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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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22
wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
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@@ -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(); },