArrayRef<double>(wpi::SmallVectorImpl<double>& buf)>
+      std::function<wpi::span<const double>(wpi::SmallVectorImpl<double>& buf)>
           getter,
-      std::function<void(wpi::ArrayRef<double>)> setter) = 0;
+      std::function<void(wpi::span<const double>)> setter) = 0;
 
   /**
    * Add a string array property (SmallVector form).
@@ -200,9 +201,9 @@ class SendableBuilder {
   virtual void AddSmallStringArrayProperty(
       std::string_view key,
       std::function<
-          wpi::ArrayRef<std::string>(wpi::SmallVectorImpl<std::string>& buf)>
+          wpi::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
           getter,
-      std::function<void(wpi::ArrayRef<std::string>)> setter) = 0;
+      std::function<void(wpi::span<const std::string>)> setter) = 0;
 
   /**
    * Add a raw property (SmallVector form).

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

@@ -14,8 +14,8 @@
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableValue.h>
-#include <wpi/ArrayRef.h>
 #include <wpi/SmallVector.h>
+#include <wpi/span.h>
 
 #include "frc/smartdashboard/SendableBuilder.h"
 
@@ -104,15 +104,15 @@ class SendableBuilderImpl : public SendableBuilder {
 
   void AddBooleanArrayProperty(
       std::string_view key, std::function<std::vector<int>()> getter,
-      std::function<void(wpi::ArrayRef<int>)> setter) override;
+      std::function<void(wpi::span<const int>)> setter) override;
 
   void AddDoubleArrayProperty(
       std::string_view key, std::function<std::vector<double>()> getter,
-      std::function<void(wpi::ArrayRef<double>)> setter) override;
+      std::function<void(wpi::span<const double>)> setter) override;
 
   void AddStringArrayProperty(
       std::string_view key, std::function<std::vector<std::string>()> getter,
-      std::function<void(wpi::ArrayRef<std::string>)> setter) override;
+      std::function<void(wpi::span<const std::string>)> setter) override;
 
   void AddRawProperty(std::string_view key, std::function<std::string()> getter,
                       std::function<void(std::string_view)> setter) override;
@@ -128,21 +128,22 @@ class SendableBuilderImpl : public SendableBuilder {
 
   void AddSmallBooleanArrayProperty(
       std::string_view key,
-      std::function<wpi::ArrayRef<int>(wpi::SmallVectorImpl<int>& buf)> getter,
-      std::function<void(wpi::ArrayRef<int>)> setter) override;
+      std::function<wpi::span<const int>(wpi::SmallVectorImpl<int>& buf)>
+          getter,
+      std::function<void(wpi::span<const int>)> setter) override;
 
   void AddSmallDoubleArrayProperty(
       std::string_view key,
-      std::function<wpi::ArrayRef<double>(wpi::SmallVectorImpl<double>& buf)>
+      std::function<wpi::span<const double>(wpi::SmallVectorImpl<double>& buf)>
           getter,
-      std::function<void(wpi::ArrayRef<double>)> setter) override;
+      std::function<void(wpi::span<const double>)> setter) override;
 
   void AddSmallStringArrayProperty(
       std::string_view key,
       std::function<
-          wpi::ArrayRef<std::string>(wpi::SmallVectorImpl<std::string>& buf)>
+          wpi::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
           getter,
-      std::function<void(wpi::ArrayRef<std::string>)> setter) override;
+      std::function<void(wpi::span<const std::string>)> setter) override;
 
   void AddSmallRawProperty(
       std::string_view key,

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

@@ -11,6 +11,7 @@
 
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableValue.h>
+#include <wpi/span.h>
 
 #include "frc/smartdashboard/ListenerExecutor.h"
 #include "frc/smartdashboard/Sendable.h"
@@ -243,7 +244,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    *       std::vector<bool> is special-cased in C++. 0 is false, any
    *       non-zero value is true.
    */
-  static bool PutBooleanArray(std::string_view key, wpi::ArrayRef<int> value);
+  static bool PutBooleanArray(std::string_view key, wpi::span<const int> value);
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
@@ -253,7 +254,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @returns False if the table key exists with a different type
    */
   static bool SetDefaultBooleanArray(std::string_view key,
-                                     wpi::ArrayRef<int> defaultValue);
+                                     wpi::span<const int> defaultValue);
 
   /**
    * Returns the boolean array the key maps to.
@@ -274,7 +275,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    *       non-zero value is true.
    */
   static std::vector<int> GetBooleanArray(std::string_view key,
-                                          wpi::ArrayRef<int> defaultValue);
+                                          wpi::span<const int> defaultValue);
 
   /**
    * Put a number array in the table.
@@ -283,7 +284,8 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param value The value that will be assigned.
    * @return False if the table key already exists with a different type
    */
-  static bool PutNumberArray(std::string_view key, wpi::ArrayRef<double> value);
+  static bool PutNumberArray(std::string_view key,
+                             wpi::span<const double> value);
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
@@ -293,7 +295,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @returns False if the table key exists with a different type
    */
   static bool SetDefaultNumberArray(std::string_view key,
-                                    wpi::ArrayRef<double> defaultValue);
+                                    wpi::span<const double> defaultValue);
 
   /**
    * Returns the number array the key maps to.
@@ -309,8 +311,8 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @note This makes a copy of the array. If the overhead of this is a concern,
    *       use GetValue() instead.
    */
-  static std::vector<double> GetNumberArray(std::string_view key,
-                                            wpi::ArrayRef<double> defaultValue);
+  static std::vector<double> GetNumberArray(
+      std::string_view key, wpi::span<const double> defaultValue);
 
   /**
    * Put a string array in the table.
@@ -320,7 +322,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @return False if the table key already exists with a different type
    */
   static bool PutStringArray(std::string_view key,
-                             wpi::ArrayRef<std::string> value);
+                             wpi::span<const std::string> value);
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
@@ -330,7 +332,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @returns False if the table key exists with a different type
    */
   static bool SetDefaultStringArray(std::string_view key,
-                                    wpi::ArrayRef<std::string> defaultValue);
+                                    wpi::span<const std::string> defaultValue);
 
   /**
    * Returns the string array the key maps to.
@@ -347,7 +349,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    *       use GetValue() instead.
    */
   static std::vector<std::string> GetStringArray(
-      std::string_view key, wpi::ArrayRef<std::string> defaultValue);
+      std::string_view key, wpi::span<const std::string> defaultValue);
 
   /**
    * Put a raw value (byte array) in the table.