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

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.

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp

@@ -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);

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp

@@ -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");

wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp

@@ -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);
 }

wpilibNewCommands/src/main/native/include/frc2/command/CommandBase.h

@@ -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();

wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h

@@ -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

wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h

@@ -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();