[wpilib] Remove GyroBase

wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp

@@ -8,6 +8,7 @@
 
 #include "frc/DriverStation.h"
 #include "frc/Timer.h"
+#include "frc/smartdashboard/SendableBuilder.h"
 #include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
@@ -134,3 +135,9 @@ void ADXRS450_Gyro::Calibrate() {
 int ADXRS450_Gyro::GetPort() const {
   return m_port;
 }
+
+void ADXRS450_Gyro::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Gyro");
+  builder.AddDoubleProperty(
+      "Value", [=]() { return GetAngle(); }, nullptr);
+}

wpilibc/src/main/native/cpp/AnalogGyro.cpp

@@ -15,6 +15,7 @@
 #include "frc/Base.h"
 #include "frc/Timer.h"
 #include "frc/WPIErrors.h"
+#include "frc/smartdashboard/SendableBuilder.h"
 #include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
@@ -180,3 +181,9 @@ void AnalogGyro::Calibrate() {
 std::shared_ptr<AnalogInput> AnalogGyro::GetAnalogInput() const {
   return m_analog;
 }
+
+void AnalogGyro::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Gyro");
+  builder.AddDoubleProperty(
+      "Value", [=]() { return GetAngle(); }, nullptr);
+}

wpilibc/src/main/native/cpp/GyroBase.cpp

@@ -1,16 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/GyroBase.h"
-
-#include "frc/WPIErrors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-
-using namespace frc;
-
-void GyroBase::InitSendable(SendableBuilder& builder) {
-  builder.SetSmartDashboardType("Gyro");
-  builder.AddDoubleProperty(
-      "Value", [=]() { return GetAngle(); }, nullptr);
-}

wpilibc/src/main/native/cpp/romi/RomiGyro.cpp

@@ -4,6 +4,8 @@
 
 #include "frc/romi/RomiGyro.h"
 
+#include "frc/smartdashboard/SendableBuilder.h"
+
 using namespace frc;
 
 RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
@@ -87,3 +89,9 @@ void RomiGyro::Reset() {
     m_angleZOffset = m_simAngleZ.Get();
   }
 }
+
+void RomiGyro::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Gyro");
+  builder.AddDoubleProperty(
+      "Value", [=]() { return GetAngle(); }, nullptr);
+}

wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h

@@ -8,8 +8,11 @@
 
 #include <hal/SimDevice.h>
 
-#include "frc/GyroBase.h"
+#include "frc/ErrorBase.h"
 #include "frc/SPI.h"
+#include "frc/interfaces/Gyro.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -26,7 +29,10 @@ namespace frc {
  * This class is for the digital ADXRS450 gyro sensor that connects via SPI.
  * Only one instance of an ADXRS Gyro is supported.
  */
-class ADXRS450_Gyro : public GyroBase {
+class ADXRS450_Gyro : public Gyro,
+                      public ErrorBase,
+                      public Sendable,
+                      public SendableHelper<ADXRS450_Gyro> {
  public:
   /**
    * Gyro constructor on onboard CS0.
@@ -96,6 +102,8 @@ class ADXRS450_Gyro : public GyroBase {
    */
   int GetPort() const;
 
+  void InitSendable(SendableBuilder& builder) override;
+
  private:
   SPI m_spi;
   SPI::Port m_port;

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

@@ -8,7 +8,8 @@
 
 #include <hal/Types.h>
 
-#include "frc/GyroBase.h"
+#include "frc/ErrorBase.h"
+#include "frc/interfaces/Gyro.h"
 #include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableHelper.h"
 
@@ -29,7 +30,10 @@ class AnalogInput;
  *
  * This class is for gyro sensors that connect to an analog input.
  */
-class AnalogGyro : public GyroBase {
+class AnalogGyro : public Gyro,
+                   public ErrorBase,
+                   public Sendable,
+                   public SendableHelper<AnalogGyro> {
  public:
   static constexpr int kOversampleBits = 10;
   static constexpr int kAverageBits = 0;
@@ -190,6 +194,8 @@ class AnalogGyro : public GyroBase {
    */
   std::shared_ptr<AnalogInput> GetAnalogInput() const;
 
+  void InitSendable(SendableBuilder& builder) override;
+
  protected:
   std::shared_ptr<AnalogInput> m_analog;
 

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

@@ -1,30 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include "frc/ErrorBase.h"
-#include "frc/interfaces/Gyro.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
-
-namespace frc {
-
-/**
- * GyroBase is the common base class for Gyro implementations such as
- * AnalogGyro.
- */
-class GyroBase : public Gyro,
-                 public ErrorBase,
-                 public Sendable,
-                 public SendableHelper<GyroBase> {
- public:
-  GyroBase() = default;
-  GyroBase(GyroBase&&) = default;
-  GyroBase& operator=(GyroBase&&) = default;
-
-  void InitSendable(SendableBuilder& builder) override;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/romi/RomiGyro.h

@@ -6,7 +6,10 @@
 
 #include <hal/SimDevice.h>
 
-#include "frc/GyroBase.h"
+#include "frc/ErrorBase.h"
+#include "frc/interfaces/Gyro.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -16,7 +19,10 @@ namespace frc {
  * This class is for the Romi onboard gyro, and will only work in
  * simulation/Romi mode. Only one instance of a RomiGyro is supported.
  */
-class RomiGyro : public GyroBase {
+class RomiGyro : public Gyro,
+                 public ErrorBase,
+                 public Sendable,
+                 public SendableHelper<RomiGyro> {
  public:
   RomiGyro();
 
@@ -84,6 +90,8 @@ class RomiGyro : public GyroBase {
    */
   void Reset() override;
 
+  void InitSendable(SendableBuilder& builder) override;
+
  private:
   hal::SimDevice m_simDevice;
   hal::SimDouble m_simRateX;

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java

@@ -9,6 +9,8 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimBoolean;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
@@ -24,7 +26,7 @@ import java.nio.ByteOrder;
  * an ADXRS Gyro is supported.
  */
 @SuppressWarnings({"TypeName", "AbbreviationAsWordInName", "PMD.UnusedPrivateField"})
-public class ADXRS450_Gyro extends GyroBase {
+public class ADXRS450_Gyro implements Gyro, Sendable {
   private static final double kSamplePeriod = 0.0005;
   private static final double kCalibrationSampleTime = 5.0;
   private static final double kDegreePerSecondPerLSB = 0.0125;
@@ -206,4 +208,10 @@ public class ADXRS450_Gyro extends GyroBase {
     }
     return m_spi.getAccumulatorLastValue() * kDegreePerSecondPerLSB;
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("Gyro");
+    builder.addDoubleProperty("Value", this::getAngle, null);
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java

@@ -9,6 +9,8 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 import edu.wpi.first.hal.AnalogGyroJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
@@ -20,7 +22,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  *
  * <p>This class is for gyro sensors that connect to an analog input.
  */
-public class AnalogGyro extends GyroBase {
+public class AnalogGyro implements Gyro, Sendable {
   private static final double kDefaultVoltsPerDegreePerSecond = 0.007;
   protected AnalogInput m_analog;
   private boolean m_channelAllocated;
@@ -188,4 +190,10 @@ public class AnalogGyro extends GyroBase {
   public AnalogInput getAnalogInput() {
     return m_analog;
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("Gyro");
+    builder.addDoubleProperty("Value", this::getAngle, null);
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/GyroBase.java

@@ -1,17 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.wpilibj;
-
-import edu.wpi.first.wpilibj.interfaces.Gyro;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-
-/** GyroBase is the common base class for Gyro implementations such as AnalogGyro. */
-public abstract class GyroBase implements Gyro, Sendable {
-  @Override
-  public void initSendable(SendableBuilder builder) {
-    builder.setSmartDashboardType("Gyro");
-    builder.addDoubleProperty("Value", this::getAngle, null);
-  }
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/romi/RomiGyro.java

@@ -7,9 +7,11 @@ package edu.wpi.first.wpilibj.romi;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDevice.Direction;
 import edu.wpi.first.hal.SimDouble;
-import edu.wpi.first.wpilibj.GyroBase;
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 
-public class RomiGyro extends GyroBase {
+public class RomiGyro implements Gyro, Sendable {
   private final SimDevice m_simDevice;
   private SimDouble m_simRateX;
   private SimDouble m_simRateY;
@@ -146,4 +148,10 @@ public class RomiGyro extends GyroBase {
       m_simDevice.close();
     }
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("Gyro");
+    builder.addDoubleProperty("Value", this::getAngle, null);
+  }
 }