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.

wpilibOldCommands/src/main/native/cpp/PIDBase.cpp

@@ -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(

wpilibOldCommands/src/main/native/cpp/PIDController.cpp

@@ -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(); },

wpilibOldCommands/src/main/native/cpp/buttons/Trigger.cpp

@@ -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(

wpilibOldCommands/src/main/native/cpp/commands/Command.cpp

@@ -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(); },

wpilibOldCommands/src/main/native/cpp/commands/PIDCommand.cpp

@@ -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");

wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp

@@ -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;

wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp

@@ -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(

wpilibOldCommands/src/main/native/include/frc/PIDBase.h

@@ -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

wpilibOldCommands/src/main/native/include/frc/PIDController.h

@@ -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;

wpilibOldCommands/src/main/native/include/frc/buttons/Trigger.h

@@ -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};

wpilibOldCommands/src/main/native/include/frc/commands/Command.h

@@ -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

wpilibOldCommands/src/main/native/include/frc/commands/PIDCommand.h

@@ -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

wpilibOldCommands/src/main/native/include/frc/commands/Scheduler.h

@@ -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();

wpilibOldCommands/src/main/native/include/frc/commands/Subsystem.h

@@ -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