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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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35
wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp
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@@ -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(