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Split Sendable into NT and non-NT portions (#3432)

Browse Source 
The non-NT portion has been moved to wpiutil.
The NT portion has been moved to ntcore (as NTSendable).

SendableBuilder similarly split and moved.

SendableRegistry moved to wpiutil.

In C++, SendableHelper also moved to wpiutil.

This enables use of Sendable from wpimath and also enables
moving several classes from wpilib to wpimath.
This commit is contained in:
Peter Johnson
2021-06-13 16:38:05 -07:00
committed by GitHub
parent ef4ea84cb5
commit b417d961ec
196 changed files with 1147 additions and 891 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
ntcore/src/main/java/edu/wpi/first/networktables/NTSendable.java Normal file
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@@ -0,0 +1,25 @@
// 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.networktables;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
/** Interface for NetworkTable Sendable objects. */
public interface NTSendable extends Sendable {
/**
* Initializes this {@link Sendable} object.
*
* @param builder sendable builder
*/
void initSendable(NTSendableBuilder builder);
@Override
default void initSendable(SendableBuilder builder) {
if (builder.getBackendKind() == SendableBuilder.BackendKind.kNetworkTables) {
initSendable((NTSendableBuilder) builder);
}
}
}

51
ntcore/src/main/java/edu/wpi/first/networktables/NTSendableBuilder.java Normal file
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@@ -0,0 +1,51 @@
// 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.networktables;
import edu.wpi.first.util.sendable.SendableBuilder;
import java.util.function.Consumer;
import java.util.function.Supplier;
public interface NTSendableBuilder extends SendableBuilder {
/**
* Set the function that should be called to update the network table for things other than
* properties. Note this function is not passed the network table object; instead it should use
* the entry handles returned by getEntry().
*
* @param func function
*/
void setUpdateTable(Runnable func);
/**
* Add a property without getters or setters. This can be used to get entry handles for the
* function called by setUpdateTable().
*
* @param key property name
* @return Network table entry
*/
NetworkTableEntry getEntry(String key);
/**
* Add a NetworkTableValue property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
void addValueProperty(
String key, Supplier<NetworkTableValue> getter, Consumer<NetworkTableValue> setter);
/**
* Get the network table.
*
* @return The network table
*/
NetworkTable getTable();
@Override
default BackendKind getBackendKind() {
return BackendKind.kNetworkTables;
}
}

17
ntcore/src/main/native/cpp/networktables/NTSendable.cpp Normal file
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@@ -0,0 +1,17 @@
// 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 "networktables/NTSendable.h"
#include <wpi/sendable/SendableBuilder.h>
#include "networktables/NTSendableBuilder.h"
using namespace nt;
void NTSendable::InitSendable(wpi::SendableBuilder& builder) {
if (builder.GetBackendKind() == wpi::SendableBuilder::kNetworkTables) {
InitSendable(static_cast<NTSendableBuilder&>(builder));
}
}

11
ntcore/src/main/native/cpp/networktables/NTSendableBuilder.cpp Normal file
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@@ -0,0 +1,11 @@
// 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 "networktables/NTSendableBuilder.h"
using namespace nt;
NTSendableBuilder::BackendKind NTSendableBuilder::GetBackendKind() const {
return kNetworkTables;
}

28
ntcore/src/main/native/include/networktables/NTSendable.h Normal file
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@@ -0,0 +1,28 @@
// 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 <wpi/sendable/Sendable.h>
namespace nt {
class NTSendableBuilder;
/**
* Interface for NetworkTable Sendable objects.
*/
class NTSendable : public wpi::Sendable {
public:
/**
* Initializes this Sendable object.
*
* @param builder sendable builder
*/
virtual void InitSendable(NTSendableBuilder& builder) = 0;
void InitSendable(wpi::SendableBuilder& builder) override;
};
} // namespace nt

65
ntcore/src/main/native/include/networktables/NTSendableBuilder.h Normal file
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@@ -0,0 +1,65 @@
// 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 <functional>
#include <memory>
#include <string_view>
#include <wpi/sendable/SendableBuilder.h>
#include "networktables/NetworkTable.h"
#include "networktables/NetworkTableEntry.h"
#include "networktables/NetworkTableValue.h"
namespace nt {
class NTSendableBuilder : public wpi::SendableBuilder {
public:
/**
* Set the function that should be called to update the network table
* for things other than properties. Note this function is not passed
* the network table object; instead it should use the entry handles
* returned by GetEntry().
*
* @param func function
*/
virtual void SetUpdateTable(std::function<void()> func) = 0;
/**
* Add a property without getters or setters. This can be used to get
* entry handles for the function called by SetUpdateTable().
*
* @param key property name
* @return Network table entry
*/
virtual NetworkTableEntry GetEntry(std::string_view key) = 0;
/**
* Add a NetworkTableValue property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddValueProperty(
std::string_view key, std::function<std::shared_ptr<Value>()> getter,
std::function<void(std::shared_ptr<Value>)> setter) = 0;
/**
* Get the network table.
* @return The network table
*/
virtual std::shared_ptr<NetworkTable> GetTable() = 0;
/**
* Gets the kind of backend being used.
*
* @return Backend kind
*/
BackendKind GetBackendKind() const override;
};
} // namespace nt

6
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj2.command;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import java.util.HashSet;
import java.util.Set;

10
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
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@@ -7,15 +7,15 @@ package edu.wpi.first.wpilibj2.command;
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.NTSendable;
import edu.wpi.first.networktables.NTSendableBuilder;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.RobotState;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Watchdog;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import java.util.ArrayList;
import java.util.Collection;
import java.util.Collections;
@@ -34,7 +34,7 @@ import java.util.function.Consumer;
* CommandScheduler#registerSubsystem(Subsystem...)} in order for their {@link Subsystem#periodic()}
* methods to be called and for their default commands to be scheduled.
*/
public final class CommandScheduler implements Sendable, AutoCloseable {
public final class CommandScheduler implements NTSendable, AutoCloseable {
/** The Singleton Instance. */
private static CommandScheduler instance;
@@ -501,7 +501,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
}
@Override
public void initSendable(SendableBuilder builder) {
public void initSendable(NTSendableBuilder builder) {
builder.setSmartDashboardType("Scheduler");
final NetworkTableEntry namesEntry = builder.getEntry("Names");
final NetworkTableEntry idsEntry = builder.getEntry("Ids");

6
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj2.command;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
/**
* A base for subsystems that handles registration in the constructor, and provides a more intuitive

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj2.command;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* A command that does nothing but takes a specified amount of time to finish. Useful for

16
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
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@@ -4,13 +4,13 @@
#include "frc2/command/CommandBase.h"
#include <frc/smartdashboard/SendableBuilder.h>
#include <frc/smartdashboard/SendableRegistry.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc2;
CommandBase::CommandBase() {
frc::SendableRegistry::GetInstance().Add(this, GetTypeName(*this));
wpi::SendableRegistry::GetInstance().Add(this, GetTypeName(*this));
}
void CommandBase::AddRequirements(
@@ -31,22 +31,22 @@ wpi::SmallSet<Subsystem*, 4> CommandBase::GetRequirements() const {
}
void CommandBase::SetName(std::string_view name) {
frc::SendableRegistry::GetInstance().SetName(this, name);
wpi::SendableRegistry::GetInstance().SetName(this, name);
}
std::string CommandBase::GetName() const {
return frc::SendableRegistry::GetInstance().GetName(this);
return wpi::SendableRegistry::GetInstance().GetName(this);
}
std::string CommandBase::GetSubsystem() const {
return frc::SendableRegistry::GetInstance().GetSubsystem(this);
return wpi::SendableRegistry::GetInstance().GetSubsystem(this);
}
void CommandBase::SetSubsystem(std::string_view subsystem) {
frc::SendableRegistry::GetInstance().SetSubsystem(this, subsystem);
wpi::SendableRegistry::GetInstance().SetSubsystem(this, subsystem);
}
void CommandBase::InitSendable(frc::SendableBuilder& builder) {
void CommandBase::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Command");
builder.AddStringProperty(
".name", [this] { return GetName(); }, nullptr);

10
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -10,13 +10,13 @@
#include <frc/RobotState.h>
#include <frc/TimedRobot.h>
#include <frc/livewindow/LiveWindow.h>
#include <frc/smartdashboard/SendableBuilder.h>
#include <frc/smartdashboard/SendableRegistry.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <networktables/NTSendableBuilder.h>
#include <networktables/NetworkTableEntry.h>
#include <wpi/DenseMap.h>
#include <wpi/SmallVector.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc2/command/CommandGroupBase.h"
#include "frc2/command/CommandState.h"
@@ -70,7 +70,7 @@ CommandScheduler::CommandScheduler()
}) {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand2_Scheduler);
frc::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
wpi::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = [this] {
this->Disable();
@@ -80,7 +80,7 @@ CommandScheduler::CommandScheduler()
}
CommandScheduler::~CommandScheduler() {
frc::SendableRegistry::GetInstance().Remove(this);
wpi::SendableRegistry::GetInstance().Remove(this);
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = nullptr;
scheduler->disabled = nullptr;
@@ -428,7 +428,7 @@ void CommandScheduler::OnCommandFinish(Action action) {
m_impl->finishActions.emplace_back(std::move(action));
}
void CommandScheduler::InitSendable(frc::SendableBuilder& builder) {
void CommandScheduler::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("Scheduler");
auto namesEntry = builder.GetEntry("Names");
auto idsEntry = builder.GetEntry("Ids");

20
wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
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@@ -4,8 +4,8 @@
#include "frc2/command/SubsystemBase.h"
#include <frc/smartdashboard/SendableBuilder.h>
#include <frc/smartdashboard/SendableRegistry.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc2/command/Command.h"
#include "frc2/command/CommandScheduler.h"
@@ -13,11 +13,11 @@
using namespace frc2;
SubsystemBase::SubsystemBase() {
frc::SendableRegistry::GetInstance().AddLW(this, GetTypeName(*this));
wpi::SendableRegistry::GetInstance().AddLW(this, GetTypeName(*this));
CommandScheduler::GetInstance().RegisterSubsystem({this});
}
void SubsystemBase::InitSendable(frc::SendableBuilder& builder) {
void SubsystemBase::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Subsystem");
builder.AddBooleanProperty(
".hasDefault", [this] { return GetDefaultCommand() != nullptr; },
@@ -48,22 +48,22 @@ void SubsystemBase::InitSendable(frc::SendableBuilder& builder) {
}
std::string SubsystemBase::GetName() const {
return frc::SendableRegistry::GetInstance().GetName(this);
return wpi::SendableRegistry::GetInstance().GetName(this);
}
void SubsystemBase::SetName(std::string_view name) {
frc::SendableRegistry::GetInstance().SetName(this, name);
wpi::SendableRegistry::GetInstance().SetName(this, name);
}
std::string SubsystemBase::GetSubsystem() const {
return frc::SendableRegistry::GetInstance().GetSubsystem(this);
return wpi::SendableRegistry::GetInstance().GetSubsystem(this);
}
void SubsystemBase::SetSubsystem(std::string_view name) {
frc::SendableRegistry::GetInstance().SetSubsystem(this, name);
wpi::SendableRegistry::GetInstance().SetSubsystem(this, name);
}
void SubsystemBase::AddChild(std::string name, frc::Sendable* child) {
auto& registry = frc::SendableRegistry::GetInstance();
void SubsystemBase::AddChild(std::string name, wpi::Sendable* child) {
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddLW(child, GetSubsystem(), name);
}

10
wpilibNewCommands/src/main/native/include/frc2/command/CommandBase.h
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@@ -8,9 +8,9 @@
#include <string>
#include <string_view>
#include <frc/smartdashboard/Sendable.h>
#include <frc/smartdashboard/SendableHelper.h>
#include <wpi/SmallSet.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include <wpi/span.h>
#include "frc2/command/Command.h"
@@ -20,8 +20,8 @@ namespace frc2 {
* A Sendable base class for Commands.
*/
class CommandBase : public Command,
public frc::Sendable,
public frc::SendableHelper<CommandBase> {
public wpi::Sendable,
public wpi::SendableHelper<CommandBase> {
public:
/**
* Adds the specified requirements to the command.
@@ -69,7 +69,7 @@ class CommandBase : public Command,
*/
void SetSubsystem(std::string_view subsystem);
void InitSendable(frc::SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
protected:
CommandBase();

10
wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
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@@ -10,10 +10,10 @@
#include <frc/Errors.h>
#include <frc/Watchdog.h>
#include <frc/smartdashboard/Sendable.h>
#include <frc/smartdashboard/SendableHelper.h>
#include <networktables/NTSendable.h>
#include <units/time.h>
#include <wpi/FunctionExtras.h>
#include <wpi/sendable/SendableHelper.h>
#include <wpi/span.h>
namespace frc2 {
@@ -27,8 +27,8 @@ class Subsystem;
* with the scheduler using RegisterSubsystem() in order for their Periodic()
* methods to be called and for their default commands to be scheduled.
*/
class CommandScheduler final : public frc::Sendable,
public frc::SendableHelper<CommandScheduler> {
class CommandScheduler final : public nt::NTSendable,
public wpi::SendableHelper<CommandScheduler> {
public:
/**
* Returns the Scheduler instance.
@@ -332,7 +332,7 @@ class CommandScheduler final : public frc::Sendable,
*/
void OnCommandFinish(Action action);
void InitSendable(frc::SendableBuilder& builder) override;
void InitSendable(nt::NTSendableBuilder& builder) override;
private:
// Constructor; private as this is a singleton

12
wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h
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@@ -7,8 +7,8 @@
#include <string>
#include <string_view>
#include <frc/smartdashboard/Sendable.h>
#include <frc/smartdashboard/SendableHelper.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc2/command/Subsystem.h"
@@ -18,10 +18,10 @@ namespace frc2 {
* provides a more intuitive method for setting the default command.
*/
class SubsystemBase : public Subsystem,
public frc::Sendable,
public frc::SendableHelper<SubsystemBase> {
public wpi::Sendable,
public wpi::SendableHelper<SubsystemBase> {
public:
void InitSendable(frc::SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
/**
* Gets the name of this Subsystem.
@@ -58,7 +58,7 @@ class SubsystemBase : public Subsystem,
* @param name name to give child
* @param child sendable
*/
void AddChild(std::string name, frc::Sendable* child);
void AddChild(std::string name, wpi::Sendable* child);
protected:
SubsystemBase();

5
wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
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@@ -10,8 +10,9 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.util.BoundaryException;
import edu.wpi.first.math.filter.LinearFilter;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import java.util.concurrent.locks.ReentrantLock;
/**

2
wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDController.java
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@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.util.sendable.SendableBuilder;
/**
* Class implements a PID Control Loop.

4
wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
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@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.buttons;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
/**
* This class provides an easy way to link commands to inputs.

6
wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Command.java
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@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.command;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.RobotState;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import java.util.Enumeration;
/**

2
wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java
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@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.command;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
/**
* This class defines a {@link Command} which interacts heavily with a PID loop.

10
wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
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@@ -7,12 +7,12 @@ package edu.wpi.first.wpilibj.command;
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.NTSendable;
import edu.wpi.first.networktables.NTSendableBuilder;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import java.util.Enumeration;
import java.util.Hashtable;
import java.util.Map;
@@ -30,7 +30,7 @@ import java.util.Vector;
*
* @see Command
*/
public final class Scheduler implements Sendable, AutoCloseable {
public final class Scheduler implements NTSendable, AutoCloseable {
/** The Singleton Instance. */
private static Scheduler instance;
@@ -301,7 +301,7 @@ public final class Scheduler implements Sendable, AutoCloseable {
}
@Override
public void initSendable(SendableBuilder builder) {
public void initSendable(NTSendableBuilder builder) {
builder.setSmartDashboardType("Scheduler");
final NetworkTableEntry namesEntry = builder.getEntry("Names");
final NetworkTableEntry idsEntry = builder.getEntry("Ids");

6
wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj.command;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import java.util.Collections;
/**

8
wpilibOldCommands/src/main/native/cpp/PIDBase.cpp
View File

@@ -8,10 +8,10 @@
#include <cmath>
#include <hal/FRCUsageReporting.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/PIDOutput.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -41,7 +41,7 @@ PIDBase::PIDBase(double Kp, double Ki, double Kd, double Kf, PIDSource& source,
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
SendableRegistry::GetInstance().Add(this, "PIDController", instances);
wpi::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
}
double PIDBase::Get() const {
@@ -228,7 +228,7 @@ void PIDBase::PIDWrite(double output) {
SetSetpoint(output);
}
void PIDBase::InitSendable(SendableBuilder& builder) {
void PIDBase::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("PIDController");
builder.SetSafeState([=] { Reset(); });
builder.AddDoubleProperty(

5
wpilibOldCommands/src/main/native/cpp/PIDController.cpp
View File

@@ -4,9 +4,10 @@
#include "frc/PIDController.h"
#include <wpi/sendable/SendableBuilder.h>
#include "frc/Notifier.h"
#include "frc/PIDOutput.h"
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
@@ -75,7 +76,7 @@ void PIDController::Reset() {
PIDBase::Reset();
}
void PIDController::InitSendable(SendableBuilder& builder) {
void PIDController::InitSendable(wpi::SendableBuilder& builder) {
PIDBase::InitSendable(builder);
builder.AddBooleanProperty(
"enabled", [=] { return IsEnabled(); },

5
wpilibOldCommands/src/main/native/cpp/buttons/Trigger.cpp
View File

@@ -2,13 +2,14 @@
// 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 <wpi/sendable/SendableBuilder.h>
#include "frc/buttons/Button.h"
#include "frc/buttons/CancelButtonScheduler.h"
#include "frc/buttons/HeldButtonScheduler.h"
#include "frc/buttons/PressedButtonScheduler.h"
#include "frc/buttons/ReleasedButtonScheduler.h"
#include "frc/buttons/ToggleButtonScheduler.h"
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
@@ -62,7 +63,7 @@ void Trigger::ToggleWhenActive(Command* command) {
tbs->Start();
}
void Trigger::InitSendable(SendableBuilder& builder) {
void Trigger::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Button");
builder.SetSafeState([=] { m_sendablePressed = false; });
builder.AddBooleanProperty(

22
wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
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@@ -6,14 +6,15 @@
#include <typeinfo>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/RobotState.h"
#include "frc/Timer.h"
#include "frc/commands/CommandGroup.h"
#include "frc/commands/Scheduler.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -40,10 +41,10 @@ Command::Command(std::string_view name, units::second_t timeout) {
// If name contains an empty string
if (name.empty()) {
SendableRegistry::GetInstance().Add(
wpi::SendableRegistry::GetInstance().Add(
this, fmt::format("Command_{}", typeid(*this).name()));
} else {
SendableRegistry::GetInstance().Add(this, name);
wpi::SendableRegistry::GetInstance().Add(this, name);
}
}
@@ -277,25 +278,26 @@ void Command::StartTiming() {
}
std::string Command::GetName() const {
return SendableRegistry::GetInstance().GetName(this);
return wpi::SendableRegistry::GetInstance().GetName(this);
}
void Command::SetName(std::string_view name) {
SendableRegistry::GetInstance().SetName(this, name);
wpi::SendableRegistry::GetInstance().SetName(this, name);
}
std::string Command::GetSubsystem() const {
return SendableRegistry::GetInstance().GetSubsystem(this);
return wpi::SendableRegistry::GetInstance().GetSubsystem(this);
}
void Command::SetSubsystem(std::string_view name) {
SendableRegistry::GetInstance().SetSubsystem(this, name);
wpi::SendableRegistry::GetInstance().SetSubsystem(this, name);
}
void Command::InitSendable(SendableBuilder& builder) {
void Command::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Command");
builder.AddStringProperty(
".name", [=] { return SendableRegistry::GetInstance().GetName(this); },
".name",
[=] { return wpi::SendableRegistry::GetInstance().GetName(this); },
nullptr);
builder.AddBooleanProperty(
"running", [=] { return IsRunning(); },

4
wpilibOldCommands/src/main/native/cpp/commands/PIDCommand.cpp
View File

@@ -4,7 +4,7 @@
#include "frc/commands/PIDCommand.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include <wpi/sendable/SendableBuilder.h>
using namespace frc;
@@ -112,7 +112,7 @@ double PIDCommand::GetPosition() {
return ReturnPIDInput();
}
void PIDCommand::InitSendable(SendableBuilder& builder) {
void PIDCommand::InitSendable(wpi::SendableBuilder& builder) {
m_controller->InitSendable(builder);
Command::InitSendable(builder);
builder.SetSmartDashboardType("PIDCommand");

12
wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
View File

@@ -10,16 +10,16 @@
#include <vector>
#include <hal/FRCUsageReporting.h>
#include <networktables/NTSendableBuilder.h>
#include <networktables/NetworkTableEntry.h>
#include <wpi/mutex.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/buttons/ButtonScheduler.h"
#include "frc/commands/Command.h"
#include "frc/commands/Subsystem.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -157,7 +157,7 @@ void Scheduler::SetEnabled(bool enabled) {
m_impl->enabled = enabled;
}
void Scheduler::InitSendable(SendableBuilder& builder) {
void Scheduler::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("Scheduler");
auto namesEntry = builder.GetEntry("Names");
auto idsEntry = builder.GetEntry("Ids");
@@ -186,7 +186,7 @@ void Scheduler::InitSendable(SendableBuilder& builder) {
if (m_impl->runningCommandsChanged) {
m_impl->commandsBuf.resize(0);
m_impl->idsBuf.resize(0);
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
for (const auto& command : m_impl->commands) {
m_impl->commandsBuf.emplace_back(registry.GetName(command));
m_impl->idsBuf.emplace_back(command->GetID());
@@ -200,7 +200,7 @@ void Scheduler::InitSendable(SendableBuilder& builder) {
Scheduler::Scheduler() : m_impl(new Impl) {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand_Scheduler);
SendableRegistry::GetInstance().AddLW(this, "Scheduler");
wpi::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = [this] {
this->SetEnabled(false);
@@ -210,7 +210,7 @@ Scheduler::Scheduler() : m_impl(new Impl) {
}
Scheduler::~Scheduler() {
SendableRegistry::GetInstance().Remove(this);
wpi::SendableRegistry::GetInstance().Remove(this);
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = nullptr;
scheduler->disabled = nullptr;

35
wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
View File

@@ -4,17 +4,18 @@
#include "frc/commands/Subsystem.h"
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/commands/Command.h"
#include "frc/commands/Scheduler.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Subsystem::Subsystem(std::string_view name) {
SendableRegistry::GetInstance().AddLW(this, name, name);
wpi::SendableRegistry::GetInstance().AddLW(this, name, name);
Scheduler::GetInstance()->RegisterSubsystem(this);
}
@@ -43,7 +44,7 @@ Command* Subsystem::GetDefaultCommand() {
std::string Subsystem::GetDefaultCommandName() {
Command* defaultCommand = GetDefaultCommand();
if (defaultCommand) {
return SendableRegistry::GetInstance().GetName(defaultCommand);
return wpi::SendableRegistry::GetInstance().GetName(defaultCommand);
} else {
return {};
}
@@ -61,7 +62,7 @@ Command* Subsystem::GetCurrentCommand() const {
std::string Subsystem::GetCurrentCommandName() const {
Command* currentCommand = GetCurrentCommand();
if (currentCommand) {
return SendableRegistry::GetInstance().GetName(currentCommand);
return wpi::SendableRegistry::GetInstance().GetName(currentCommand);
} else {
return {};
}
@@ -72,19 +73,19 @@ void Subsystem::Periodic() {}
void Subsystem::InitDefaultCommand() {}
std::string Subsystem::GetName() const {
return SendableRegistry::GetInstance().GetName(this);
return wpi::SendableRegistry::GetInstance().GetName(this);
}
void Subsystem::SetName(std::string_view name) {
SendableRegistry::GetInstance().SetName(this, name);
wpi::SendableRegistry::GetInstance().SetName(this, name);
}
std::string Subsystem::GetSubsystem() const {
return SendableRegistry::GetInstance().GetSubsystem(this);
return wpi::SendableRegistry::GetInstance().GetSubsystem(this);
}
void Subsystem::SetSubsystem(std::string_view name) {
SendableRegistry::GetInstance().SetSubsystem(this, name);
wpi::SendableRegistry::GetInstance().SetSubsystem(this, name);
}
void Subsystem::AddChild(std::string_view name,
@@ -92,25 +93,25 @@ void Subsystem::AddChild(std::string_view name,
AddChild(name, *child);
}
void Subsystem::AddChild(std::string_view name, Sendable* child) {
void Subsystem::AddChild(std::string_view name, wpi::Sendable* child) {
AddChild(name, *child);
}
void Subsystem::AddChild(std::string_view name, Sendable& child) {
auto& registry = SendableRegistry::GetInstance();
void Subsystem::AddChild(std::string_view name, wpi::Sendable& child) {
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddLW(&child, registry.GetSubsystem(this), name);
}
void Subsystem::AddChild(std::shared_ptr<Sendable> child) {
void Subsystem::AddChild(std::shared_ptr<wpi::Sendable> child) {
AddChild(*child);
}
void Subsystem::AddChild(Sendable* child) {
void Subsystem::AddChild(wpi::Sendable* child) {
AddChild(*child);
}
void Subsystem::AddChild(Sendable& child) {
auto& registry = SendableRegistry::GetInstance();
void Subsystem::AddChild(wpi::Sendable& child) {
auto& registry = wpi::SendableRegistry::GetInstance();
registry.SetSubsystem(&child, registry.GetSubsystem(this));
registry.EnableLiveWindow(&child);
}
@@ -121,7 +122,7 @@ void Subsystem::ConfirmCommand() {
}
}
void Subsystem::InitSendable(SendableBuilder& builder) {
void Subsystem::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Subsystem");
builder.AddBooleanProperty(

12
wpilibOldCommands/src/main/native/include/frc/PIDBase.h
View File

@@ -9,19 +9,17 @@
#include <wpi/deprecated.h>
#include <wpi/mutex.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/PIDInterface.h"
#include "frc/PIDOutput.h"
#include "frc/PIDSource.h"
#include "frc/Timer.h"
#include "frc/filter/LinearFilter.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class SendableBuilder;
/**
* Class implements a PID Control Loop.
*
@@ -36,8 +34,8 @@ class SendableBuilder;
*/
class PIDBase : public PIDInterface,
public PIDOutput,
public Sendable,
public SendableHelper<PIDBase> {
public wpi::Sendable,
public wpi::SendableHelper<PIDBase> {
public:
/**
* Allocate a PID object with the given constants for P, I, D.
@@ -301,7 +299,7 @@ class PIDBase : public PIDInterface,
*/
void PIDWrite(double output) override;
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
protected:
// Is the pid controller enabled

2
wpilibOldCommands/src/main/native/include/frc/PIDController.h
View File

@@ -126,7 +126,7 @@ class PIDController : public PIDBase, public Controller {
*/
void Reset() override;
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
private:
std::unique_ptr<Notifier> m_controlLoop;

8
wpilibOldCommands/src/main/native/include/frc/buttons/Trigger.h
View File

@@ -6,8 +6,8 @@
#include <atomic>
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc {
@@ -26,7 +26,7 @@ class Command;
* only have to write the {@link Trigger#Get()} method to get the full
* functionality of the Trigger class.
*/
class Trigger : public Sendable, public SendableHelper<Trigger> {
class Trigger : public wpi::Sendable, public wpi::SendableHelper<Trigger> {
public:
Trigger() = default;
~Trigger() override = default;
@@ -44,7 +44,7 @@ class Trigger : public Sendable, public SendableHelper<Trigger> {
void CancelWhenActive(Command* command);
void ToggleWhenActive(Command* command);
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
private:
std::atomic_bool m_sendablePressed{false};

8
wpilibOldCommands/src/main/native/include/frc/commands/Command.h
View File

@@ -10,10 +10,10 @@
#include <units/time.h>
#include <wpi/SmallPtrSet.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/commands/Subsystem.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -43,7 +43,7 @@ class CommandGroup;
* @see CommandGroup
* @see Subsystem
*/
class Command : public Sendable, public SendableHelper<Command> {
class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
friend class CommandGroup;
friend class Scheduler;
@@ -482,7 +482,7 @@ class Command : public Sendable, public SendableHelper<Command> {
static int m_commandCounter;
public:
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
};
} // namespace frc

2
wpilibOldCommands/src/main/native/include/frc/commands/PIDCommand.h
View File

@@ -64,7 +64,7 @@ class PIDCommand : public Command, public PIDOutput, public PIDSource {
std::shared_ptr<PIDController> m_controller;
public:
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
};
} // namespace frc

8
wpilibOldCommands/src/main/native/include/frc/commands/Scheduler.h
View File

@@ -6,8 +6,8 @@
#include <memory>
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
#include <networktables/NTSendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc {
@@ -15,7 +15,7 @@ class ButtonScheduler;
class Command;
class Subsystem;
class Scheduler : public Sendable, public SendableHelper<Scheduler> {
class Scheduler : public nt::NTSendable, public wpi::SendableHelper<Scheduler> {
public:
/**
* Returns the Scheduler, creating it if one does not exist.
@@ -78,7 +78,7 @@ class Scheduler : public Sendable, public SendableHelper<Scheduler> {
void SetEnabled(bool enabled);
void InitSendable(SendableBuilder& builder) override;
void InitSendable(nt::NTSendableBuilder& builder) override;
private:
Scheduler();

20
wpilibOldCommands/src/main/native/include/frc/commands/Subsystem.h
View File

@@ -8,14 +8,14 @@
#include <string>
#include <string_view>
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc {
class Command;
class Subsystem : public Sendable, public SendableHelper<Subsystem> {
class Subsystem : public wpi::Sendable, public wpi::SendableHelper<Subsystem> {
friend class Scheduler;
public:
@@ -127,7 +127,7 @@ class Subsystem : public Sendable, public SendableHelper<Subsystem> {
* @param name name to give child
* @param child sendable
*/
void AddChild(std::string_view name, std::shared_ptr<Sendable> child);
void AddChild(std::string_view name, std::shared_ptr<wpi::Sendable> child);
/**
* Associate a Sendable with this Subsystem.
@@ -136,7 +136,7 @@ class Subsystem : public Sendable, public SendableHelper<Subsystem> {
* @param name name to give child
* @param child sendable
*/
void AddChild(std::string_view name, Sendable* child);
void AddChild(std::string_view name, wpi::Sendable* child);
/**
* Associate a Sendable with this Subsystem.
@@ -145,28 +145,28 @@ class Subsystem : public Sendable, public SendableHelper<Subsystem> {
* @param name name to give child
* @param child sendable
*/
void AddChild(std::string_view name, Sendable& child);
void AddChild(std::string_view name, wpi::Sendable& child);
/**
* Associate a {@link Sendable} with this Subsystem.
*
* @param child sendable
*/
void AddChild(std::shared_ptr<Sendable> child);
void AddChild(std::shared_ptr<wpi::Sendable> child);
/**
* Associate a {@link Sendable} with this Subsystem.
*
* @param child sendable
*/
void AddChild(Sendable* child);
void AddChild(wpi::Sendable* child);
/**
* Associate a {@link Sendable} with this Subsystem.
*
* @param child sendable
*/
void AddChild(Sendable& child);
void AddChild(wpi::Sendable& child);
private:
/**
@@ -185,7 +185,7 @@ class Subsystem : public Sendable, public SendableHelper<Subsystem> {
bool m_initializedDefaultCommand = false;
public:
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
};
} // namespace frc

2
wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTabTest.java
View File

@@ -12,7 +12,7 @@ import static org.junit.jupiter.api.Assertions.assertThrows;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.wpilibj.command.InstantCommand;
import java.util.HashMap;
import java.util.Map;

1
wpilibOldCommands/src/test/native/cpp/shuffleboard/ShuffleboardTabTest.cpp
View File

@@ -12,7 +12,6 @@
#include "frc/commands/InstantCommand.h"
#include "frc/shuffleboard/ShuffleboardInstance.h"
#include "frc/shuffleboard/ShuffleboardTab.h"
#include "frc/smartdashboard/Sendable.h"
#include "gtest/gtest.h"
using namespace frc;

1
wpilibOldCommands/src/test/native/cpp/shuffleboard/ShuffleboardWidgetTest.cpp
View File

@@ -14,7 +14,6 @@
#include "frc/shuffleboard/ShuffleboardInstance.h"
#include "frc/shuffleboard/ShuffleboardTab.h"
#include "frc/shuffleboard/ShuffleboardWidget.h"
#include "frc/smartdashboard/Sendable.h"
#include "gtest/gtest.h"
using namespace frc;

9
wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
View File

@@ -5,9 +5,8 @@
#include "frc/ADXL345_I2C.h"
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <networktables/NTSendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
@@ -30,7 +29,7 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
HAL_Report(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_I2C, 0);
SendableRegistry::GetInstance().AddLW(this, "ADXL345_I2C", port);
wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL345_I2C", port);
}
void ADXL345_I2C::SetRange(Range range) {
@@ -84,7 +83,7 @@ ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
return data;
}
void ADXL345_I2C::InitSendable(SendableBuilder& builder) {
void ADXL345_I2C::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("3AxisAccelerometer");
auto x = builder.GetEntry("X").GetHandle();
auto y = builder.GetEntry("Y").GetHandle();

9
wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
View File

@@ -5,9 +5,8 @@
#include "frc/ADXL345_SPI.h"
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <networktables/NTSendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
@@ -38,7 +37,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
HAL_Report(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_SPI);
SendableRegistry::GetInstance().AddLW(this, "ADXL345_SPI", port);
wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL345_SPI", port);
}
void ADXL345_SPI::SetRange(Range range) {
@@ -115,7 +114,7 @@ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
return data;
}
void ADXL345_SPI::InitSendable(SendableBuilder& builder) {
void ADXL345_SPI::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("3AxisAccelerometer");
auto x = builder.GetEntry("X").GetHandle();
auto y = builder.GetEntry("Y").GetHandle();

8
wpilibc/src/main/native/cpp/ADXL362.cpp
View File

@@ -5,10 +5,10 @@
#include "frc/ADXL362.h"
#include <hal/FRCUsageReporting.h>
#include <networktables/NTSendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -72,7 +72,7 @@ ADXL362::ADXL362(SPI::Port port, Range range)
HAL_Report(HALUsageReporting::kResourceType_ADXL362, port + 1);
SendableRegistry::GetInstance().AddLW(this, "ADXL362", port);
wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL362", port);
}
void ADXL362::SetRange(Range range) {
@@ -178,7 +178,7 @@ ADXL362::AllAxes ADXL362::GetAccelerations() {
return data;
}
void ADXL362::InitSendable(SendableBuilder& builder) {
void ADXL362::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("3AxisAccelerometer");
auto x = builder.GetEntry("X").GetHandle();
auto y = builder.GetEntry("Y").GetHandle();

8
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
View File

@@ -5,11 +5,11 @@
#include "frc/ADXRS450_Gyro.h"
#include <hal/FRCUsageReporting.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/Timer.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -58,7 +58,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port + 1);
SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
wpi::SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
}
static bool CalcParity(int v) {
@@ -136,7 +136,7 @@ int ADXRS450_Gyro::GetPort() const {
return m_port;
}
void ADXRS450_Gyro::InitSendable(SendableBuilder& builder) {
void ADXRS450_Gyro::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Gyro");
builder.AddDoubleProperty(
"Value", [=] { return GetAngle(); }, nullptr);

12
wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
View File

@@ -6,16 +6,16 @@
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
AnalogAccelerometer::AnalogAccelerometer(int channel)
: AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
wpi::SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
}
AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
@@ -46,7 +46,7 @@ void AnalogAccelerometer::SetZero(double zero) {
m_zeroGVoltage = zero;
}
void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
void AnalogAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Accelerometer");
builder.AddDoubleProperty(
"Value", [=] { return GetAcceleration(); }, nullptr);
@@ -56,6 +56,6 @@ void AnalogAccelerometer::InitAccelerometer() {
HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
m_analogInput->GetChannel() + 1);
SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
m_analogInput->GetChannel());
wpi::SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
m_analogInput->GetChannel());
}

8
wpilibc/src/main/native/cpp/AnalogEncoder.cpp
View File

@@ -5,11 +5,11 @@
#include "frc/AnalogEncoder.h"
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/AnalogInput.h"
#include "frc/Counter.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
@@ -50,8 +50,8 @@ void AnalogEncoder::Init() {
m_counter.SetDownSource(
m_analogTrigger.CreateOutput(AnalogTriggerType::kFallingPulse));
SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
m_analogInput->GetChannel());
wpi::SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
m_analogInput->GetChannel());
}
units::turn_t AnalogEncoder::Get() const {
@@ -105,7 +105,7 @@ int AnalogEncoder::GetChannel() const {
return m_analogInput->GetChannel();
}
void AnalogEncoder::InitSendable(SendableBuilder& builder) {
void AnalogEncoder::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("AbsoluteEncoder");
builder.AddDoubleProperty(
"Distance", [this] { return this->GetDistance(); }, nullptr);

14
wpilibc/src/main/native/cpp/AnalogGyro.cpp
View File

@@ -12,18 +12,18 @@
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/AnalogInput.h"
#include "frc/Errors.h"
#include "frc/Timer.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
AnalogGyro::AnalogGyro(int channel)
: AnalogGyro(std::make_shared<AnalogInput>(channel)) {
SendableRegistry::GetInstance().AddChild(this, m_analog.get());
wpi::SendableRegistry::GetInstance().AddChild(this, m_analog.get());
}
AnalogGyro::AnalogGyro(AnalogInput* channel)
@@ -41,7 +41,7 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
AnalogGyro::AnalogGyro(int channel, int center, double offset)
: AnalogGyro(std::make_shared<AnalogInput>(channel), center, offset) {
SendableRegistry::GetInstance().AddChild(this, m_analog.get());
wpi::SendableRegistry::GetInstance().AddChild(this, m_analog.get());
}
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
@@ -124,8 +124,8 @@ void AnalogGyro::InitGyro() {
HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel() + 1);
SendableRegistry::GetInstance().AddLW(this, "AnalogGyro",
m_analog->GetChannel());
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogGyro",
m_analog->GetChannel());
}
void AnalogGyro::Calibrate() {
@@ -138,7 +138,7 @@ std::shared_ptr<AnalogInput> AnalogGyro::GetAnalogInput() const {
return m_analog;
}
void AnalogGyro::InitSendable(SendableBuilder& builder) {
void AnalogGyro::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Gyro");
builder.AddDoubleProperty(
"Value", [=] { return GetAngle(); }, nullptr);

8
wpilibc/src/main/native/cpp/AnalogInput.cpp
View File

@@ -10,12 +10,12 @@
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/Timer.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -34,7 +34,7 @@ AnalogInput::AnalogInput(int channel) {
HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel + 1);
SendableRegistry::GetInstance().AddLW(this, "AnalogInput", channel);
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogInput", channel);
}
AnalogInput::~AnalogInput() {
@@ -194,7 +194,7 @@ void AnalogInput::SetSimDevice(HAL_SimDeviceHandle device) {
HAL_SetAnalogInputSimDevice(m_port, device);
}
void AnalogInput::InitSendable(SendableBuilder& builder) {
void AnalogInput::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Analog Input");
builder.AddDoubleProperty(
"Value", [=] { return GetAverageVoltage(); }, nullptr);

8
wpilibc/src/main/native/cpp/AnalogOutput.cpp
View File

@@ -12,11 +12,11 @@
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -34,7 +34,7 @@ AnalogOutput::AnalogOutput(int channel) {
FRC_CheckErrorStatus(status, "Channel {}", channel);
HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel + 1);
SendableRegistry::GetInstance().AddLW(this, "AnalogOutput", m_channel);
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogOutput", m_channel);
}
AnalogOutput::~AnalogOutput() {
@@ -58,7 +58,7 @@ int AnalogOutput::GetChannel() const {
return m_channel;
}
void AnalogOutput::InitSendable(SendableBuilder& builder) {
void AnalogOutput::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Analog Output");
builder.AddDoubleProperty(
"Value", [=] { return GetVoltage(); },

12
wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
View File

@@ -7,10 +7,10 @@
#include <utility>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/RobotController.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -18,7 +18,7 @@ AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
double offset)
: AnalogPotentiometer(std::make_shared<AnalogInput>(channel), fullRange,
offset) {
SendableRegistry::GetInstance().AddChild(this, m_analog_input.get());
wpi::SendableRegistry::GetInstance().AddChild(this, m_analog_input.get());
}
AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange,
@@ -32,8 +32,8 @@ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
: m_analog_input(std::move(input)),
m_fullRange(fullRange),
m_offset(offset) {
SendableRegistry::GetInstance().AddLW(this, "AnalogPotentiometer",
m_analog_input->GetChannel());
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogPotentiometer",
m_analog_input->GetChannel());
}
double AnalogPotentiometer::Get() const {
@@ -43,7 +43,7 @@ double AnalogPotentiometer::Get() const {
m_offset;
}
void AnalogPotentiometer::InitSendable(SendableBuilder& builder) {
void AnalogPotentiometer::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Analog Input");
builder.AddDoubleProperty(
"Value", [=] { return Get(); }, nullptr);

10
wpilibc/src/main/native/cpp/AnalogTrigger.cpp
View File

@@ -9,18 +9,18 @@
#include <hal/AnalogTrigger.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/AnalogInput.h"
#include "frc/DutyCycle.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
AnalogTrigger::AnalogTrigger(int channel)
: AnalogTrigger(new AnalogInput(channel)) {
m_ownsAnalog = true;
SendableRegistry::GetInstance().AddChild(this, m_analogInput);
wpi::SendableRegistry::GetInstance().AddChild(this, m_analogInput);
}
AnalogTrigger::AnalogTrigger(AnalogInput* input) {
@@ -31,7 +31,7 @@ AnalogTrigger::AnalogTrigger(AnalogInput* input) {
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
}
AnalogTrigger::AnalogTrigger(DutyCycle* input) {
@@ -42,7 +42,7 @@ AnalogTrigger::AnalogTrigger(DutyCycle* input) {
int index = GetIndex();
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
}
AnalogTrigger::~AnalogTrigger() {
@@ -113,7 +113,7 @@ std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
wpi::NullDeleter<AnalogTriggerOutput>());
}
void AnalogTrigger::InitSendable(SendableBuilder& builder) {
void AnalogTrigger::InitSendable(wpi::SendableBuilder& builder) {
if (m_ownsAnalog) {
m_analogInput->InitSendable(builder);
}

2
wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp
View File

@@ -38,7 +38,7 @@ int AnalogTriggerOutput::GetChannel() const {
return m_trigger->GetIndex();
}
void AnalogTriggerOutput::InitSendable(SendableBuilder&) {}
void AnalogTriggerOutput::InitSendable(wpi::SendableBuilder&) {}
AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger,
AnalogTriggerType outputType)

8
wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
View File

@@ -6,10 +6,10 @@
#include <hal/Accelerometer.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -18,7 +18,7 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
"Built-in accelerometer");
SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
wpi::SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
}
void BuiltInAccelerometer::SetRange(Range range) {
@@ -44,7 +44,7 @@ double BuiltInAccelerometer::GetZ() {
return HAL_GetAccelerometerZ();
}
void BuiltInAccelerometer::InitSendable(SendableBuilder& builder) {
void BuiltInAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("3AxisAccelerometer");
builder.AddDoubleProperty(
"X", [=] { return GetX(); }, nullptr);

12
wpilibc/src/main/native/cpp/Counter.cpp
View File

@@ -9,12 +9,12 @@
#include <hal/Counter.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/AnalogTrigger.h"
#include "frc/DigitalInput.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -27,7 +27,7 @@ Counter::Counter(Mode mode) {
SetMaxPeriod(0.5_s);
HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1, mode + 1);
SendableRegistry::GetInstance().AddLW(this, "Counter", m_index);
wpi::SendableRegistry::GetInstance().AddLW(this, "Counter", m_index);
}
Counter::Counter(int channel) : Counter(kTwoPulse) {
@@ -97,7 +97,7 @@ Counter::~Counter() {
void Counter::SetUpSource(int channel) {
SetUpSource(std::make_shared<DigitalInput>(channel));
SendableRegistry::GetInstance().AddChild(this, m_upSource.get());
wpi::SendableRegistry::GetInstance().AddChild(this, m_upSource.get());
}
void Counter::SetUpSource(AnalogTrigger* analogTrigger,
@@ -152,7 +152,7 @@ void Counter::ClearUpSource() {
void Counter::SetDownSource(int channel) {
SetDownSource(std::make_shared<DigitalInput>(channel));
SendableRegistry::GetInstance().AddChild(this, m_downSource.get());
wpi::SendableRegistry::GetInstance().AddChild(this, m_downSource.get());
}
void Counter::SetDownSource(AnalogTrigger* analogTrigger,
@@ -306,7 +306,7 @@ bool Counter::GetDirection() const {
return value;
}
void Counter::InitSendable(SendableBuilder& builder) {
void Counter::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Counter");
builder.AddDoubleProperty(
"Value", [=] { return Get(); }, nullptr);

8
wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
View File

@@ -11,12 +11,12 @@
#include <hal/Constants.h>
#include <hal/DIO.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Counter.h"
#include "frc/Encoder.h"
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -35,8 +35,8 @@ DigitalGlitchFilter::DigitalGlitchFilter() {
HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter,
m_channelIndex + 1);
SendableRegistry::GetInstance().AddLW(this, "DigitalGlitchFilter",
m_channelIndex);
wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalGlitchFilter",
m_channelIndex);
}
DigitalGlitchFilter::~DigitalGlitchFilter() {
@@ -125,4 +125,4 @@ uint64_t DigitalGlitchFilter::GetPeriodNanoSeconds() {
static_cast<uint64_t>(HAL_GetSystemClockTicksPerMicrosecond() / 4);
}
void DigitalGlitchFilter::InitSendable(SendableBuilder&) {}
void DigitalGlitchFilter::InitSendable(wpi::SendableBuilder&) {}

8
wpilibc/src/main/native/cpp/DigitalInput.cpp
View File

@@ -12,11 +12,11 @@
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -33,7 +33,7 @@ DigitalInput::DigitalInput(int channel) {
FRC_CheckErrorStatus(status, "Channel {}", channel);
HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel + 1);
SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
}
DigitalInput::~DigitalInput() {
@@ -67,7 +67,7 @@ int DigitalInput::GetChannel() const {
return m_channel;
}
void DigitalInput::InitSendable(SendableBuilder& builder) {
void DigitalInput::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Digital Input");
builder.AddBooleanProperty(
"Value", [=] { return Get(); }, nullptr);

8
wpilibc/src/main/native/cpp/DigitalOutput.cpp
View File

@@ -11,11 +11,11 @@
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -33,7 +33,7 @@ DigitalOutput::DigitalOutput(int channel) {
FRC_CheckErrorStatus(status, "Channel {}", channel);
HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel + 1);
SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
}
DigitalOutput::~DigitalOutput() {
@@ -140,7 +140,7 @@ void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {
HAL_SetDIOSimDevice(m_handle, device);
}
void DigitalOutput::InitSendable(SendableBuilder& builder) {
void DigitalOutput::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Digital Output");
builder.AddBooleanProperty(
"Value", [=] { return Get(); }, [=](bool value) { Set(value); });

8
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
View File

@@ -10,11 +10,11 @@
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -53,7 +53,7 @@ DoubleSolenoid::DoubleSolenoid(std::shared_ptr<PneumaticsBase> module,
m_module->GetModuleNumber() + 1);
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel + 1,
m_module->GetModuleNumber() + 1);
SendableRegistry::GetInstance().AddLW(
wpi::SendableRegistry::GetInstance().AddLW(
this, "DoubleSolenoid", m_module->GetModuleNumber(), m_forwardChannel);
}
@@ -115,7 +115,7 @@ bool DoubleSolenoid::IsRevSolenoidDisabled() const {
return (m_module->GetSolenoidDisabledList() & m_reverseMask) != 0;
}
void DoubleSolenoid::InitSendable(SendableBuilder& builder) {
void DoubleSolenoid::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Double Solenoid");
builder.SetActuator(true);
builder.SetSafeState([=] { Set(kOff); });

6
wpilibc/src/main/native/cpp/DutyCycle.cpp
View File

@@ -7,10 +7,10 @@
#include <hal/DutyCycle.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/DigitalSource.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
@@ -49,7 +49,7 @@ void DutyCycle::InitDutyCycle() {
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
int index = GetFPGAIndex();
HAL_Report(HALUsageReporting::kResourceType_DutyCycle, index + 1);
SendableRegistry::GetInstance().AddLW(this, "Duty Cycle", index);
wpi::SendableRegistry::GetInstance().AddLW(this, "Duty Cycle", index);
}
int DutyCycle::GetFPGAIndex() const {
@@ -91,7 +91,7 @@ int DutyCycle::GetSourceChannel() const {
return m_source->GetChannel();
}
void DutyCycle::InitSendable(SendableBuilder& builder) {
void DutyCycle::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Duty Cycle");
builder.AddDoubleProperty(
"Frequency", [this] { return this->GetFrequency(); }, nullptr);

8
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
View File

@@ -5,13 +5,13 @@
#include "frc/DutyCycleEncoder.h"
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/Counter.h"
#include "frc/DigitalInput.h"
#include "frc/DigitalSource.h"
#include "frc/DutyCycle.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
@@ -72,8 +72,8 @@ void DutyCycleEncoder::Init() {
m_analogTrigger->CreateOutput(AnalogTriggerType::kFallingPulse));
}
SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
m_dutyCycle->GetSourceChannel());
wpi::SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
m_dutyCycle->GetSourceChannel());
}
units::turn_t DutyCycleEncoder::Get() const {
@@ -148,7 +148,7 @@ int DutyCycleEncoder::GetSourceChannel() const {
return m_dutyCycle->GetSourceChannel();
}
void DutyCycleEncoder::InitSendable(SendableBuilder& builder) {
void DutyCycleEncoder::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("AbsoluteEncoder");
builder.AddDoubleProperty(
"Distance", [this] { return this->GetDistance(); }, nullptr);

14
wpilibc/src/main/native/cpp/Encoder.cpp
View File

@@ -9,11 +9,11 @@
#include <hal/Encoder.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/DigitalInput.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -22,7 +22,7 @@ Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
m_aSource = std::make_shared<DigitalInput>(aChannel);
m_bSource = std::make_shared<DigitalInput>(bChannel);
InitEncoder(reverseDirection, encodingType);
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_aSource.get());
registry.AddChild(this, m_bSource.get());
}
@@ -181,7 +181,7 @@ int Encoder::GetSamplesToAverage() const {
void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
// Force digital input if just given an index
m_indexSource = std::make_shared<DigitalInput>(channel);
SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
wpi::SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
SetIndexSource(*m_indexSource.get(), type);
}
@@ -207,7 +207,7 @@ int Encoder::GetFPGAIndex() const {
return val;
}
void Encoder::InitSendable(SendableBuilder& builder) {
void Encoder::InitSendable(wpi::SendableBuilder& builder) {
int32_t status = 0;
HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetEncodingType");
@@ -240,8 +240,8 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
encodingType);
SendableRegistry::GetInstance().AddLW(this, "Encoder",
m_aSource->GetChannel());
wpi::SendableRegistry::GetInstance().AddLW(this, "Encoder",
m_aSource->GetChannel());
}
double Encoder::DecodingScaleFactor() const {

8
wpilibc/src/main/native/cpp/PWM.cpp
View File

@@ -11,11 +11,11 @@
#include <hal/PWM.h>
#include <hal/Ports.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -40,7 +40,7 @@ PWM::PWM(int channel, bool registerSendable) {
HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
if (registerSendable) {
SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
wpi::SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
}
}
@@ -163,7 +163,7 @@ int PWM::GetChannel() const {
return m_channel;
}
void PWM::InitSendable(SendableBuilder& builder) {
void PWM::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("PWM");
builder.SetActuator(true);
builder.SetSafeState([=] { SetDisabled(); });

9
wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
View File

@@ -8,11 +8,11 @@
#include <hal/FRCUsageReporting.h>
#include <hal/PDP.h>
#include <hal/Ports.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -24,7 +24,8 @@ PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
FRC_CheckErrorStatus(status, "Module {}", module);
HAL_Report(HALUsageReporting::kResourceType_PDP, module + 1);
SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel", module);
wpi::SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel",
module);
}
double PowerDistributionPanel::GetVoltage() const {
@@ -93,7 +94,7 @@ int PowerDistributionPanel::GetModule() const {
return m_module;
}
void PowerDistributionPanel::InitSendable(SendableBuilder& builder) {
void PowerDistributionPanel::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("PowerDistributionPanel");
for (int i = 0; i < SensorUtil::kPDPChannels; ++i) {
builder.AddDoubleProperty(

8
wpilibc/src/main/native/cpp/Relay.cpp
View File

@@ -12,11 +12,11 @@
#include <hal/Ports.h>
#include <hal/Relay.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -56,7 +56,7 @@ Relay::Relay(int channel, Relay::Direction direction)
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
wpi::SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
}
Relay::~Relay() {
@@ -172,7 +172,7 @@ std::string Relay::GetDescription() const {
return fmt::format("Relay {}", GetChannel());
}
void Relay::InitSendable(SendableBuilder& builder) {
void Relay::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Relay");
builder.SetActuator(true);
builder.SetSafeState([=] { Set(kOff); });

9
wpilibc/src/main/native/cpp/Servo.cpp
View File

@@ -5,9 +5,8 @@
#include "frc/Servo.h"
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
@@ -25,7 +24,7 @@ Servo::Servo(int channel) : PWM(channel) {
SetPeriodMultiplier(kPeriodMultiplier_4X);
HAL_Report(HALUsageReporting::kResourceType_Servo, channel + 1);
SendableRegistry::GetInstance().SetName(this, "Servo", channel);
wpi::SendableRegistry::GetInstance().SetName(this, "Servo", channel);
}
void Servo::Set(double value) {
@@ -62,7 +61,7 @@ double Servo::GetMinAngle() const {
return kMinServoAngle;
}
void Servo::InitSendable(SendableBuilder& builder) {
void Servo::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Servo");
builder.AddDoubleProperty(
"Value", [=] { return Get(); }, [=](double value) { Set(value); });

10
wpilibc/src/main/native/cpp/Solenoid.cpp
View File

@@ -8,11 +8,11 @@
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -36,8 +36,8 @@ Solenoid::Solenoid(std::shared_ptr<PneumaticsBase> module, int channel)
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
m_module->GetModuleNumber() + 1);
SendableRegistry::GetInstance().AddLW(this, "Solenoid",
m_module->GetModuleNumber(), m_channel);
wpi::SendableRegistry::GetInstance().AddLW(
this, "Solenoid", m_module->GetModuleNumber(), m_channel);
}
Solenoid::~Solenoid() {}
@@ -72,7 +72,7 @@ void Solenoid::StartPulse() {
m_module->FireOneShot(m_channel);
}
void Solenoid::InitSendable(SendableBuilder& builder) {
void Solenoid::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Solenoid");
builder.SetActuator(true);
builder.SetSafeState([=] { Set(false); });

11
wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
View File

@@ -4,8 +4,8 @@
#include "frc/SpeedControllerGroup.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
@@ -20,11 +20,12 @@ SpeedControllerGroup::SpeedControllerGroup(
void SpeedControllerGroup::Initialize() {
for (auto& speedController : m_speedControllers) {
SendableRegistry::GetInstance().AddChild(this, &speedController.get());
wpi::SendableRegistry::GetInstance().AddChild(this, &speedController.get());
}
static int instances = 0;
++instances;
SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup", instances);
wpi::SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup",
instances);
}
void SpeedControllerGroup::Set(double speed) {
@@ -60,7 +61,7 @@ void SpeedControllerGroup::StopMotor() {
}
}
void SpeedControllerGroup::InitSendable(SendableBuilder& builder) {
void SpeedControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Speed Controller");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });

12
wpilibc/src/main/native/cpp/Ultrasonic.cpp
View File

@@ -8,14 +8,14 @@
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Counter.h"
#include "frc/DigitalInput.h"
#include "frc/DigitalOutput.h"
#include "frc/Errors.h"
#include "frc/Timer.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -30,7 +30,7 @@ Ultrasonic::Ultrasonic(int pingChannel, int echoChannel)
m_echoChannel(std::make_shared<DigitalInput>(echoChannel)),
m_counter(m_echoChannel) {
Initialize();
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_pingChannel.get());
registry.AddChild(this, m_echoChannel.get());
}
@@ -156,7 +156,7 @@ void Ultrasonic::SetEnabled(bool enable) {
m_enabled = enable;
}
void Ultrasonic::InitSendable(SendableBuilder& builder) {
void Ultrasonic::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Ultrasonic");
builder.AddDoubleProperty(
"Value", [=] { return units::inch_t{GetRange()}.to<double>(); }, nullptr);
@@ -185,8 +185,8 @@ void Ultrasonic::Initialize() {
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
m_echoChannel->GetChannel());
wpi::SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
m_echoChannel->GetChannel());
}
void Ultrasonic::UltrasonicChecker() {

8
wpilibc/src/main/native/cpp/controller/PIDController.cpp
View File

@@ -8,11 +8,11 @@
#include <cmath>
#include <hal/FRCUsageReporting.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/MathUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc2;
@@ -31,7 +31,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_PIDController2, instances);
frc::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
wpi::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
}
void PIDController::SetPID(double Kp, double Ki, double Kd) {
@@ -161,7 +161,7 @@ void PIDController::Reset() {
m_totalError = 0;
}
void PIDController::InitSendable(frc::SendableBuilder& builder) {
void PIDController::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("PIDController");
builder.AddDoubleProperty(
"p", [this] { return GetP(); }, [this](double value) { SetP(value); });

8
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
View File

@@ -8,10 +8,10 @@
#include <cmath>
#include <hal/FRCUsageReporting.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/SpeedController.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -26,7 +26,7 @@ using namespace frc;
DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SpeedController& rightMotor)
: m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
static int instances = 0;
@@ -193,7 +193,7 @@ std::string DifferentialDrive::GetDescription() const {
return "DifferentialDrive";
}
void DifferentialDrive::InitSendable(SendableBuilder& builder) {
void DifferentialDrive::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("DifferentialDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });

8
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
View File

@@ -9,10 +9,10 @@
#include <hal/FRCUsageReporting.h>
#include <wpi/numbers>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/SpeedController.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -43,7 +43,7 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
std::sin(rightMotorAngle * (wpi::numbers::pi / 180.0))};
m_backVec = {std::cos(backMotorAngle * (wpi::numbers::pi / 180.0)),
std::sin(backMotorAngle * (wpi::numbers::pi / 180.0))};
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
registry.AddChild(this, m_backMotor);
@@ -118,7 +118,7 @@ std::string KilloughDrive::GetDescription() const {
return "KilloughDrive";
}
void KilloughDrive::InitSendable(SendableBuilder& builder) {
void KilloughDrive::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("KilloughDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });

8
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
View File

@@ -9,11 +9,11 @@
#include <hal/FRCUsageReporting.h>
#include <wpi/numbers>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/SpeedController.h"
#include "frc/drive/Vector2d.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -33,7 +33,7 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
m_rearLeftMotor(&rearLeftMotor),
m_frontRightMotor(&frontRightMotor),
m_rearRightMotor(&rearRightMotor) {
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_frontLeftMotor);
registry.AddChild(this, m_rearLeftMotor);
registry.AddChild(this, m_frontRightMotor);
@@ -113,7 +113,7 @@ std::string MecanumDrive::GetDescription() const {
return "MecanumDrive";
}
void MecanumDrive::InitSendable(SendableBuilder& builder) {
void MecanumDrive::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("MecanumDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });

26
wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
View File

@@ -8,10 +8,10 @@
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/mutex.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableBuilderImpl.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -25,7 +25,7 @@ struct LiveWindow::Impl {
wpi::mutex mutex;
SendableRegistry& registry;
wpi::SendableRegistry& registry;
int dataHandle;
std::shared_ptr<nt::NetworkTable> liveWindowTable;
@@ -36,20 +36,22 @@ struct LiveWindow::Impl {
bool liveWindowEnabled = false;
bool telemetryEnabled = true;
std::shared_ptr<Component> GetOrAdd(Sendable* sendable);
std::shared_ptr<Component> GetOrAdd(wpi::Sendable* sendable);
};
LiveWindow::Impl::Impl()
: registry(SendableRegistry::GetInstance()),
: registry(wpi::SendableRegistry::GetInstance()),
dataHandle(registry.GetDataHandle()),
liveWindowTable(
nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow")) {
registry.SetLiveWindowBuilderFactory(
[] { return std::make_unique<SendableBuilderImpl>(); });
statusTable = liveWindowTable->GetSubTable(".status");
enabledEntry = statusTable->GetEntry("LW Enabled");
}
std::shared_ptr<LiveWindow::Impl::Component> LiveWindow::Impl::GetOrAdd(
Sendable* sendable) {
wpi::Sendable* sendable) {
auto data = std::static_pointer_cast<Component>(
registry.GetData(sendable, dataHandle));
if (!data) {
@@ -64,14 +66,14 @@ LiveWindow* LiveWindow::GetInstance() {
return &instance;
}
void LiveWindow::EnableTelemetry(Sendable* sendable) {
void LiveWindow::EnableTelemetry(wpi::Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
// Re-enable global setting in case DisableAllTelemetry() was called.
m_impl->telemetryEnabled = true;
m_impl->GetOrAdd(sendable)->telemetryEnabled = true;
}
void LiveWindow::DisableTelemetry(Sendable* sendable) {
void LiveWindow::DisableTelemetry(wpi::Sendable* sendable) {
std::scoped_lock lock(m_impl->mutex);
m_impl->GetOrAdd(sendable)->telemetryEnabled = false;
}
@@ -108,7 +110,7 @@ void LiveWindow::SetEnabled(bool enabled) {
}
} else {
m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
cbdata.builder.StopLiveWindowMode();
static_cast<SendableBuilderImpl&>(cbdata.builder).StopLiveWindowMode();
});
if (this->disabled) {
this->disabled();
@@ -160,7 +162,7 @@ void LiveWindow::UpdateValuesUnsafe() {
table = ssTable->GetSubTable(cbdata.name);
}
table->GetEntry(".name").SetString(cbdata.name);
cbdata.builder.SetTable(table);
static_cast<SendableBuilderImpl&>(cbdata.builder).SetTable(table);
cbdata.sendable->InitSendable(cbdata.builder);
ssTable->GetEntry(".type").SetString("LW Subsystem");
@@ -168,9 +170,9 @@ void LiveWindow::UpdateValuesUnsafe() {
}
if (m_impl->startLiveWindow) {
cbdata.builder.StartLiveWindowMode();
static_cast<SendableBuilderImpl&>(cbdata.builder).StartLiveWindowMode();
}
cbdata.builder.UpdateTable();
cbdata.builder.Update();
});
m_impl->startLiveWindow = false;

11
wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
View File

@@ -4,8 +4,8 @@
#include "frc/motorcontrol/MotorControllerGroup.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
@@ -20,11 +20,12 @@ MotorControllerGroup::MotorControllerGroup(
void MotorControllerGroup::Initialize() {
for (auto& motorController : m_motorControllers) {
SendableRegistry::GetInstance().AddChild(this, &motorController.get());
wpi::SendableRegistry::GetInstance().AddChild(this, &motorController.get());
}
static int instances = 0;
++instances;
SendableRegistry::GetInstance().Add(this, "MotorControllerGroup", instances);
wpi::SendableRegistry::GetInstance().Add(this, "MotorControllerGroup",
instances);
}
void MotorControllerGroup::Set(double speed) {
@@ -60,7 +61,7 @@ void MotorControllerGroup::StopMotor() {
}
}
void MotorControllerGroup::InitSendable(SendableBuilder& builder) {
void MotorControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Motor Controller");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });

9
wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
View File

@@ -6,15 +6,14 @@
#include <fmt/format.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
: m_dio(dioChannel), m_pwm(pwmChannel) {
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, &m_dio);
registry.AddChild(this, &m_pwm);
SetExpiration(0_s);
@@ -72,7 +71,7 @@ int NidecBrushless::GetChannel() const {
return m_pwm.GetChannel();
}
void NidecBrushless::InitSendable(SendableBuilder& builder) {
void NidecBrushless::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Nidec Brushless");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });

8
wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
View File

@@ -5,8 +5,8 @@
#include "frc/motorcontrol/PWMMotorController.h"
#include <fmt/format.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
@@ -44,10 +44,10 @@ int PWMMotorController::GetChannel() const {
PWMMotorController::PWMMotorController(std::string_view name, int channel)
: m_pwm(channel, false) {
SendableRegistry::GetInstance().AddLW(this, name, channel);
wpi::SendableRegistry::GetInstance().AddLW(this, name, channel);
}
void PWMMotorController::InitSendable(SendableBuilder& builder) {
void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Motor Controller");
builder.SetActuator(true);
builder.SetSafeState([=] { Disable(); });

2
wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp
View File

@@ -6,8 +6,6 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
PWMSparkMax::PWMSparkMax(int channel)

29
wpilibc/src/main/native/cpp/shuffleboard/ComplexWidget.cpp
View File

@@ -4,36 +4,41 @@
#include "frc/shuffleboard/ComplexWidget.h"
#include "frc/smartdashboard/Sendable.h"
#include <wpi/sendable/Sendable.h>
#include "frc/smartdashboard/SendableBuilderImpl.h"
using namespace frc;
ComplexWidget::ComplexWidget(ShuffleboardContainer& parent,
std::string_view title, Sendable& sendable)
std::string_view title, wpi::Sendable& sendable)
: ShuffleboardValue(title),
ShuffleboardWidget(parent, title),
m_sendable(sendable) {}
ComplexWidget::~ComplexWidget() = default;
void ComplexWidget::EnableIfActuator() {
if (m_builder.IsActuator()) {
m_builder.StartLiveWindowMode();
if (m_builder && static_cast<SendableBuilderImpl&>(*m_builder).IsActuator()) {
static_cast<SendableBuilderImpl&>(*m_builder).StartLiveWindowMode();
}
}
void ComplexWidget::DisableIfActuator() {
if (m_builder.IsActuator()) {
m_builder.StopLiveWindowMode();
if (m_builder && static_cast<SendableBuilderImpl&>(*m_builder).IsActuator()) {
static_cast<SendableBuilderImpl&>(*m_builder).StopLiveWindowMode();
}
}
void ComplexWidget::BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
std::shared_ptr<nt::NetworkTable> metaTable) {
BuildMetadata(metaTable);
if (!m_builderInit) {
m_builder.SetTable(parentTable->GetSubTable(GetTitle()));
m_sendable.InitSendable(m_builder);
m_builder.StartListeners();
m_builderInit = true;
if (!m_builder) {
m_builder = std::make_unique<SendableBuilderImpl>();
static_cast<SendableBuilderImpl&>(*m_builder)
.SetTable(parentTable->GetSubTable(GetTitle()));
m_sendable.InitSendable(static_cast<SendableBuilderImpl&>(*m_builder));
static_cast<SendableBuilderImpl&>(*m_builder).StartListeners();
}
m_builder.UpdateTable();
m_builder->Update();
}

11
wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
View File

@@ -9,9 +9,8 @@
#include <string>
#include <wpi/DenseMap.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
namespace frc {
namespace detail {
@@ -21,12 +20,12 @@ std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
return wrappers[static_cast<int>(source)];
}
void AddToSendableRegistry(frc::Sendable* sendable, std::string name) {
SendableRegistry::GetInstance().Add(sendable, name);
void AddToSendableRegistry(wpi::Sendable* sendable, std::string name) {
wpi::SendableRegistry::GetInstance().Add(sendable, name);
}
} // namespace detail
void SendableCameraWrapper::InitSendable(SendableBuilder& builder) {
void SendableCameraWrapper::InitSendable(wpi::SendableBuilder& builder) {
builder.AddStringProperty(
".ShuffleboardURI", [this] { return m_uri; }, nullptr);
}

9
wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
View File

@@ -4,12 +4,13 @@
#include "frc/shuffleboard/ShuffleboardContainer.h"
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/shuffleboard/ComplexWidget.h"
#include "frc/shuffleboard/ShuffleboardComponent.h"
#include "frc/shuffleboard/ShuffleboardLayout.h"
#include "frc/shuffleboard/SimpleWidget.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -57,7 +58,7 @@ ShuffleboardLayout& ShuffleboardContainer::GetLayout(std::string_view title) {
}
ComplexWidget& ShuffleboardContainer::Add(std::string_view title,
Sendable& sendable) {
wpi::Sendable& sendable) {
CheckTitle(title);
auto widget = std::make_unique<ComplexWidget>(*this, title, sendable);
auto ptr = widget.get();
@@ -65,8 +66,8 @@ ComplexWidget& ShuffleboardContainer::Add(std::string_view title,
return *ptr;
}
ComplexWidget& ShuffleboardContainer::Add(Sendable& sendable) {
auto name = SendableRegistry::GetInstance().GetName(&sendable);
ComplexWidget& ShuffleboardContainer::Add(wpi::Sendable& sendable) {
auto name = wpi::SendableRegistry::GetInstance().GetName(&sendable);
if (name.empty()) {
FRC_ReportError(err::Error, "{}", "Sendable must have a name");
}

8
wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
View File

@@ -4,8 +4,8 @@
#include "frc/smartdashboard/Field2d.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <networktables/NTSendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
@@ -13,7 +13,7 @@ Field2d::Field2d() {
m_objects.emplace_back(
std::make_unique<FieldObject2d>("Robot", FieldObject2d::private_init{}));
m_objects[0]->SetPose(Pose2d{});
SendableRegistry::GetInstance().Add(this, "Field");
wpi::SendableRegistry::GetInstance().Add(this, "Field");
}
Field2d::Field2d(Field2d&& rhs) : SendableHelper(std::move(rhs)) {
@@ -67,7 +67,7 @@ FieldObject2d* Field2d::GetRobotObject() {
return m_objects[0].get();
}
void Field2d::InitSendable(SendableBuilder& builder) {
void Field2d::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("Field2d");
m_table = builder.GetTable();

4
wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
View File

@@ -6,7 +6,7 @@
#include <cstdio>
#include "frc/smartdashboard/SendableBuilder.h"
#include <networktables/NTSendableBuilder.h>
using namespace frc;
@@ -41,7 +41,7 @@ void Mechanism2d::SetBackgroundColor(const Color8Bit& color) {
}
}
void Mechanism2d::InitSendable(SendableBuilder& builder) {
void Mechanism2d::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("Mechanism2d");
m_table = builder.GetTable();

2
wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
View File

@@ -4,8 +4,6 @@
#include "frc/smartdashboard/MechanismRoot2d.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
#include "frc/util/Color8Bit.h"
using namespace frc;

4
wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
View File

@@ -20,7 +20,7 @@ std::shared_ptr<nt::NetworkTable> SendableBuilderImpl::GetTable() {
return m_table;
}
bool SendableBuilderImpl::HasTable() const {
bool SendableBuilderImpl::IsPublished() const {
return m_table != nullptr;
}
@@ -28,7 +28,7 @@ bool SendableBuilderImpl::IsActuator() const {
return m_actuator;
}
void SendableBuilderImpl::UpdateTable() {
void SendableBuilderImpl::Update() {
uint64_t time = nt::Now();
for (auto& property : m_properties) {
if (property.update) {

4
wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
View File

@@ -4,14 +4,14 @@
#include "frc/smartdashboard/SendableChooserBase.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
std::atomic_int SendableChooserBase::s_instances{0};
SendableChooserBase::SendableChooserBase() : m_instance{s_instances++} {
SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
wpi::SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
}
SendableChooserBase::SendableChooserBase(SendableChooserBase&& oth)

27
wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
View File

@@ -9,9 +9,10 @@
#include <networktables/NetworkTableInstance.h>
#include <wpi/StringMap.h>
#include <wpi/mutex.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include "frc/smartdashboard/SendableBuilderImpl.h"
using namespace frc;
@@ -21,7 +22,7 @@ class Singleton {
static Singleton& GetInstance();
std::shared_ptr<nt::NetworkTable> table;
wpi::StringMap<SendableRegistry::UID> tablesToData;
wpi::StringMap<wpi::SendableRegistry::UID> tablesToData;
wpi::mutex tablesToDataMutex;
private:
@@ -84,41 +85,45 @@ nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
return Singleton::GetInstance().table->GetEntry(key);
}
void SmartDashboard::PutData(std::string_view key, Sendable* data) {
void SmartDashboard::PutData(std::string_view key, wpi::Sendable* data) {
if (!data) {
throw FRC_MakeError(err::NullParameter, "{}", "value");
}
auto& inst = Singleton::GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
auto& uid = inst.tablesToData[key];
auto& registry = SendableRegistry::GetInstance();
Sendable* sddata = registry.GetSendable(uid);
auto& registry = wpi::SendableRegistry::GetInstance();
wpi::Sendable* sddata = registry.GetSendable(uid);
if (sddata != data) {
uid = registry.GetUniqueId(data);
auto dataTable = inst.table->GetSubTable(key);
registry.Publish(uid, dataTable);
auto builder = std::make_unique<SendableBuilderImpl>();
auto builderPtr = builder.get();
builderPtr->SetTable(dataTable);
registry.Publish(uid, std::move(builder));
builderPtr->StartListeners();
dataTable->GetEntry(".name").SetString(key);
}
}
void SmartDashboard::PutData(Sendable* value) {
void SmartDashboard::PutData(wpi::Sendable* value) {
if (!value) {
throw FRC_MakeError(err::NullParameter, "{}", "value");
}
auto name = SendableRegistry::GetInstance().GetName(value);
auto name = wpi::SendableRegistry::GetInstance().GetName(value);
if (!name.empty()) {
PutData(name, value);
}
}
Sendable* SmartDashboard::GetData(std::string_view key) {
wpi::Sendable* SmartDashboard::GetData(std::string_view key) {
auto& inst = Singleton::GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
auto it = inst.tablesToData.find(key);
if (it == inst.tablesToData.end()) {
throw FRC_MakeError(err::SmartDashboardMissingKey, "{}", key);
}
return SendableRegistry::GetInstance().GetSendable(it->getValue());
return wpi::SendableRegistry::GetInstance().GetSendable(it->getValue());
}
bool SmartDashboard::PutBoolean(std::string_view keyName, bool value) {
@@ -257,7 +262,7 @@ void SmartDashboard::PostListenerTask(std::function<void()> task) {
}
void SmartDashboard::UpdateValues() {
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
auto& inst = Singleton::GetInstance();
listenerExecutor.RunListenerTasks();
std::scoped_lock lock(inst.tablesToDataMutex);

12
wpilibc/src/main/native/include/frc/ADXL345_I2C.h
View File

@@ -5,16 +5,14 @@
#pragma once
#include <hal/SimDevice.h>
#include <networktables/NTSendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/I2C.h"
#include "frc/interfaces/Accelerometer.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class SendableBuilder;
/**
* ADXL345 Accelerometer on I2C.
*
@@ -23,8 +21,8 @@ class SendableBuilder;
* 0x1D (7-bit address).
*/
class ADXL345_I2C : public Accelerometer,
public Sendable,
public SendableHelper<ADXL345_I2C> {
public nt::NTSendable,
public wpi::SendableHelper<ADXL345_I2C> {
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
@@ -70,7 +68,7 @@ class ADXL345_I2C : public Accelerometer,
*/
virtual AllAxes GetAccelerations();
void InitSendable(SendableBuilder& builder) override;
void InitSendable(nt::NTSendableBuilder& builder) override;
protected:
I2C m_i2c;

10
wpilibc/src/main/native/include/frc/ADXL345_SPI.h
View File

@@ -5,11 +5,11 @@
#pragma once
#include <hal/SimDevice.h>
#include <networktables/NTSendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/SPI.h"
#include "frc/interfaces/Accelerometer.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -20,8 +20,8 @@ namespace frc {
* via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
*/
class ADXL345_SPI : public Accelerometer,
public Sendable,
public SendableHelper<ADXL345_SPI> {
public nt::NTSendable,
public wpi::SendableHelper<ADXL345_SPI> {
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
@@ -66,7 +66,7 @@ class ADXL345_SPI : public Accelerometer,
*/
virtual AllAxes GetAccelerations();
void InitSendable(SendableBuilder& builder) override;
void InitSendable(nt::NTSendableBuilder& builder) override;
protected:
SPI m_spi;

12
wpilibc/src/main/native/include/frc/ADXL362.h
View File

@@ -5,24 +5,22 @@
#pragma once
#include <hal/SimDevice.h>
#include <networktables/NTSendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/SPI.h"
#include "frc/interfaces/Accelerometer.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class SendableBuilder;
/**
* ADXL362 SPI Accelerometer.
*
* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
*/
class ADXL362 : public Accelerometer,
public Sendable,
public SendableHelper<ADXL362> {
public nt::NTSendable,
public wpi::SendableHelper<ADXL362> {
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
struct AllAxes {
@@ -74,7 +72,7 @@ class ADXL362 : public Accelerometer,
*/
virtual AllAxes GetAccelerations();
void InitSendable(SendableBuilder& builder) override;
void InitSendable(nt::NTSendableBuilder& builder) override;
private:
SPI m_spi;

10
wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
View File

@@ -7,11 +7,11 @@
#include <stdint.h>
#include <hal/SimDevice.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/SPI.h"
#include "frc/interfaces/Gyro.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -29,8 +29,8 @@ namespace frc {
* Only one instance of an ADXRS Gyro is supported.
*/
class ADXRS450_Gyro : public Gyro,
public Sendable,
public SendableHelper<ADXRS450_Gyro> {
public wpi::Sendable,
public wpi::SendableHelper<ADXRS450_Gyro> {
public:
/**
* Gyro constructor on onboard CS0.
@@ -100,7 +100,7 @@ class ADXRS450_Gyro : public Gyro,
*/
int GetPort() const;
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
private:
SPI m_spi;

13
wpilibc/src/main/native/include/frc/AnalogAccelerometer.h
View File

@@ -6,14 +6,13 @@
#include <memory>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/AnalogInput.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class SendableBuilder;
/**
* Handle operation of an analog accelerometer.
*
@@ -21,8 +20,8 @@ class SendableBuilder;
* sensors have multiple axis and can be treated as multiple devices. Each is
* calibrated by finding the center value over a period of time.
*/
class AnalogAccelerometer : public Sendable,
public SendableHelper<AnalogAccelerometer> {
class AnalogAccelerometer : public wpi::Sendable,
public wpi::SendableHelper<AnalogAccelerometer> {
public:
/**
* Create a new instance of an accelerometer.
@@ -93,7 +92,7 @@ class AnalogAccelerometer : public Sendable,
*/
void SetZero(double zero);
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
private:
/**

9
wpilibc/src/main/native/include/frc/AnalogEncoder.h
View File

@@ -9,11 +9,11 @@
#include <hal/SimDevice.h>
#include <hal/Types.h>
#include <units/angle.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/AnalogTrigger.h"
#include "frc/Counter.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class AnalogInput;
@@ -21,7 +21,8 @@ class AnalogInput;
/**
* Class for supporting continuous analog encoders, such as the US Digital MA3.
*/
class AnalogEncoder : public Sendable, public SendableHelper<AnalogEncoder> {
class AnalogEncoder : public wpi::Sendable,
public wpi::SendableHelper<AnalogEncoder> {
public:
/**
* Construct a new AnalogEncoder attached to a specific AnalogIn channel.
@@ -116,7 +117,7 @@ class AnalogEncoder : public Sendable, public SendableHelper<AnalogEncoder> {
*/
int GetChannel() const;
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
private:
void Init();

10
wpilibc/src/main/native/include/frc/AnalogGyro.h
View File

@@ -7,10 +7,10 @@
#include <memory>
#include <hal/Types.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/interfaces/Gyro.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -30,8 +30,8 @@ class AnalogInput;
* This class is for gyro sensors that connect to an analog input.
*/
class AnalogGyro : public Gyro,
public Sendable,
public SendableHelper<AnalogGyro> {
public wpi::Sendable,
public wpi::SendableHelper<AnalogGyro> {
public:
static constexpr int kOversampleBits = 10;
static constexpr int kAverageBits = 0;
@@ -192,7 +192,7 @@ class AnalogGyro : public Gyro,
*/
std::shared_ptr<AnalogInput> GetAnalogInput() const;
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
protected:
std::shared_ptr<AnalogInput> m_analog;

11
wpilibc/src/main/native/include/frc/AnalogInput.h
View File

@@ -7,13 +7,11 @@
#include <stdint.h>
#include <hal/Types.h>
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc {
class SendableBuilder;
class DMA;
class DMASample;
@@ -29,7 +27,8 @@ class DMASample;
* are divided by the number of samples to retain the resolution, but get more
* stable values.
*/
class AnalogInput : public Sendable, public SendableHelper<AnalogInput> {
class AnalogInput : public wpi::Sendable,
public wpi::SendableHelper<AnalogInput> {
friend class AnalogTrigger;
friend class AnalogGyro;
friend class DMA;
@@ -282,7 +281,7 @@ class AnalogInput : public Sendable, public SendableHelper<AnalogInput> {
*/
void SetSimDevice(HAL_SimDeviceHandle device);
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
private:
int m_channel;

12
wpilibc/src/main/native/include/frc/AnalogOutput.h
View File

@@ -5,18 +5,16 @@
#pragma once
#include <hal/Types.h>
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc {
class SendableBuilder;
/**
* MXP analog output class.
*/
class AnalogOutput : public Sendable, public SendableHelper<AnalogOutput> {
class AnalogOutput : public wpi::Sendable,
public wpi::SendableHelper<AnalogOutput> {
public:
/**
* Construct an analog output on the given channel.
@@ -51,7 +49,7 @@ class AnalogOutput : public Sendable, public SendableHelper<AnalogOutput> {
*/
int GetChannel() const;
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
protected:
int m_channel;

13
wpilibc/src/main/native/include/frc/AnalogPotentiometer.h
View File

@@ -6,22 +6,21 @@
#include <memory>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/AnalogInput.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class SendableBuilder;
/**
* Class for reading analog potentiometers. Analog potentiometers read in an
* analog voltage that corresponds to a position. The position is in whichever
* units you choose, by way of the scaling and offset constants passed to the
* constructor.
*/
class AnalogPotentiometer : public Sendable,
public SendableHelper<AnalogPotentiometer> {
class AnalogPotentiometer : public wpi::Sendable,
public wpi::SendableHelper<AnalogPotentiometer> {
public:
/**
* Construct an Analog Potentiometer object from a channel number.
@@ -103,7 +102,7 @@ class AnalogPotentiometer : public Sendable,
*/
double Get() const;
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
private:
std::shared_ptr<AnalogInput> m_analog_input;

10
wpilibc/src/main/native/include/frc/AnalogTrigger.h
View File

@@ -7,18 +7,18 @@
#include <memory>
#include <hal/Types.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/AnalogTriggerOutput.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class AnalogInput;
class DutyCycle;
class SendableBuilder;
class AnalogTrigger : public Sendable, public SendableHelper<AnalogTrigger> {
class AnalogTrigger : public wpi::Sendable,
public wpi::SendableHelper<AnalogTrigger> {
friend class AnalogTriggerOutput;
public:
@@ -148,7 +148,7 @@ class AnalogTrigger : public Sendable, public SendableHelper<AnalogTrigger> {
std::shared_ptr<AnalogTriggerOutput> CreateOutput(
AnalogTriggerType type) const;
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
private:
int GetSourceChannel() const;

11
wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h
View File

@@ -4,9 +4,10 @@
#pragma once
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/DigitalSource.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -44,8 +45,8 @@ class AnalogTrigger;
* may help with this, but rotational speeds of the sensor will then be limited.
*/
class AnalogTriggerOutput : public DigitalSource,
public Sendable,
public SendableHelper<AnalogTriggerOutput> {
public wpi::Sendable,
public wpi::SendableHelper<AnalogTriggerOutput> {
friend class AnalogTrigger;
public:
@@ -77,7 +78,7 @@ class AnalogTriggerOutput : public DigitalSource,
*/
int GetChannel() const override;
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
protected:
/**

13
wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
View File

@@ -4,22 +4,21 @@
#pragma once
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/interfaces/Accelerometer.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class SendableBuilder;
/**
* Built-in accelerometer.
*
* This class allows access to the roboRIO's internal accelerometer.
*/
class BuiltInAccelerometer : public Accelerometer,
public Sendable,
public SendableHelper<BuiltInAccelerometer> {
public wpi::Sendable,
public wpi::SendableHelper<BuiltInAccelerometer> {
public:
/**
* Constructor.
@@ -56,7 +55,7 @@ class BuiltInAccelerometer : public Accelerometer,
*/
double GetZ() override;
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
};
} // namespace frc

11
wpilibc/src/main/native/include/frc/Counter.h
View File

@@ -8,16 +8,15 @@
#include <hal/Types.h>
#include <units/time.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/AnalogTrigger.h"
#include "frc/CounterBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class DigitalGlitchFilter;
class SendableBuilder;
class DMA;
class DMASample;
@@ -32,8 +31,8 @@ class DMASample;
* to be zeroed before use.
*/
class Counter : public CounterBase,
public Sendable,
public SendableHelper<Counter> {
public wpi::Sendable,
public wpi::SendableHelper<Counter> {
friend class DMA;
friend class DMASample;
@@ -421,7 +420,7 @@ class Counter : public CounterBase,
*/
bool GetDirection() const override;
void InitSendable(SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
protected:
// Makes the counter count up.

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