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

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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

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