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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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12
wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
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@@ -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;