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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
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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;
/**