Use std::string_view and fmtlib across all libraries (#3402)

- Twine, StringRef, Format, and NativeFormatting have been removed
- Logging now uses fmtlib style formatting
- Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or
std::puts()/std::fputs() (for unformatted strings).
- A wpi/fmt/raw_ostream.h header has been added to enable
fmt::print() with wpi::raw_ostream

wpilibc/src/main/native/cpp/DoubleSolenoid.cpp

@@ -121,7 +121,7 @@ void DoubleSolenoid::InitSendable(SendableBuilder& builder) {
   builder.SetSafeState([=]() { Set(kOff); });
   builder.AddSmallStringProperty(
       "Value",
-      [=](wpi::SmallVectorImpl<char>& buf) -> wpi::StringRef {
+      [=](wpi::SmallVectorImpl<char>& buf) -> std::string_view {
         switch (Get()) {
           case kForward:
             return "Forward";
@@ -131,7 +131,7 @@ void DoubleSolenoid::InitSendable(SendableBuilder& builder) {
             return "Off";
         }
       },
-      [=](wpi::StringRef value) {
+      [=](std::string_view value) {
         Value lvalue = kOff;
         if (value == "Forward") {
           lvalue = kForward;

wpilibc/src/main/native/cpp/IterativeRobotBase.cpp

@@ -4,9 +4,9 @@
 
 #include "frc/IterativeRobotBase.h"
 
+#include <fmt/format.h>
 #include <hal/DriverStation.h>
 #include <networktables/NetworkTableInstance.h>
-#include <wpi/raw_ostream.h>
 
 #include "frc/Errors.h"
 #include "frc/livewindow/LiveWindow.h"
@@ -23,33 +23,33 @@ IterativeRobotBase::IterativeRobotBase(units::second_t period)
       m_watchdog(period, [this] { PrintLoopOverrunMessage(); }) {}
 
 void IterativeRobotBase::RobotInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+  fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
 }
 
 void IterativeRobotBase::SimulationInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+  fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
 }
 
 void IterativeRobotBase::DisabledInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+  fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
 }
 
 void IterativeRobotBase::AutonomousInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+  fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
 }
 
 void IterativeRobotBase::TeleopInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+  fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
 }
 
 void IterativeRobotBase::TestInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+  fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
 }
 
 void IterativeRobotBase::RobotPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+    fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }
@@ -57,7 +57,7 @@ void IterativeRobotBase::RobotPeriodic() {
 void IterativeRobotBase::SimulationPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+    fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }
@@ -65,7 +65,7 @@ void IterativeRobotBase::SimulationPeriodic() {
 void IterativeRobotBase::DisabledPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+    fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }
@@ -73,7 +73,7 @@ void IterativeRobotBase::DisabledPeriodic() {
 void IterativeRobotBase::AutonomousPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+    fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }
@@ -81,7 +81,7 @@ void IterativeRobotBase::AutonomousPeriodic() {
 void IterativeRobotBase::TeleopPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+    fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }
@@ -89,7 +89,7 @@ void IterativeRobotBase::TeleopPeriodic() {
 void IterativeRobotBase::TestPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
+    fmt::print("Default {}() method... Override me!\n", __FUNCTION__);
     firstRun = false;
   }
 }

wpilibc/src/main/native/cpp/Preferences.cpp

@@ -8,12 +8,11 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <networktables/NetworkTableInstance.h>
-#include <wpi/StringRef.h>
 
 using namespace frc;
 
 // The Preferences table name
-static wpi::StringRef kTableName{"Preferences"};
+static constexpr std::string_view kTableName{"Preferences"};
 
 Preferences* Preferences::GetInstance() {
   static Preferences instance;
@@ -24,126 +23,126 @@ std::vector<std::string> Preferences::GetKeys() {
   return m_table->GetKeys();
 }
 
-std::string Preferences::GetString(wpi::StringRef key,
-                                   wpi::StringRef defaultValue) {
+std::string Preferences::GetString(std::string_view key,
+                                   std::string_view defaultValue) {
   return m_table->GetString(key, defaultValue);
 }
 
-int Preferences::GetInt(wpi::StringRef key, int defaultValue) {
+int Preferences::GetInt(std::string_view key, int defaultValue) {
   return static_cast<int>(m_table->GetNumber(key, defaultValue));
 }
 
-double Preferences::GetDouble(wpi::StringRef key, double defaultValue) {
+double Preferences::GetDouble(std::string_view key, double defaultValue) {
   return m_table->GetNumber(key, defaultValue);
 }
 
-float Preferences::GetFloat(wpi::StringRef key, float defaultValue) {
+float Preferences::GetFloat(std::string_view key, float defaultValue) {
   return m_table->GetNumber(key, defaultValue);
 }
 
-bool Preferences::GetBoolean(wpi::StringRef key, bool defaultValue) {
+bool Preferences::GetBoolean(std::string_view key, bool defaultValue) {
   return m_table->GetBoolean(key, defaultValue);
 }
 
-int64_t Preferences::GetLong(wpi::StringRef key, int64_t defaultValue) {
+int64_t Preferences::GetLong(std::string_view key, int64_t defaultValue) {
   return static_cast<int64_t>(m_table->GetNumber(key, defaultValue));
 }
 
-void Preferences::SetString(wpi::StringRef key, wpi::StringRef value) {
+void Preferences::SetString(std::string_view key, std::string_view value) {
   auto entry = m_table->GetEntry(key);
   entry.SetString(value);
   entry.SetPersistent();
 }
 
-void Preferences::PutString(wpi::StringRef key, wpi::StringRef value) {
+void Preferences::PutString(std::string_view key, std::string_view value) {
   SetString(key, value);
 }
 
-void Preferences::InitString(wpi::StringRef key, wpi::StringRef value) {
+void Preferences::InitString(std::string_view key, std::string_view value) {
   auto entry = m_table->GetEntry(key);
   entry.SetDefaultString(value);
 }
 
-void Preferences::SetInt(wpi::StringRef key, int value) {
+void Preferences::SetInt(std::string_view key, int value) {
   auto entry = m_table->GetEntry(key);
   entry.SetDouble(value);
   entry.SetPersistent();
 }
 
-void Preferences::PutInt(wpi::StringRef key, int value) {
+void Preferences::PutInt(std::string_view key, int value) {
   SetInt(key, value);
 }
 
-void Preferences::InitInt(wpi::StringRef key, int value) {
+void Preferences::InitInt(std::string_view key, int value) {
   auto entry = m_table->GetEntry(key);
   entry.SetDefaultDouble(value);
 }
 
-void Preferences::SetDouble(wpi::StringRef key, double value) {
+void Preferences::SetDouble(std::string_view key, double value) {
   auto entry = m_table->GetEntry(key);
   entry.SetDouble(value);
   entry.SetPersistent();
 }
 
-void Preferences::PutDouble(wpi::StringRef key, double value) {
+void Preferences::PutDouble(std::string_view key, double value) {
   SetDouble(key, value);
 }
 
-void Preferences::InitDouble(wpi::StringRef key, double value) {
+void Preferences::InitDouble(std::string_view key, double value) {
   auto entry = m_table->GetEntry(key);
   entry.SetDefaultDouble(value);
 }
 
-void Preferences::SetFloat(wpi::StringRef key, float value) {
+void Preferences::SetFloat(std::string_view key, float value) {
   auto entry = m_table->GetEntry(key);
   entry.SetDouble(value);
   entry.SetPersistent();
 }
 
-void Preferences::PutFloat(wpi::StringRef key, float value) {
+void Preferences::PutFloat(std::string_view key, float value) {
   SetFloat(key, value);
 }
 
-void Preferences::InitFloat(wpi::StringRef key, float value) {
+void Preferences::InitFloat(std::string_view key, float value) {
   auto entry = m_table->GetEntry(key);
   entry.SetDefaultDouble(value);
 }
 
-void Preferences::SetBoolean(wpi::StringRef key, bool value) {
+void Preferences::SetBoolean(std::string_view key, bool value) {
   auto entry = m_table->GetEntry(key);
   entry.SetBoolean(value);
   entry.SetPersistent();
 }
 
-void Preferences::PutBoolean(wpi::StringRef key, bool value) {
+void Preferences::PutBoolean(std::string_view key, bool value) {
   SetBoolean(key, value);
 }
 
-void Preferences::InitBoolean(wpi::StringRef key, bool value) {
+void Preferences::InitBoolean(std::string_view key, bool value) {
   auto entry = m_table->GetEntry(key);
   entry.SetDefaultBoolean(value);
 }
 
-void Preferences::SetLong(wpi::StringRef key, int64_t value) {
+void Preferences::SetLong(std::string_view key, int64_t value) {
   auto entry = m_table->GetEntry(key);
   entry.SetDouble(value);
   entry.SetPersistent();
 }
 
-void Preferences::PutLong(wpi::StringRef key, int64_t value) {
+void Preferences::PutLong(std::string_view key, int64_t value) {
   SetLong(key, value);
 }
 
-void Preferences::InitLong(wpi::StringRef key, int64_t value) {
+void Preferences::InitLong(std::string_view key, int64_t value) {
   auto entry = m_table->GetEntry(key);
   entry.SetDefaultDouble(value);
 }
 
-bool Preferences::ContainsKey(wpi::StringRef key) {
+bool Preferences::ContainsKey(std::string_view key) {
   return m_table->ContainsKey(key);
 }
 
-void Preferences::Remove(wpi::StringRef key) {
+void Preferences::Remove(std::string_view key) {
   m_table->Delete(key);
 }
 
@@ -159,7 +158,7 @@ Preferences::Preferences()
     : m_table(nt::NetworkTableInstance::GetDefault().GetTable(kTableName)) {
   m_table->GetEntry(".type").SetString("RobotPreferences");
   m_listener = m_table->AddEntryListener(
-      [=](nt::NetworkTable* table, wpi::StringRef name,
+      [=](nt::NetworkTable* table, std::string_view name,
           nt::NetworkTableEntry entry, std::shared_ptr<nt::Value> value,
           int flags) { entry.SetPersistent(); },
       NT_NOTIFY_NEW | NT_NOTIFY_IMMEDIATE);

wpilibc/src/main/native/cpp/Relay.cpp

@@ -178,7 +178,7 @@ void Relay::InitSendable(SendableBuilder& builder) {
   builder.SetSafeState([=]() { Set(kOff); });
   builder.AddSmallStringProperty(
       "Value",
-      [=](wpi::SmallVectorImpl<char>& buf) -> wpi::StringRef {
+      [=](wpi::SmallVectorImpl<char>& buf) -> std::string_view {
         switch (Get()) {
           case kOn:
             return "On";
@@ -190,7 +190,7 @@ void Relay::InitSendable(SendableBuilder& builder) {
             return "Off";
         }
       },
-      [=](wpi::StringRef value) {
+      [=](std::string_view value) {
         if (value == "Off") {
           Set(kOff);
         } else if (value == "Forward") {

wpilibc/src/main/native/cpp/Tracer.cpp

@@ -4,7 +4,7 @@
 
 #include "frc/Tracer.h"
 
-#include <wpi/Format.h>
+#include <fmt/format.h>
 #include <wpi/SmallString.h>
 #include <wpi/raw_ostream.h>
 
@@ -25,7 +25,7 @@ void Tracer::ClearEpochs() {
   m_epochs.clear();
 }
 
-void Tracer::AddEpoch(wpi::StringRef epochName) {
+void Tracer::AddEpoch(std::string_view epochName) {
   auto currentTime = hal::fpga_clock::now();
   m_epochs[epochName] = currentTime - m_startTime;
   m_startTime = currentTime;
@@ -48,11 +48,9 @@ void Tracer::PrintEpochs(wpi::raw_ostream& os) {
   if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
     m_lastEpochsPrintTime = now;
     for (const auto& epoch : m_epochs) {
-      os << '\t' << epoch.getKey() << ": "
-         << wpi::format(
-                "%.6f",
-                duration_cast<microseconds>(epoch.getValue()).count() / 1.0e6)
-         << "s\n";
+      os << fmt::format(
+          "\t{}: {:.6f}s\n", epoch.getKey(),
+          duration_cast<microseconds>(epoch.getValue()).count() / 1.0e6);
     }
   }
 }

wpilibc/src/main/native/cpp/Watchdog.cpp

@@ -192,7 +192,7 @@ bool Watchdog::IsExpired() const {
   return m_isExpired;
 }
 
-void Watchdog::AddEpoch(wpi::StringRef epochName) {
+void Watchdog::AddEpoch(std::string_view epochName) {
   m_tracer.AddEpoch(epochName);
 }
 

wpilibc/src/main/native/cpp/shuffleboard/LayoutType.cpp

@@ -6,6 +6,6 @@
 
 using namespace frc;
 
-wpi::StringRef LayoutType::GetLayoutName() const {
+std::string_view LayoutType::GetLayoutName() const {
   return m_layoutName;
 }

wpilibc/src/main/native/cpp/shuffleboard/RecordingController.cpp

@@ -26,7 +26,7 @@ void RecordingController::StopRecording() {
   m_recordingControlEntry.SetBoolean(false);
 }
 
-void RecordingController::SetRecordingFileNameFormat(wpi::StringRef format) {
+void RecordingController::SetRecordingFileNameFormat(std::string_view format) {
   m_recordingFileNameFormatEntry.SetString(format);
 }
 
@@ -35,7 +35,7 @@ void RecordingController::ClearRecordingFileNameFormat() {
 }
 
 void RecordingController::AddEventMarker(
-    wpi::StringRef name, wpi::StringRef description,
+    std::string_view name, std::string_view description,
     ShuffleboardEventImportance importance) {
   if (name.empty()) {
     FRC_ReportError(err::Error, "{}",
@@ -43,5 +43,6 @@ void RecordingController::AddEventMarker(
     return;
   }
   m_eventsTable->GetSubTable(name)->GetEntry("Info").SetStringArray(
-      {description, ShuffleboardEventImportanceName(importance)});
+      {std::string{description},
+       std::string{ShuffleboardEventImportanceName(importance)}});
 }

wpilibc/src/main/native/cpp/shuffleboard/Shuffleboard.cpp

@@ -14,7 +14,7 @@ void Shuffleboard::Update() {
   GetInstance().Update();
 }
 
-ShuffleboardTab& Shuffleboard::GetTab(wpi::StringRef title) {
+ShuffleboardTab& Shuffleboard::GetTab(std::string_view title) {
   return GetInstance().GetTab(title);
 }
 
@@ -22,7 +22,7 @@ void Shuffleboard::SelectTab(int index) {
   GetInstance().SelectTab(index);
 }
 
-void Shuffleboard::SelectTab(wpi::StringRef title) {
+void Shuffleboard::SelectTab(std::string_view title) {
   GetInstance().SelectTab(title);
 }
 
@@ -44,7 +44,7 @@ void Shuffleboard::StopRecording() {
   GetRecordingController().StopRecording();
 }
 
-void Shuffleboard::SetRecordingFileNameFormat(wpi::StringRef format) {
+void Shuffleboard::SetRecordingFileNameFormat(std::string_view format) {
   GetRecordingController().SetRecordingFileNameFormat(format);
 }
 
@@ -52,13 +52,13 @@ void Shuffleboard::ClearRecordingFileNameFormat() {
   GetRecordingController().ClearRecordingFileNameFormat();
 }
 
-void Shuffleboard::AddEventMarker(wpi::StringRef name,
-                                  wpi::StringRef description,
+void Shuffleboard::AddEventMarker(std::string_view name,
+                                  std::string_view description,
                                   ShuffleboardEventImportance importance) {
   GetRecordingController().AddEventMarker(name, description, importance);
 }
 
-void Shuffleboard::AddEventMarker(wpi::StringRef name,
+void Shuffleboard::AddEventMarker(std::string_view name,
                                   ShuffleboardEventImportance importance) {
   AddEventMarker(name, "", importance);
 }

wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp

@@ -4,8 +4,6 @@
 
 #include "frc/shuffleboard/ShuffleboardContainer.h"
 
-#include <wpi/raw_ostream.h>
-
 #include "frc/Errors.h"
 #include "frc/shuffleboard/ComplexWidget.h"
 #include "frc/shuffleboard/ShuffleboardComponent.h"
@@ -70,7 +68,7 @@ ComplexWidget& ShuffleboardContainer::Add(std::string_view title,
 ComplexWidget& ShuffleboardContainer::Add(Sendable& sendable) {
   auto name = SendableRegistry::GetInstance().GetName(&sendable);
   if (name.empty()) {
-    wpi::outs() << "Sendable must have a name\n";
+    FRC_ReportError(err::Error, "{}", "Sendable must have a name");
   }
   return Add(name, sendable);
 }
@@ -285,7 +283,7 @@ void ShuffleboardContainer::DisableIfActuator() {
 void ShuffleboardContainer::CheckTitle(std::string_view title) {
   std::string titleStr{title};
   if (m_usedTitles.count(titleStr) > 0) {
-    wpi::errs() << "Title is already in use: " << title << "\n";
+    FRC_ReportError(err::Error, "Title is already in use: {}", title);
     return;
   }
   m_usedTitles.insert(titleStr);

wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp

@@ -31,7 +31,7 @@ ShuffleboardInstance::ShuffleboardInstance(nt::NetworkTableInstance ntInstance)
 
 ShuffleboardInstance::~ShuffleboardInstance() = default;
 
-frc::ShuffleboardTab& ShuffleboardInstance::GetTab(wpi::StringRef title) {
+frc::ShuffleboardTab& ShuffleboardInstance::GetTab(std::string_view title) {
   if (m_impl->tabs.find(title) == m_impl->tabs.end()) {
     m_impl->tabs.try_emplace(title, ShuffleboardTab(*this, title));
     m_impl->tabsChanged = true;
@@ -77,6 +77,6 @@ void ShuffleboardInstance::SelectTab(int index) {
   m_impl->rootMetaTable->GetEntry("Selected").ForceSetDouble(index);
 }
 
-void ShuffleboardInstance::SelectTab(wpi::StringRef title) {
+void ShuffleboardInstance::SelectTab(std::string_view title) {
   m_impl->rootMetaTable->GetEntry("Selected").ForceSetString(title);
 }

wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardTab.cpp

@@ -6,7 +6,7 @@
 
 using namespace frc;
 
-ShuffleboardTab::ShuffleboardTab(ShuffleboardRoot& root, wpi::StringRef title)
+ShuffleboardTab::ShuffleboardTab(ShuffleboardRoot& root, std::string_view title)
     : ShuffleboardValue(title), ShuffleboardContainer(title), m_root(root) {}
 
 ShuffleboardRoot& ShuffleboardTab::GetRoot() {

wpilibc/src/main/native/cpp/shuffleboard/WidgetType.cpp

@@ -6,6 +6,6 @@
 
 using namespace frc;
 
-wpi::StringRef WidgetType::GetWidgetName() const {
+std::string_view WidgetType::GetWidgetName() const {
   return m_widgetName;
 }

wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp

@@ -114,9 +114,9 @@ void FieldObject2d::UpdateEntry(bool setDefault) {
       p += 8;
     }
     if (setDefault) {
-      m_entry.SetDefaultRaw(wpi::StringRef{arr.data(), arr.size()});
+      m_entry.SetDefaultRaw({arr.data(), arr.size()});
     } else {
-      m_entry.ForceSetRaw(wpi::StringRef{arr.data(), arr.size()});
+      m_entry.ForceSetRaw({arr.data(), arr.size()});
     }
   }
 }
@@ -144,7 +144,7 @@ void FieldObject2d::UpdateFromEntry() const {
     }
   } else if (val->IsRaw()) {
     // treat it simply as an array of doubles
-    wpi::StringRef data = val->GetRaw();
+    std::string_view data = val->GetRaw();
 
     // must be triples of doubles
     auto size = data.size();
@@ -152,7 +152,7 @@ void FieldObject2d::UpdateFromEntry() const {
       return;
     }
     m_poses.resize(size / (3 * 8));
-    const char* p = data.begin();
+    const char* p = data.data();
     for (size_t i = 0; i < size / (3 * 8); ++i) {
       double x = wpi::BitsToDouble(
           wpi::support::endian::readNext<uint64_t, wpi::support::big,

wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp

@@ -19,7 +19,8 @@ Mechanism2d::Mechanism2d(double width, double height,
   SetBackgroundColor(backgroundColor);
 }
 
-MechanismRoot2d* Mechanism2d::GetRoot(wpi::StringRef name, double x, double y) {
+MechanismRoot2d* Mechanism2d::GetRoot(std::string_view name, double x,
+                                      double y) {
   auto& obj = m_roots[name];
   if (obj) {
     return obj.get();

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

@@ -151,7 +151,7 @@ void SendableBuilderImpl::AddDoubleProperty(
 
 void SendableBuilderImpl::AddStringProperty(
     std::string_view key, std::function<std::string()> getter,
-    std::function<void(wpi::StringRef)> setter) {
+    std::function<void(std::string_view)> setter) {
   m_properties.emplace_back(*m_table, key);
   if (getter) {
     m_properties.back().update = [=](nt::NetworkTableEntry entry,
@@ -255,7 +255,7 @@ void SendableBuilderImpl::AddStringArrayProperty(
 
 void SendableBuilderImpl::AddRawProperty(
     std::string_view key, std::function<std::string()> getter,
-    std::function<void(wpi::StringRef)> setter) {
+    std::function<void(std::string_view)> setter) {
   m_properties.emplace_back(*m_table, key);
   if (getter) {
     m_properties.back().update = [=](nt::NetworkTableEntry entry,
@@ -303,8 +303,8 @@ void SendableBuilderImpl::AddValueProperty(
 
 void SendableBuilderImpl::AddSmallStringProperty(
     std::string_view key,
-    std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
-    std::function<void(wpi::StringRef)> setter) {
+    std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
+    std::function<void(std::string_view)> setter) {
   m_properties.emplace_back(*m_table, key);
   if (getter) {
     m_properties.back().update = [=](nt::NetworkTableEntry entry,
@@ -418,8 +418,8 @@ void SendableBuilderImpl::AddSmallStringArrayProperty(
 
 void SendableBuilderImpl::AddSmallRawProperty(
     std::string_view key,
-    std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
-    std::function<void(wpi::StringRef)> setter) {
+    std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
+    std::function<void(std::string_view)> setter) {
   m_properties.emplace_back(*m_table, key);
   if (getter) {
     m_properties.back().update = [=](nt::NetworkTableEntry entry,

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

@@ -44,7 +44,7 @@ void SmartDashboard::init() {
   Singleton::GetInstance();
 }
 
-bool SmartDashboard::ContainsKey(wpi::StringRef key) {
+bool SmartDashboard::ContainsKey(std::string_view key) {
   return Singleton::GetInstance().table->ContainsKey(key);
 }
 
@@ -52,39 +52,39 @@ std::vector<std::string> SmartDashboard::GetKeys(int types) {
   return Singleton::GetInstance().table->GetKeys(types);
 }
 
-void SmartDashboard::SetPersistent(wpi::StringRef key) {
+void SmartDashboard::SetPersistent(std::string_view key) {
   Singleton::GetInstance().table->GetEntry(key).SetPersistent();
 }
 
-void SmartDashboard::ClearPersistent(wpi::StringRef key) {
+void SmartDashboard::ClearPersistent(std::string_view key) {
   Singleton::GetInstance().table->GetEntry(key).ClearPersistent();
 }
 
-bool SmartDashboard::IsPersistent(wpi::StringRef key) {
+bool SmartDashboard::IsPersistent(std::string_view key) {
   return Singleton::GetInstance().table->GetEntry(key).IsPersistent();
 }
 
-void SmartDashboard::SetFlags(wpi::StringRef key, unsigned int flags) {
+void SmartDashboard::SetFlags(std::string_view key, unsigned int flags) {
   Singleton::GetInstance().table->GetEntry(key).SetFlags(flags);
 }
 
-void SmartDashboard::ClearFlags(wpi::StringRef key, unsigned int flags) {
+void SmartDashboard::ClearFlags(std::string_view key, unsigned int flags) {
   Singleton::GetInstance().table->GetEntry(key).ClearFlags(flags);
 }
 
-unsigned int SmartDashboard::GetFlags(wpi::StringRef key) {
+unsigned int SmartDashboard::GetFlags(std::string_view key) {
   return Singleton::GetInstance().table->GetEntry(key).GetFlags();
 }
 
-void SmartDashboard::Delete(wpi::StringRef key) {
+void SmartDashboard::Delete(std::string_view key) {
   Singleton::GetInstance().table->Delete(key);
 }
 
-nt::NetworkTableEntry SmartDashboard::GetEntry(wpi::StringRef key) {
+nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
   return Singleton::GetInstance().table->GetEntry(key);
 }
 
-void SmartDashboard::PutData(wpi::StringRef key, Sendable* data) {
+void SmartDashboard::PutData(std::string_view key, Sendable* data) {
   if (!data) {
     throw FRC_MakeError(err::NullParameter, "{}", "value");
   }
@@ -111,7 +111,7 @@ void SmartDashboard::PutData(Sendable* value) {
   }
 }
 
-Sendable* SmartDashboard::GetData(wpi::StringRef key) {
+Sendable* SmartDashboard::GetData(std::string_view key) {
   auto& inst = Singleton::GetInstance();
   std::scoped_lock lock(inst.tablesToDataMutex);
   auto it = inst.tablesToData.find(key);
@@ -121,128 +121,132 @@ Sendable* SmartDashboard::GetData(wpi::StringRef key) {
   return SendableRegistry::GetInstance().GetSendable(it->getValue());
 }
 
-bool SmartDashboard::PutBoolean(wpi::StringRef keyName, bool value) {
+bool SmartDashboard::PutBoolean(std::string_view keyName, bool value) {
   return Singleton::GetInstance().table->GetEntry(keyName).SetBoolean(value);
 }
 
-bool SmartDashboard::SetDefaultBoolean(wpi::StringRef key, bool defaultValue) {
+bool SmartDashboard::SetDefaultBoolean(std::string_view key,
+                                       bool defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).SetDefaultBoolean(
       defaultValue);
 }
 
-bool SmartDashboard::GetBoolean(wpi::StringRef keyName, bool defaultValue) {
+bool SmartDashboard::GetBoolean(std::string_view keyName, bool defaultValue) {
   return Singleton::GetInstance().table->GetEntry(keyName).GetBoolean(
       defaultValue);
 }
 
-bool SmartDashboard::PutNumber(wpi::StringRef keyName, double value) {
+bool SmartDashboard::PutNumber(std::string_view keyName, double value) {
   return Singleton::GetInstance().table->GetEntry(keyName).SetDouble(value);
 }
 
-bool SmartDashboard::SetDefaultNumber(wpi::StringRef key, double defaultValue) {
+bool SmartDashboard::SetDefaultNumber(std::string_view key,
+                                      double defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).SetDefaultDouble(
       defaultValue);
 }
 
-double SmartDashboard::GetNumber(wpi::StringRef keyName, double defaultValue) {
+double SmartDashboard::GetNumber(std::string_view keyName,
+                                 double defaultValue) {
   return Singleton::GetInstance().table->GetEntry(keyName).GetDouble(
       defaultValue);
 }
 
-bool SmartDashboard::PutString(wpi::StringRef keyName, wpi::StringRef value) {
+bool SmartDashboard::PutString(std::string_view keyName,
+                               std::string_view value) {
   return Singleton::GetInstance().table->GetEntry(keyName).SetString(value);
 }
 
-bool SmartDashboard::SetDefaultString(wpi::StringRef key,
-                                      wpi::StringRef defaultValue) {
+bool SmartDashboard::SetDefaultString(std::string_view key,
+                                      std::string_view defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).SetDefaultString(
       defaultValue);
 }
 
-std::string SmartDashboard::GetString(wpi::StringRef keyName,
-                                      wpi::StringRef defaultValue) {
+std::string SmartDashboard::GetString(std::string_view keyName,
+                                      std::string_view defaultValue) {
   return Singleton::GetInstance().table->GetEntry(keyName).GetString(
       defaultValue);
 }
 
-bool SmartDashboard::PutBooleanArray(wpi::StringRef key,
+bool SmartDashboard::PutBooleanArray(std::string_view key,
                                      wpi::ArrayRef<int> value) {
   return Singleton::GetInstance().table->GetEntry(key).SetBooleanArray(value);
 }
 
-bool SmartDashboard::SetDefaultBooleanArray(wpi::StringRef key,
+bool SmartDashboard::SetDefaultBooleanArray(std::string_view key,
                                             wpi::ArrayRef<int> defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).SetDefaultBooleanArray(
       defaultValue);
 }
 
 std::vector<int> SmartDashboard::GetBooleanArray(
-    wpi::StringRef key, wpi::ArrayRef<int> defaultValue) {
+    std::string_view key, wpi::ArrayRef<int> defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).GetBooleanArray(
       defaultValue);
 }
 
-bool SmartDashboard::PutNumberArray(wpi::StringRef key,
+bool SmartDashboard::PutNumberArray(std::string_view key,
                                     wpi::ArrayRef<double> value) {
   return Singleton::GetInstance().table->GetEntry(key).SetDoubleArray(value);
 }
 
-bool SmartDashboard::SetDefaultNumberArray(wpi::StringRef key,
+bool SmartDashboard::SetDefaultNumberArray(std::string_view key,
                                            wpi::ArrayRef<double> defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).SetDefaultDoubleArray(
       defaultValue);
 }
 
 std::vector<double> SmartDashboard::GetNumberArray(
-    wpi::StringRef key, wpi::ArrayRef<double> defaultValue) {
+    std::string_view key, wpi::ArrayRef<double> defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).GetDoubleArray(
       defaultValue);
 }
 
-bool SmartDashboard::PutStringArray(wpi::StringRef key,
+bool SmartDashboard::PutStringArray(std::string_view key,
                                     wpi::ArrayRef<std::string> value) {
   return Singleton::GetInstance().table->GetEntry(key).SetStringArray(value);
 }
 
 bool SmartDashboard::SetDefaultStringArray(
-    wpi::StringRef key, wpi::ArrayRef<std::string> defaultValue) {
+    std::string_view key, wpi::ArrayRef<std::string> defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).SetDefaultStringArray(
       defaultValue);
 }
 
 std::vector<std::string> SmartDashboard::GetStringArray(
-    wpi::StringRef key, wpi::ArrayRef<std::string> defaultValue) {
+    std::string_view key, wpi::ArrayRef<std::string> defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).GetStringArray(
       defaultValue);
 }
 
-bool SmartDashboard::PutRaw(wpi::StringRef key, wpi::StringRef value) {
+bool SmartDashboard::PutRaw(std::string_view key, std::string_view value) {
   return Singleton::GetInstance().table->GetEntry(key).SetRaw(value);
 }
 
-bool SmartDashboard::SetDefaultRaw(wpi::StringRef key,
-                                   wpi::StringRef defaultValue) {
+bool SmartDashboard::SetDefaultRaw(std::string_view key,
+                                   std::string_view defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).SetDefaultRaw(
       defaultValue);
 }
 
-std::string SmartDashboard::GetRaw(wpi::StringRef key,
-                                   wpi::StringRef defaultValue) {
+std::string SmartDashboard::GetRaw(std::string_view key,
+                                   std::string_view defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).GetRaw(defaultValue);
 }
 
-bool SmartDashboard::PutValue(wpi::StringRef keyName,
+bool SmartDashboard::PutValue(std::string_view keyName,
                               std::shared_ptr<nt::Value> value) {
   return Singleton::GetInstance().table->GetEntry(keyName).SetValue(value);
 }
 
-bool SmartDashboard::SetDefaultValue(wpi::StringRef key,
+bool SmartDashboard::SetDefaultValue(std::string_view key,
                                      std::shared_ptr<nt::Value> defaultValue) {
   return Singleton::GetInstance().table->GetEntry(key).SetDefaultValue(
       defaultValue);
 }
 
-std::shared_ptr<nt::Value> SmartDashboard::GetValue(wpi::StringRef keyName) {
+std::shared_ptr<nt::Value> SmartDashboard::GetValue(std::string_view keyName) {
   return Singleton::GetInstance().table->GetEntry(keyName).GetValue();
 }
 

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -30,12 +30,12 @@ using namespace frc;
 
 int frc::RunHALInitialization() {
   if (!HAL_Initialize(500, 0)) {
-    wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
+    std::puts("FATAL ERROR: HAL could not be initialized");
     return -1;
   }
   HAL_Report(HALUsageReporting::kResourceType_Language,
              HALUsageReporting::kLanguage_CPlusPlus, 0, GetWPILibVersion());
-  wpi::outs() << "\n********** Robot program starting **********\n";
+  std::puts("\n********** Robot program starting **********");
   return 0;
 }
 
@@ -124,8 +124,8 @@ static void SetupCameraServerShared() {
 #endif
 
   if (!cameraServerLib) {
-    wpi::outs() << "Camera Server Library Not Found\n";
-    wpi::outs().flush();
+    std::puts("Camera Server Library Not Found");
+    std::fflush(stdout);
     return;
   }
   auto symbol = dlsym(cameraServerLib, "CameraServer_SetCameraServerShared");
@@ -133,15 +133,15 @@ static void SetupCameraServerShared() {
     auto setCameraServerShared = (SetCameraServerSharedFP)symbol;
     setCameraServerShared(new WPILibCameraServerShared{});
   } else {
-    wpi::outs() << "Camera Server Shared Symbol Missing\n";
-    wpi::outs().flush();
+    std::puts("Camera Server Shared Symbol Missing");
+    std::fflush(stdout);
   }
 #else
   CameraServer_SetCameraServerShared(new WPILibCameraServerShared{});
 #endif
 #else
-  wpi::outs() << "Not loading CameraServerShared\n";
-  wpi::outs().flush();
+  std::puts("Not loading CameraServerShared");
+  std::fflush(stdout);
 #endif
 }
 

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

@@ -8,6 +8,7 @@
 
 #include <memory>
 #include <string>
+#include <string_view>
 #include <vector>
 
 #include <networktables/NetworkTable.h>
@@ -53,7 +54,8 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  std::string GetString(wpi::StringRef key, wpi::StringRef defaultValue = "");
+  std::string GetString(std::string_view key,
+                        std::string_view defaultValue = "");
 
   /**
    * Returns the int at the given key.  If this table does not have a value for
@@ -63,7 +65,7 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  int GetInt(wpi::StringRef key, int defaultValue = 0);
+  int GetInt(std::string_view key, int defaultValue = 0);
 
   /**
    * Returns the double at the given key.  If this table does not have a value
@@ -73,7 +75,7 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  double GetDouble(wpi::StringRef key, double defaultValue = 0.0);
+  double GetDouble(std::string_view key, double defaultValue = 0.0);
 
   /**
    * Returns the float at the given key.  If this table does not have a value
@@ -83,7 +85,7 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  float GetFloat(wpi::StringRef key, float defaultValue = 0.0);
+  float GetFloat(std::string_view key, float defaultValue = 0.0);
 
   /**
    * Returns the boolean at the given key.  If this table does not have a value
@@ -93,7 +95,7 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  bool GetBoolean(wpi::StringRef key, bool defaultValue = false);
+  bool GetBoolean(std::string_view key, bool defaultValue = false);
 
   /**
    * Returns the long (int64_t) at the given key.  If this table does not have a
@@ -104,7 +106,7 @@ class Preferences {
    * @param defaultValue the value to return if none exists in the table
    * @return either the value in the table, or the defaultValue
    */
-  int64_t GetLong(wpi::StringRef key, int64_t defaultValue = 0);
+  int64_t GetLong(std::string_view key, int64_t defaultValue = 0);
 
   /**
    * Puts the given string into the preferences table.
@@ -115,7 +117,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetString(wpi::StringRef key, wpi::StringRef value);
+  void SetString(std::string_view key, std::string_view value);
 
   /**
    * Puts the given string into the preferences table.
@@ -127,13 +129,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetString instead.")
-  void PutString(wpi::StringRef key, wpi::StringRef value);
+  void PutString(std::string_view key, std::string_view value);
 
   /**
    * Puts the given string into the preferences table if it doesn't
    * already exist.
    */
-  void InitString(wpi::StringRef key, wpi::StringRef value);
+  void InitString(std::string_view key, std::string_view value);
 
   /**
    * Puts the given int into the preferences table.
@@ -143,7 +145,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetInt(wpi::StringRef key, int value);
+  void SetInt(std::string_view key, int value);
 
   /**
    * Puts the given int into the preferences table.
@@ -154,13 +156,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetInt instead.")
-  void PutInt(wpi::StringRef key, int value);
+  void PutInt(std::string_view key, int value);
 
   /**
    * Puts the given int into the preferences table if it doesn't
    * already exist.
    */
-  void InitInt(wpi::StringRef key, int value);
+  void InitInt(std::string_view key, int value);
 
   /**
    * Puts the given double into the preferences table.
@@ -170,7 +172,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetDouble(wpi::StringRef key, double value);
+  void SetDouble(std::string_view key, double value);
 
   /**
    * Puts the given double into the preferences table.
@@ -181,13 +183,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetDouble instead.")
-  void PutDouble(wpi::StringRef key, double value);
+  void PutDouble(std::string_view key, double value);
 
   /**
    * Puts the given double into the preferences table if it doesn't
    * already exist.
    */
-  void InitDouble(wpi::StringRef key, double value);
+  void InitDouble(std::string_view key, double value);
 
   /**
    * Puts the given float into the preferences table.
@@ -197,7 +199,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetFloat(wpi::StringRef key, float value);
+  void SetFloat(std::string_view key, float value);
 
   /**
    * Puts the given float into the preferences table.
@@ -208,13 +210,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetFloat instead.")
-  void PutFloat(wpi::StringRef key, float value);
+  void PutFloat(std::string_view key, float value);
 
   /**
    * Puts the given float into the preferences table if it doesn't
    * already exist.
    */
-  void InitFloat(wpi::StringRef key, float value);
+  void InitFloat(std::string_view key, float value);
 
   /**
    * Puts the given boolean into the preferences table.
@@ -224,7 +226,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetBoolean(wpi::StringRef key, bool value);
+  void SetBoolean(std::string_view key, bool value);
 
   /**
    * Puts the given boolean into the preferences table.
@@ -235,13 +237,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetBoolean instead.")
-  void PutBoolean(wpi::StringRef key, bool value);
+  void PutBoolean(std::string_view key, bool value);
 
   /**
    * Puts the given boolean into the preferences table if it doesn't
    * already exist.
    */
-  void InitBoolean(wpi::StringRef key, bool value);
+  void InitBoolean(std::string_view key, bool value);
 
   /**
    * Puts the given long (int64_t) into the preferences table.
@@ -251,7 +253,7 @@ class Preferences {
    * @param key   the key
    * @param value the value
    */
-  void SetLong(wpi::StringRef key, int64_t value);
+  void SetLong(std::string_view key, int64_t value);
 
   /**
    * Puts the given long (int64_t) into the preferences table.
@@ -262,13 +264,13 @@ class Preferences {
    * @param value the value
    */
   WPI_DEPRECATED("Use SetLong instead.")
-  void PutLong(wpi::StringRef key, int64_t value);
+  void PutLong(std::string_view key, int64_t value);
 
   /**
    * Puts the given long into the preferences table if it doesn't
    * already exist.
    */
-  void InitLong(wpi::StringRef key, int64_t value);
+  void InitLong(std::string_view key, int64_t value);
 
   /**
    * Returns whether or not there is a key with the given name.
@@ -276,14 +278,14 @@ class Preferences {
    * @param key the key
    * @return if there is a value at the given key
    */
-  bool ContainsKey(wpi::StringRef key);
+  bool ContainsKey(std::string_view key);
 
   /**
    * Remove a preference.
    *
    * @param key the key
    */
-  void Remove(wpi::StringRef key);
+  void Remove(std::string_view key);
 
   /**
    * Remove all preferences.

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

@@ -11,7 +11,6 @@
 #include <hal/Main.h>
 #include <wpi/condition_variable.h>
 #include <wpi/mutex.h>
-#include <wpi/raw_ostream.h>
 
 #include "frc/Errors.h"
 

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

@@ -144,7 +144,7 @@ class SerialPort {
    * Use Write({data, len}) to get a buffer that is shorter than the length of
    * the string.
    *
-   * @param buffer StringRef to the buffer to read the bytes from.
+   * @param buffer the buffer to read the bytes from.
    * @return The number of bytes actually written into the port.
    */
   int Write(std::string_view buffer);

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

@@ -5,10 +5,10 @@
 #pragma once
 
 #include <chrono>
+#include <string_view>
 
 #include <hal/cpp/fpga_clock.h>
 #include <wpi/StringMap.h>
-#include <wpi/StringRef.h>
 
 namespace wpi {
 class raw_ostream;
@@ -48,7 +48,7 @@ class Tracer {
    *
    * @param epochName The name to associate with the epoch.
    */
-  void AddEpoch(wpi::StringRef epochName);
+  void AddEpoch(std::string_view epochName);
 
   /**
    * Prints list of epochs added so far and their times to the DriverStation.

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

@@ -5,10 +5,10 @@
 #pragma once
 
 #include <functional>
+#include <string_view>
 #include <utility>
 
 #include <units/time.h>
-#include <wpi/StringRef.h>
 
 #include "frc/Tracer.h"
 
@@ -76,7 +76,7 @@ class Watchdog {
    *
    * @param epochName The name to associate with the epoch.
    */
-  void AddEpoch(wpi::StringRef epochName);
+  void AddEpoch(std::string_view epochName);
 
   /**
    * Prints list of epochs added so far and their times.

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

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/StringRef.h>
+#include <string_view>
 
 namespace frc {
 
@@ -25,7 +25,7 @@ class LayoutType {
    * Gets the string type of the layout as defined by that layout in
    * Shuffleboard.
    */
-  wpi::StringRef GetLayoutName() const;
+  std::string_view GetLayoutName() const;
 
  private:
   const char* m_layoutName;

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

@@ -6,11 +6,11 @@
 
 #include <memory>
 #include <string>
+#include <string_view>
 
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/SmallVector.h>
-#include <wpi/StringRef.h>
 
 #include "frc/shuffleboard/ShuffleboardEventImportance.h"
 
@@ -23,10 +23,10 @@ class RecordingController final {
 
   void StartRecording();
   void StopRecording();
-  void SetRecordingFileNameFormat(wpi::StringRef format);
+  void SetRecordingFileNameFormat(std::string_view format);
   void ClearRecordingFileNameFormat();
 
-  void AddEventMarker(wpi::StringRef name, wpi::StringRef description,
+  void AddEventMarker(std::string_view name, std::string_view description,
                       ShuffleboardEventImportance importance);
 
  private:

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

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/StringRef.h>
+#include <string_view>
 
 #include "frc/shuffleboard/RecordingController.h"
 #include "frc/shuffleboard/ShuffleboardEventImportance.h"
@@ -77,7 +77,7 @@ class Shuffleboard final {
    * @param title the title of the tab
    * @return the tab with the given title
    */
-  static ShuffleboardTab& GetTab(wpi::StringRef title);
+  static ShuffleboardTab& GetTab(std::string_view title);
 
   /**
    * Selects the tab in the dashboard with the given index in the range
@@ -93,7 +93,7 @@ class Shuffleboard final {
    *
    * @param title the title of the tab to select
    */
-  static void SelectTab(wpi::StringRef title);
+  static void SelectTab(std::string_view title);
 
   /**
    * Enables user control of widgets containing actuators: speed controllers,
@@ -141,7 +141,7 @@ class Shuffleboard final {
    *
    * @param format the format for the
    */
-  static void SetRecordingFileNameFormat(wpi::StringRef format);
+  static void SetRecordingFileNameFormat(std::string_view format);
 
   /**
    * Clears the custom name format for recording files. New recordings will use
@@ -163,7 +163,8 @@ class Shuffleboard final {
    * @param description a description of the event
    * @param importance  the importance of the event
    */
-  static void AddEventMarker(wpi::StringRef name, wpi::StringRef description,
+  static void AddEventMarker(std::string_view name,
+                             std::string_view description,
                              ShuffleboardEventImportance importance);
 
   /**
@@ -177,7 +178,7 @@ class Shuffleboard final {
    * @param name        the name of the event
    * @param importance  the importance of the event
    */
-  static void AddEventMarker(wpi::StringRef name,
+  static void AddEventMarker(std::string_view name,
                              ShuffleboardEventImportance importance);
 
  private:

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

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/StringRef.h>
+#include <string_view>
 
 namespace frc {
 
@@ -14,7 +14,7 @@ namespace frc {
 
 enum ShuffleboardEventImportance { kTrivial, kLow, kNormal, kHigh, kCritical };
 
-inline wpi::StringRef ShuffleboardEventImportanceName(
+inline std::string_view ShuffleboardEventImportanceName(
     ShuffleboardEventImportance importance) {
   switch (importance) {
     case kTrivial:

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

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <memory>
+#include <string_view>
 
 #include "frc/shuffleboard/ShuffleboardRoot.h"
 #include "frc/shuffleboard/ShuffleboardTab.h"
@@ -19,7 +20,7 @@ class ShuffleboardInstance final : public ShuffleboardRoot {
   ShuffleboardInstance(ShuffleboardInstance&&) = default;
   ShuffleboardInstance& operator=(ShuffleboardInstance&&) = default;
 
-  frc::ShuffleboardTab& GetTab(wpi::StringRef title) override;
+  frc::ShuffleboardTab& GetTab(std::string_view title) override;
 
   void Update() override;
 
@@ -29,7 +30,7 @@ class ShuffleboardInstance final : public ShuffleboardRoot {
 
   void SelectTab(int index) override;
 
-  void SelectTab(wpi::StringRef) override;
+  void SelectTab(std::string_view) override;
 
  private:
   struct Impl;

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

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/StringRef.h>
+#include <string_view>
 
 namespace frc {
 
@@ -25,7 +25,7 @@ class ShuffleboardRoot {
    * @param title the title of the tab
    * @return the tab with the given title
    */
-  virtual ShuffleboardTab& GetTab(wpi::StringRef title) = 0;
+  virtual ShuffleboardTab& GetTab(std::string_view title) = 0;
 
   /**
    * Updates all tabs.
@@ -57,7 +57,7 @@ class ShuffleboardRoot {
    *
    * @param title the title of the tab to select
    */
-  virtual void SelectTab(wpi::StringRef title) = 0;
+  virtual void SelectTab(std::string_view title) = 0;
 };
 
 }  // namespace frc

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

@@ -5,9 +5,9 @@
 #pragma once
 
 #include <memory>
+#include <string_view>
 
 #include <networktables/NetworkTable.h>
-#include <wpi/StringRef.h>
 
 #include "frc/shuffleboard/ShuffleboardContainer.h"
 
@@ -24,7 +24,7 @@ class ShuffleboardRoot;
  */
 class ShuffleboardTab final : public ShuffleboardContainer {
  public:
-  ShuffleboardTab(ShuffleboardRoot& root, wpi::StringRef title);
+  ShuffleboardTab(ShuffleboardRoot& root, std::string_view title);
 
   ShuffleboardRoot& GetRoot();
 

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

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/StringRef.h>
+#include <string_view>
 
 namespace frc {
 
@@ -25,7 +25,7 @@ class WidgetType {
    * Gets the string type of the widget as defined by that widget in
    * Shuffleboard.
    */
-  wpi::StringRef GetWidgetName() const;
+  std::string_view GetWidgetName() const;
 
  private:
   const char* m_widgetName;

wpilibc/src/main/native/include/frc/simulation/CallbackStore.h

@@ -5,15 +5,15 @@
 #pragma once
 
 #include <functional>
+#include <string_view>
 
 #include <hal/Value.h>
-#include <wpi/StringRef.h>
 
 namespace frc::sim {
 
-using NotifyCallback = std::function<void(wpi::StringRef, const HAL_Value*)>;
+using NotifyCallback = std::function<void(std::string_view, const HAL_Value*)>;
 using ConstBufferCallback = std::function<void(
-    wpi::StringRef, const unsigned char* buffer, unsigned int count)>;
+    std::string_view, const unsigned char* buffer, unsigned int count)>;
 using CancelCallbackFunc = void (*)(int32_t index, int32_t uid);
 using CancelCallbackNoIndexFunc = void (*)(int32_t uid);
 using CancelCallbackChannelFunc = void (*)(int32_t index, int32_t channel,

wpilibc/src/main/native/include/frc/smartdashboard/Mechanism2d.h

@@ -59,7 +59,7 @@ class Mechanism2d : public Sendable, public SendableHelper<Mechanism2d> {
    * @param y the root y coordinate
    * @return a new root object, or the existing one with the given name.
    */
-  MechanismRoot2d* GetRoot(wpi::StringRef name, double x, double y);
+  MechanismRoot2d* GetRoot(std::string_view name, double x, double y);
 
   /**
    * Set the Mechanism2d background color.

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

@@ -14,6 +14,8 @@
 #include <networktables/NetworkTable.h>
 #include <wpi/StringMap.h>
 
+#include "frc/Errors.h"
+
 namespace frc {
 
 /**
@@ -63,13 +65,14 @@ class MechanismObject2d {
   template <typename T, typename... Args,
             typename =
                 std::enable_if_t<std::is_convertible_v<T*, MechanismObject2d*>>>
-  T* Append(wpi::StringRef name, Args&&... args) {
+  T* Append(std::string_view name, Args&&... args) {
     std::scoped_lock lock(m_mutex);
     auto& obj = m_objects[name];
     if (obj) {
-      throw std::runtime_error(("MechanismObject names must be unique! `" +
-                                name + "` was inserted twice!")
-                                   .str());
+      throw FRC_MakeError(
+          err::Error,
+          "MechanismObject names must be unique! `{}` was inserted twice!",
+          name);
     }
     obj = std::make_unique<T>(name, std::forward<Args>(args)...);
     T* ex = static_cast<T*>(obj.get());

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

@@ -96,7 +96,7 @@ class SendableBuilder {
    */
   virtual void AddStringProperty(
       std::string_view key, std::function<std::string()> getter,
-      std::function<void(wpi::StringRef)> setter) = 0;
+      std::function<void(std::string_view)> setter) = 0;
 
   /**
    * Add a boolean array property.
@@ -140,7 +140,7 @@ class SendableBuilder {
    */
   virtual void AddRawProperty(std::string_view key,
                               std::function<std::string()> getter,
-                              std::function<void(wpi::StringRef)> setter) = 0;
+                              std::function<void(std::string_view)> setter) = 0;
 
   /**
    * Add a NetworkTableValue property.
@@ -162,8 +162,8 @@ class SendableBuilder {
    */
   virtual void AddSmallStringProperty(
       std::string_view key,
-      std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
-      std::function<void(wpi::StringRef)> setter) = 0;
+      std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
+      std::function<void(std::string_view)> setter) = 0;
 
   /**
    * Add a boolean array property (SmallVector form).
@@ -213,8 +213,8 @@ class SendableBuilder {
    */
   virtual void AddSmallRawProperty(
       std::string_view key,
-      std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
-      std::function<void(wpi::StringRef)> setter) = 0;
+      std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
+      std::function<void(std::string_view)> setter) = 0;
 
   /**
    * Get the network table.

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

@@ -100,7 +100,7 @@ class SendableBuilderImpl : public SendableBuilder {
 
   void AddStringProperty(std::string_view key,
                          std::function<std::string()> getter,
-                         std::function<void(wpi::StringRef)> setter) override;
+                         std::function<void(std::string_view)> setter) override;
 
   void AddBooleanArrayProperty(
       std::string_view key, std::function<std::vector<int>()> getter,
@@ -115,7 +115,7 @@ class SendableBuilderImpl : public SendableBuilder {
       std::function<void(wpi::ArrayRef<std::string>)> setter) override;
 
   void AddRawProperty(std::string_view key, std::function<std::string()> getter,
-                      std::function<void(wpi::StringRef)> setter) override;
+                      std::function<void(std::string_view)> setter) override;
 
   void AddValueProperty(
       std::string_view key, std::function<std::shared_ptr<nt::Value>()> getter,
@@ -123,8 +123,8 @@ class SendableBuilderImpl : public SendableBuilder {
 
   void AddSmallStringProperty(
       std::string_view key,
-      std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
-      std::function<void(wpi::StringRef)> setter) override;
+      std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
+      std::function<void(std::string_view)> setter) override;
 
   void AddSmallBooleanArrayProperty(
       std::string_view key,
@@ -146,8 +146,8 @@ class SendableBuilderImpl : public SendableBuilder {
 
   void AddSmallRawProperty(
       std::string_view key,
-      std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
-      std::function<void(wpi::StringRef)> setter) override;
+      std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
+      std::function<void(std::string_view)> setter) override;
 
  private:
   struct Property {

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

@@ -5,9 +5,9 @@
 #pragma once
 
 #include <memory>
+#include <string_view>
 
 #include <wpi/StringMap.h>
-#include <wpi/StringRef.h>
 #include <wpi/deprecated.h>
 
 #include "frc/smartdashboard/SendableBuilder.h"
@@ -56,7 +56,7 @@ class SendableChooser : public SendableChooserBase {
    * @param name   the name of the option
    * @param object the option
    */
-  void AddOption(wpi::StringRef name, T object);
+  void AddOption(std::string_view name, T object);
 
   /**
    * Add the given object to the list of options and marks it as the default.
@@ -67,7 +67,7 @@ class SendableChooser : public SendableChooserBase {
    * @param name   the name of the option
    * @param object the option
    */
-  void SetDefaultOption(wpi::StringRef name, T object);
+  void SetDefaultOption(std::string_view name, T object);
 
   /**
    * Adds the given object to the list of options.
@@ -75,13 +75,13 @@ class SendableChooser : public SendableChooserBase {
    * On the SmartDashboard on the desktop, the object will appear as the given
    * name.
    *
-   * @deprecated use AddOption(wpi::StringRef name, T object) instead.
+   * @deprecated use AddOption(std::string_view name, T object) instead.
    *
    * @param name   the name of the option
    * @param object the option
    */
   WPI_DEPRECATED("use AddOption() instead")
-  void AddObject(wpi::StringRef name, T object) { AddOption(name, object); }
+  void AddObject(std::string_view name, T object) { AddOption(name, object); }
 
   /**
    * Add the given object to the list of options and marks it as the default.
@@ -89,13 +89,13 @@ class SendableChooser : public SendableChooserBase {
    * Functionally, this is very close to AddOption() except that it will use
    * this as the default option if none other is explicitly selected.
    *
-   * @deprecated use SetDefaultOption(wpi::StringRef name, T object) instead.
+   * @deprecated use SetDefaultOption(std::string_view name, T object) instead.
    *
    * @param name   the name of the option
    * @param object the option
    */
   WPI_DEPRECATED("use SetDefaultOption() instead")
-  void AddDefault(wpi::StringRef name, T object) {
+  void AddDefault(std::string_view name, T object) {
     SetDefaultOption(name, object);
   }
 

wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.inc

@@ -7,22 +7,21 @@
 #include <algorithm>
 #include <memory>
 #include <string>
+#include <string_view>
 #include <utility>
 #include <vector>
 
-#include <wpi/StringRef.h>
-
 #include "frc/smartdashboard/SendableChooser.h"
 
 namespace frc {
 
 template <class T>
-void SendableChooser<T>::AddOption(wpi::StringRef name, T object) {
+void SendableChooser<T>::AddOption(std::string_view name, T object) {
   m_choices[name] = std::move(object);
 }
 
 template <class T>
-void SendableChooser<T>::SetDefaultOption(wpi::StringRef name, T object) {
+void SendableChooser<T>::SetDefaultOption(std::string_view name, T object) {
   m_defaultChoice = name;
   AddOption(name, std::move(object));
 }
@@ -53,7 +52,7 @@ void SendableChooser<T>::InitSendable(SendableBuilder& builder) {
       [=]() {
         std::vector<std::string> keys;
         for (const auto& choice : m_choices) {
-          keys.push_back(choice.first());
+          keys.emplace_back(choice.first());
         }
 
         // Unlike std::map, wpi::StringMap elements
@@ -65,17 +64,17 @@ void SendableChooser<T>::InitSendable(SendableBuilder& builder) {
       nullptr);
   builder.AddSmallStringProperty(
       kDefault,
-      [=](wpi::SmallVectorImpl<char>&) -> wpi::StringRef {
+      [=](wpi::SmallVectorImpl<char>&) -> std::string_view {
         return m_defaultChoice;
       },
       nullptr);
   builder.AddSmallStringProperty(
       kActive,
-      [=](wpi::SmallVectorImpl<char>& buf) -> wpi::StringRef {
+      [=](wpi::SmallVectorImpl<char>& buf) -> std::string_view {
         std::scoped_lock lock(m_mutex);
         if (m_haveSelected) {
           buf.assign(m_selected.begin(), m_selected.end());
-          return wpi::StringRef(buf.data(), buf.size());
+          return {buf.data(), buf.size()};
         } else {
           return m_defaultChoice;
         }
@@ -85,7 +84,7 @@ void SendableChooser<T>::InitSendable(SendableBuilder& builder) {
     std::scoped_lock lock(m_mutex);
     m_activeEntries.emplace_back(builder.GetEntry(kActive));
   }
-  builder.AddStringProperty(kSelected, nullptr, [=](wpi::StringRef val) {
+  builder.AddStringProperty(kSelected, nullptr, [=](std::string_view val) {
     std::scoped_lock lock(m_mutex);
     m_haveSelected = true;
     m_selected = val;

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

@@ -298,8 +298,8 @@ class SendableRegistry {
    * Data passed to ForeachLiveWindow() callback function
    */
   struct CallbackData {
-    CallbackData(Sendable* sendable_, wpi::StringRef name_,
-                 wpi::StringRef subsystem_, Sendable* parent_,
+    CallbackData(Sendable* sendable_, std::string_view name_,
+                 std::string_view subsystem_, Sendable* parent_,
                  std::shared_ptr<void>& data_, SendableBuilderImpl& builder_)
         : sendable(sendable_),
           name(name_),
@@ -309,8 +309,8 @@ class SendableRegistry {
           builder(builder_) {}
 
     Sendable* sendable;
-    wpi::StringRef name;
-    wpi::StringRef subsystem;
+    std::string_view name;
+    std::string_view subsystem;
     Sendable* parent;
     std::shared_ptr<void>& data;
     SendableBuilderImpl& builder;

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

@@ -6,6 +6,7 @@
 
 #include <memory>
 #include <string>
+#include <string_view>
 #include <vector>
 
 #include <networktables/NetworkTableEntry.h>
@@ -27,7 +28,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param key the key to search for
    * @return true if the table as a value assigned to the given key
    */
-  static bool ContainsKey(wpi::StringRef key);
+  static bool ContainsKey(std::string_view key);
 
   /**
    * @param types bitmask of types; 0 is treated as a "don't care".
@@ -40,7 +41,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    *
    * @param key the key to make persistent
    */
-  static void SetPersistent(wpi::StringRef key);
+  static void SetPersistent(std::string_view key);
 
   /**
    * Stop making a key's value persistent through program restarts.
@@ -48,7 +49,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    *
    * @param key the key name
    */
-  static void ClearPersistent(wpi::StringRef key);
+  static void ClearPersistent(std::string_view key);
 
   /**
    * Returns whether the value is persistent through program restarts.
@@ -56,7 +57,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    *
    * @param key the key name
    */
-  static bool IsPersistent(wpi::StringRef key);
+  static bool IsPersistent(std::string_view key);
 
   /**
    * Sets flags on the specified key in this table. The key can
@@ -65,7 +66,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param key the key name
    * @param flags the flags to set (bitmask)
    */
-  static void SetFlags(wpi::StringRef key, unsigned int flags);
+  static void SetFlags(std::string_view key, unsigned int flags);
 
   /**
    * Clears flags on the specified key in this table. The key can
@@ -74,7 +75,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param key the key name
    * @param flags the flags to clear (bitmask)
    */
-  static void ClearFlags(wpi::StringRef key, unsigned int flags);
+  static void ClearFlags(std::string_view key, unsigned int flags);
 
   /**
    * Returns the flags for the specified key.
@@ -82,14 +83,14 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param key the key name
    * @return the flags, or 0 if the key is not defined
    */
-  static unsigned int GetFlags(wpi::StringRef key);
+  static unsigned int GetFlags(std::string_view key);
 
   /**
    * Deletes the specified key in this table.
    *
    * @param key the key name
    */
-  static void Delete(wpi::StringRef key);
+  static void Delete(std::string_view key);
 
   /**
    * Returns an NT Entry mapping to the specified key
@@ -99,7 +100,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param key the key
    * @return    the entry for the key
    */
-  static nt::NetworkTableEntry GetEntry(wpi::StringRef key);
+  static nt::NetworkTableEntry GetEntry(std::string_view key);
 
   /**
    * Maps the specified key to the specified value in this table.
@@ -113,7 +114,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param keyName the key
    * @param value   the value
    */
-  static void PutData(wpi::StringRef key, Sendable* data);
+  static void PutData(std::string_view key, Sendable* data);
 
   /**
    * Maps the specified key (where the key is the name of the Sendable)
@@ -135,7 +136,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param keyName the key
    * @return the value
    */
-  static Sendable* GetData(wpi::StringRef keyName);
+  static Sendable* GetData(std::string_view keyName);
 
   /**
    * Maps the specified key to the specified value in this table.
@@ -147,7 +148,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param value   the value
    * @return        False if the table key already exists with a different type
    */
-  static bool PutBoolean(wpi::StringRef keyName, bool value);
+  static bool PutBoolean(std::string_view keyName, bool value);
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
@@ -155,7 +156,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param defaultValue the default value to set if key doesn't exist.
    * @returns False if the table key exists with a different type
    */
-  static bool SetDefaultBoolean(wpi::StringRef key, bool defaultValue);
+  static bool SetDefaultBoolean(std::string_view key, bool defaultValue);
 
   /**
    * Returns the value at the specified key.
@@ -165,7 +166,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param keyName the key
    * @return the value
    */
-  static bool GetBoolean(wpi::StringRef keyName, bool defaultValue);
+  static bool GetBoolean(std::string_view keyName, bool defaultValue);
 
   /**
    * Maps the specified key to the specified value in this table.
@@ -177,7 +178,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param value   the value
    * @return        False if the table key already exists with a different type
    */
-  static bool PutNumber(wpi::StringRef keyName, double value);
+  static bool PutNumber(std::string_view keyName, double value);
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
@@ -186,7 +187,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param defaultValue The default value to set if key doesn't exist.
    * @returns False if the table key exists with a different type
    */
-  static bool SetDefaultNumber(wpi::StringRef key, double defaultValue);
+  static bool SetDefaultNumber(std::string_view key, double defaultValue);
 
   /**
    * Returns the value at the specified key.
@@ -196,7 +197,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param keyName the key
    * @return the value
    */
-  static double GetNumber(wpi::StringRef keyName, double defaultValue);
+  static double GetNumber(std::string_view keyName, double defaultValue);
 
   /**
    * Maps the specified key to the specified value in this table.
@@ -208,7 +209,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param value   the value
    * @return        False if the table key already exists with a different type
    */
-  static bool PutString(wpi::StringRef keyName, wpi::StringRef value);
+  static bool PutString(std::string_view keyName, std::string_view value);
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
@@ -217,7 +218,8 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param defaultValue the default value to set if key doesn't exist.
    * @returns False if the table key exists with a different type
    */
-  static bool SetDefaultString(wpi::StringRef key, wpi::StringRef defaultValue);
+  static bool SetDefaultString(std::string_view key,
+                               std::string_view defaultValue);
 
   /**
    * Returns the value at the specified key.
@@ -227,8 +229,8 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param keyName the key
    * @return the value
    */
-  static std::string GetString(wpi::StringRef keyName,
-                               wpi::StringRef defaultValue);
+  static std::string GetString(std::string_view keyName,
+                               std::string_view defaultValue);
 
   /**
    * Put a boolean array in the table.
@@ -241,7 +243,7 @@ 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(wpi::StringRef key, wpi::ArrayRef<int> value);
+  static bool PutBooleanArray(std::string_view key, wpi::ArrayRef<int> value);
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
@@ -250,7 +252,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param defaultValue the default value to set if key doesn't exist.
    * @returns False if the table key exists with a different type
    */
-  static bool SetDefaultBooleanArray(wpi::StringRef key,
+  static bool SetDefaultBooleanArray(std::string_view key,
                                      wpi::ArrayRef<int> defaultValue);
 
   /**
@@ -271,7 +273,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    *       because std::vector<bool> is special-cased in C++. 0 is false, any
    *       non-zero value is true.
    */
-  static std::vector<int> GetBooleanArray(wpi::StringRef key,
+  static std::vector<int> GetBooleanArray(std::string_view key,
                                           wpi::ArrayRef<int> defaultValue);
 
   /**
@@ -281,7 +283,7 @@ 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(wpi::StringRef key, wpi::ArrayRef<double> value);
+  static bool PutNumberArray(std::string_view key, wpi::ArrayRef<double> value);
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
@@ -290,7 +292,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param defaultValue The default value to set if key doesn't exist.
    * @returns False if the table key exists with a different type
    */
-  static bool SetDefaultNumberArray(wpi::StringRef key,
+  static bool SetDefaultNumberArray(std::string_view key,
                                     wpi::ArrayRef<double> defaultValue);
 
   /**
@@ -307,7 +309,7 @@ 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(wpi::StringRef key,
+  static std::vector<double> GetNumberArray(std::string_view key,
                                             wpi::ArrayRef<double> defaultValue);
 
   /**
@@ -317,7 +319,7 @@ 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 PutStringArray(wpi::StringRef key,
+  static bool PutStringArray(std::string_view key,
                              wpi::ArrayRef<std::string> value);
 
   /**
@@ -327,7 +329,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param defaultValue The default value to set if key doesn't exist.
    * @returns False if the table key exists with a different type
    */
-  static bool SetDefaultStringArray(wpi::StringRef key,
+  static bool SetDefaultStringArray(std::string_view key,
                                     wpi::ArrayRef<std::string> defaultValue);
 
   /**
@@ -345,7 +347,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    *       use GetValue() instead.
    */
   static std::vector<std::string> GetStringArray(
-      wpi::StringRef key, wpi::ArrayRef<std::string> defaultValue);
+      std::string_view key, wpi::ArrayRef<std::string> defaultValue);
 
   /**
    * Put a raw value (byte array) in the table.
@@ -354,7 +356,7 @@ 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 PutRaw(wpi::StringRef key, wpi::StringRef value);
+  static bool PutRaw(std::string_view key, std::string_view value);
 
   /**
    * Gets the current value in the table, setting it if it does not exist.
@@ -363,7 +365,8 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param defaultValue The default value to set if key doesn't exist.
    * @returns False if the table key exists with a different type
    */
-  static bool SetDefaultRaw(wpi::StringRef key, wpi::StringRef defaultValue);
+  static bool SetDefaultRaw(std::string_view key,
+                            std::string_view defaultValue);
 
   /**
    * Returns the raw value (byte array) the key maps to.
@@ -379,7 +382,8 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @note This makes a copy of the raw contents. If the overhead of this is a
    *       concern, use GetValue() instead.
    */
-  static std::string GetRaw(wpi::StringRef key, wpi::StringRef defaultValue);
+  static std::string GetRaw(std::string_view key,
+                            std::string_view defaultValue);
 
   /**
    * Maps the specified key to the specified complex value (such as an array) in
@@ -392,7 +396,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param value   the value
    * @return        False if the table key already exists with a different type
    */
-  static bool PutValue(wpi::StringRef keyName,
+  static bool PutValue(std::string_view keyName,
                        std::shared_ptr<nt::Value> value);
 
   /**
@@ -402,7 +406,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param defaultValue The default value to set if key doesn't exist.
    * @returns False if the table key exists with a different type
    */
-  static bool SetDefaultValue(wpi::StringRef key,
+  static bool SetDefaultValue(std::string_view key,
                               std::shared_ptr<nt::Value> defaultValue);
 
   /**
@@ -412,7 +416,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param keyName the key
    * @param value   the object to retrieve the value into
    */
-  static std::shared_ptr<nt::Value> GetValue(wpi::StringRef keyName);
+  static std::shared_ptr<nt::Value> GetValue(std::string_view keyName);
 
   /**
    * Posts a task from a listener to the ListenerExecutor, so that it can be run