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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
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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
View File

@@ -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);
}