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.

wpilibc/src/main/native/cpp/ADXL345_I2C.cpp

@@ -5,9 +5,8 @@
 #include "frc/ADXL345_I2C.h"
 
 #include <hal/FRCUsageReporting.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -30,7 +29,7 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
   HAL_Report(HALUsageReporting::kResourceType_ADXL345,
              HALUsageReporting::kADXL345_I2C, 0);
 
-  SendableRegistry::GetInstance().AddLW(this, "ADXL345_I2C", port);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL345_I2C", port);
 }
 
 void ADXL345_I2C::SetRange(Range range) {
@@ -84,7 +83,7 @@ ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
   return data;
 }
 
-void ADXL345_I2C::InitSendable(SendableBuilder& builder) {
+void ADXL345_I2C::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("3AxisAccelerometer");
   auto x = builder.GetEntry("X").GetHandle();
   auto y = builder.GetEntry("Y").GetHandle();

wpilibc/src/main/native/cpp/ADXL345_SPI.cpp

@@ -5,9 +5,8 @@
 #include "frc/ADXL345_SPI.h"
 
 #include <hal/FRCUsageReporting.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -38,7 +37,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
   HAL_Report(HALUsageReporting::kResourceType_ADXL345,
              HALUsageReporting::kADXL345_SPI);
 
-  SendableRegistry::GetInstance().AddLW(this, "ADXL345_SPI", port);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL345_SPI", port);
 }
 
 void ADXL345_SPI::SetRange(Range range) {
@@ -115,7 +114,7 @@ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
   return data;
 }
 
-void ADXL345_SPI::InitSendable(SendableBuilder& builder) {
+void ADXL345_SPI::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("3AxisAccelerometer");
   auto x = builder.GetEntry("X").GetHandle();
   auto y = builder.GetEntry("Y").GetHandle();

wpilibc/src/main/native/cpp/ADXL362.cpp

@@ -5,10 +5,10 @@
 #include "frc/ADXL362.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -72,7 +72,7 @@ ADXL362::ADXL362(SPI::Port port, Range range)
 
   HAL_Report(HALUsageReporting::kResourceType_ADXL362, port + 1);
 
-  SendableRegistry::GetInstance().AddLW(this, "ADXL362", port);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXL362", port);
 }
 
 void ADXL362::SetRange(Range range) {
@@ -178,7 +178,7 @@ ADXL362::AllAxes ADXL362::GetAccelerations() {
   return data;
 }
 
-void ADXL362::InitSendable(SendableBuilder& builder) {
+void ADXL362::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("3AxisAccelerometer");
   auto x = builder.GetEntry("X").GetHandle();
   auto y = builder.GetEntry("Y").GetHandle();

wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp

@@ -5,11 +5,11 @@
 #include "frc/ADXRS450_Gyro.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/Timer.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -58,7 +58,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
 
   HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port + 1);
 
-  SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
 }
 
 static bool CalcParity(int v) {
@@ -136,7 +136,7 @@ int ADXRS450_Gyro::GetPort() const {
   return m_port;
 }
 
-void ADXRS450_Gyro::InitSendable(SendableBuilder& builder) {
+void ADXRS450_Gyro::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Gyro");
   builder.AddDoubleProperty(
       "Value", [=] { return GetAngle(); }, nullptr);

wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp

@@ -6,16 +6,16 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
 AnalogAccelerometer::AnalogAccelerometer(int channel)
     : AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
-  SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
 }
 
 AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
@@ -46,7 +46,7 @@ void AnalogAccelerometer::SetZero(double zero) {
   m_zeroGVoltage = zero;
 }
 
-void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
+void AnalogAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Accelerometer");
   builder.AddDoubleProperty(
       "Value", [=] { return GetAcceleration(); }, nullptr);
@@ -56,6 +56,6 @@ void AnalogAccelerometer::InitAccelerometer() {
   HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
              m_analogInput->GetChannel() + 1);
 
-  SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
-                                        m_analogInput->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
+                                             m_analogInput->GetChannel());
 }

wpilibc/src/main/native/cpp/AnalogEncoder.cpp

@@ -5,11 +5,11 @@
 #include "frc/AnalogEncoder.h"
 
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/AnalogInput.h"
 #include "frc/Counter.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -50,8 +50,8 @@ void AnalogEncoder::Init() {
   m_counter.SetDownSource(
       m_analogTrigger.CreateOutput(AnalogTriggerType::kFallingPulse));
 
-  SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
-                                        m_analogInput->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
+                                             m_analogInput->GetChannel());
 }
 
 units::turn_t AnalogEncoder::Get() const {
@@ -105,7 +105,7 @@ int AnalogEncoder::GetChannel() const {
   return m_analogInput->GetChannel();
 }
 
-void AnalogEncoder::InitSendable(SendableBuilder& builder) {
+void AnalogEncoder::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("AbsoluteEncoder");
   builder.AddDoubleProperty(
       "Distance", [this] { return this->GetDistance(); }, nullptr);

wpilibc/src/main/native/cpp/AnalogGyro.cpp

@@ -12,18 +12,18 @@
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/AnalogInput.h"
 #include "frc/Errors.h"
 #include "frc/Timer.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
 AnalogGyro::AnalogGyro(int channel)
     : AnalogGyro(std::make_shared<AnalogInput>(channel)) {
-  SendableRegistry::GetInstance().AddChild(this, m_analog.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_analog.get());
 }
 
 AnalogGyro::AnalogGyro(AnalogInput* channel)
@@ -41,7 +41,7 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
 
 AnalogGyro::AnalogGyro(int channel, int center, double offset)
     : AnalogGyro(std::make_shared<AnalogInput>(channel), center, offset) {
-  SendableRegistry::GetInstance().AddChild(this, m_analog.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_analog.get());
 }
 
 AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
@@ -124,8 +124,8 @@ void AnalogGyro::InitGyro() {
 
   HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel() + 1);
 
-  SendableRegistry::GetInstance().AddLW(this, "AnalogGyro",
-                                        m_analog->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogGyro",
+                                             m_analog->GetChannel());
 }
 
 void AnalogGyro::Calibrate() {
@@ -138,7 +138,7 @@ std::shared_ptr<AnalogInput> AnalogGyro::GetAnalogInput() const {
   return m_analog;
 }
 
-void AnalogGyro::InitSendable(SendableBuilder& builder) {
+void AnalogGyro::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Gyro");
   builder.AddDoubleProperty(
       "Value", [=] { return GetAngle(); }, nullptr);

wpilibc/src/main/native/cpp/AnalogInput.cpp

@@ -10,12 +10,12 @@
 #include <hal/HALBase.h>
 #include <hal/Ports.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
 #include "frc/Timer.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -34,7 +34,7 @@ AnalogInput::AnalogInput(int channel) {
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel + 1);
 
-  SendableRegistry::GetInstance().AddLW(this, "AnalogInput", channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogInput", channel);
 }
 
 AnalogInput::~AnalogInput() {
@@ -194,7 +194,7 @@ void AnalogInput::SetSimDevice(HAL_SimDeviceHandle device) {
   HAL_SetAnalogInputSimDevice(m_port, device);
 }
 
-void AnalogInput::InitSendable(SendableBuilder& builder) {
+void AnalogInput::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Analog Input");
   builder.AddDoubleProperty(
       "Value", [=] { return GetAverageVoltage(); }, nullptr);

wpilibc/src/main/native/cpp/AnalogOutput.cpp

@@ -12,11 +12,11 @@
 #include <hal/HALBase.h>
 #include <hal/Ports.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -34,7 +34,7 @@ AnalogOutput::AnalogOutput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel + 1);
-  SendableRegistry::GetInstance().AddLW(this, "AnalogOutput", m_channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogOutput", m_channel);
 }
 
 AnalogOutput::~AnalogOutput() {
@@ -58,7 +58,7 @@ int AnalogOutput::GetChannel() const {
   return m_channel;
 }
 
-void AnalogOutput::InitSendable(SendableBuilder& builder) {
+void AnalogOutput::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Analog Output");
   builder.AddDoubleProperty(
       "Value", [=] { return GetVoltage(); },

wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp

@@ -7,10 +7,10 @@
 #include <utility>
 
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/RobotController.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -18,7 +18,7 @@ AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
                                          double offset)
     : AnalogPotentiometer(std::make_shared<AnalogInput>(channel), fullRange,
                           offset) {
-  SendableRegistry::GetInstance().AddChild(this, m_analog_input.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_analog_input.get());
 }
 
 AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange,
@@ -32,8 +32,8 @@ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
     : m_analog_input(std::move(input)),
       m_fullRange(fullRange),
       m_offset(offset) {
-  SendableRegistry::GetInstance().AddLW(this, "AnalogPotentiometer",
-                                        m_analog_input->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogPotentiometer",
+                                             m_analog_input->GetChannel());
 }
 
 double AnalogPotentiometer::Get() const {
@@ -43,7 +43,7 @@ double AnalogPotentiometer::Get() const {
          m_offset;
 }
 
-void AnalogPotentiometer::InitSendable(SendableBuilder& builder) {
+void AnalogPotentiometer::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Analog Input");
   builder.AddDoubleProperty(
       "Value", [=] { return Get(); }, nullptr);

wpilibc/src/main/native/cpp/AnalogTrigger.cpp

@@ -9,18 +9,18 @@
 #include <hal/AnalogTrigger.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/AnalogInput.h"
 #include "frc/DutyCycle.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
 AnalogTrigger::AnalogTrigger(int channel)
     : AnalogTrigger(new AnalogInput(channel)) {
   m_ownsAnalog = true;
-  SendableRegistry::GetInstance().AddChild(this, m_analogInput);
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_analogInput);
 }
 
 AnalogTrigger::AnalogTrigger(AnalogInput* input) {
@@ -31,7 +31,7 @@ AnalogTrigger::AnalogTrigger(AnalogInput* input) {
   int index = GetIndex();
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
-  SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
 }
 
 AnalogTrigger::AnalogTrigger(DutyCycle* input) {
@@ -42,7 +42,7 @@ AnalogTrigger::AnalogTrigger(DutyCycle* input) {
   int index = GetIndex();
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
-  SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger", index);
 }
 
 AnalogTrigger::~AnalogTrigger() {
@@ -113,7 +113,7 @@ std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
       wpi::NullDeleter<AnalogTriggerOutput>());
 }
 
-void AnalogTrigger::InitSendable(SendableBuilder& builder) {
+void AnalogTrigger::InitSendable(wpi::SendableBuilder& builder) {
   if (m_ownsAnalog) {
     m_analogInput->InitSendable(builder);
   }

wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp

@@ -38,7 +38,7 @@ int AnalogTriggerOutput::GetChannel() const {
   return m_trigger->GetIndex();
 }
 
-void AnalogTriggerOutput::InitSendable(SendableBuilder&) {}
+void AnalogTriggerOutput::InitSendable(wpi::SendableBuilder&) {}
 
 AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger,
                                          AnalogTriggerType outputType)

wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp

@@ -6,10 +6,10 @@
 
 #include <hal/Accelerometer.h>
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -18,7 +18,7 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
 
   HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
              "Built-in accelerometer");
-  SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
+  wpi::SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
 }
 
 void BuiltInAccelerometer::SetRange(Range range) {
@@ -44,7 +44,7 @@ double BuiltInAccelerometer::GetZ() {
   return HAL_GetAccelerometerZ();
 }
 
-void BuiltInAccelerometer::InitSendable(SendableBuilder& builder) {
+void BuiltInAccelerometer::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("3AxisAccelerometer");
   builder.AddDoubleProperty(
       "X", [=] { return GetX(); }, nullptr);

wpilibc/src/main/native/cpp/Counter.cpp

@@ -9,12 +9,12 @@
 #include <hal/Counter.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/AnalogTrigger.h"
 #include "frc/DigitalInput.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -27,7 +27,7 @@ Counter::Counter(Mode mode) {
   SetMaxPeriod(0.5_s);
 
   HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1, mode + 1);
-  SendableRegistry::GetInstance().AddLW(this, "Counter", m_index);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Counter", m_index);
 }
 
 Counter::Counter(int channel) : Counter(kTwoPulse) {
@@ -97,7 +97,7 @@ Counter::~Counter() {
 
 void Counter::SetUpSource(int channel) {
   SetUpSource(std::make_shared<DigitalInput>(channel));
-  SendableRegistry::GetInstance().AddChild(this, m_upSource.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_upSource.get());
 }
 
 void Counter::SetUpSource(AnalogTrigger* analogTrigger,
@@ -152,7 +152,7 @@ void Counter::ClearUpSource() {
 
 void Counter::SetDownSource(int channel) {
   SetDownSource(std::make_shared<DigitalInput>(channel));
-  SendableRegistry::GetInstance().AddChild(this, m_downSource.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_downSource.get());
 }
 
 void Counter::SetDownSource(AnalogTrigger* analogTrigger,
@@ -306,7 +306,7 @@ bool Counter::GetDirection() const {
   return value;
 }
 
-void Counter::InitSendable(SendableBuilder& builder) {
+void Counter::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Counter");
   builder.AddDoubleProperty(
       "Value", [=] { return Get(); }, nullptr);

wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp

@@ -11,12 +11,12 @@
 #include <hal/Constants.h>
 #include <hal/DIO.h>
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Counter.h"
 #include "frc/Encoder.h"
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -35,8 +35,8 @@ DigitalGlitchFilter::DigitalGlitchFilter() {
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter,
              m_channelIndex + 1);
-  SendableRegistry::GetInstance().AddLW(this, "DigitalGlitchFilter",
-                                        m_channelIndex);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalGlitchFilter",
+                                             m_channelIndex);
 }
 
 DigitalGlitchFilter::~DigitalGlitchFilter() {
@@ -125,4 +125,4 @@ uint64_t DigitalGlitchFilter::GetPeriodNanoSeconds() {
          static_cast<uint64_t>(HAL_GetSystemClockTicksPerMicrosecond() / 4);
 }
 
-void DigitalGlitchFilter::InitSendable(SendableBuilder&) {}
+void DigitalGlitchFilter::InitSendable(wpi::SendableBuilder&) {}

wpilibc/src/main/native/cpp/DigitalInput.cpp

@@ -12,11 +12,11 @@
 #include <hal/HALBase.h>
 #include <hal/Ports.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -33,7 +33,7 @@ DigitalInput::DigitalInput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel + 1);
-  SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
 }
 
 DigitalInput::~DigitalInput() {
@@ -67,7 +67,7 @@ int DigitalInput::GetChannel() const {
   return m_channel;
 }
 
-void DigitalInput::InitSendable(SendableBuilder& builder) {
+void DigitalInput::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Digital Input");
   builder.AddBooleanProperty(
       "Value", [=] { return Get(); }, nullptr);

wpilibc/src/main/native/cpp/DigitalOutput.cpp

@@ -11,11 +11,11 @@
 #include <hal/HALBase.h>
 #include <hal/Ports.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -33,7 +33,7 @@ DigitalOutput::DigitalOutput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel + 1);
-  SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
 }
 
 DigitalOutput::~DigitalOutput() {
@@ -140,7 +140,7 @@ void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {
   HAL_SetDIOSimDevice(m_handle, device);
 }
 
-void DigitalOutput::InitSendable(SendableBuilder& builder) {
+void DigitalOutput::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Digital Output");
   builder.AddBooleanProperty(
       "Value", [=] { return Get(); }, [=](bool value) { Set(value); });

wpilibc/src/main/native/cpp/DoubleSolenoid.cpp

@@ -10,11 +10,11 @@
 #include <hal/HALBase.h>
 #include <hal/Ports.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -53,7 +53,7 @@ DoubleSolenoid::DoubleSolenoid(std::shared_ptr<PneumaticsBase> module,
              m_module->GetModuleNumber() + 1);
   HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel + 1,
              m_module->GetModuleNumber() + 1);
-  SendableRegistry::GetInstance().AddLW(
+  wpi::SendableRegistry::GetInstance().AddLW(
       this, "DoubleSolenoid", m_module->GetModuleNumber(), m_forwardChannel);
 }
 
@@ -115,7 +115,7 @@ bool DoubleSolenoid::IsRevSolenoidDisabled() const {
   return (m_module->GetSolenoidDisabledList() & m_reverseMask) != 0;
 }
 
-void DoubleSolenoid::InitSendable(SendableBuilder& builder) {
+void DoubleSolenoid::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Double Solenoid");
   builder.SetActuator(true);
   builder.SetSafeState([=] { Set(kOff); });

wpilibc/src/main/native/cpp/DutyCycle.cpp

@@ -7,10 +7,10 @@
 #include <hal/DutyCycle.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/DigitalSource.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -49,7 +49,7 @@ void DutyCycle::InitDutyCycle() {
   FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
   int index = GetFPGAIndex();
   HAL_Report(HALUsageReporting::kResourceType_DutyCycle, index + 1);
-  SendableRegistry::GetInstance().AddLW(this, "Duty Cycle", index);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Duty Cycle", index);
 }
 
 int DutyCycle::GetFPGAIndex() const {
@@ -91,7 +91,7 @@ int DutyCycle::GetSourceChannel() const {
   return m_source->GetChannel();
 }
 
-void DutyCycle::InitSendable(SendableBuilder& builder) {
+void DutyCycle::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Duty Cycle");
   builder.AddDoubleProperty(
       "Frequency", [this] { return this->GetFrequency(); }, nullptr);

wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp

@@ -5,13 +5,13 @@
 #include "frc/DutyCycleEncoder.h"
 
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/Counter.h"
 #include "frc/DigitalInput.h"
 #include "frc/DigitalSource.h"
 #include "frc/DutyCycle.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -72,8 +72,8 @@ void DutyCycleEncoder::Init() {
         m_analogTrigger->CreateOutput(AnalogTriggerType::kFallingPulse));
   }
 
-  SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
-                                        m_dutyCycle->GetSourceChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
+                                             m_dutyCycle->GetSourceChannel());
 }
 
 units::turn_t DutyCycleEncoder::Get() const {
@@ -148,7 +148,7 @@ int DutyCycleEncoder::GetSourceChannel() const {
   return m_dutyCycle->GetSourceChannel();
 }
 
-void DutyCycleEncoder::InitSendable(SendableBuilder& builder) {
+void DutyCycleEncoder::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("AbsoluteEncoder");
   builder.AddDoubleProperty(
       "Distance", [this] { return this->GetDistance(); }, nullptr);

wpilibc/src/main/native/cpp/Encoder.cpp

@@ -9,11 +9,11 @@
 #include <hal/Encoder.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/DigitalInput.h"
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -22,7 +22,7 @@ Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
   m_aSource = std::make_shared<DigitalInput>(aChannel);
   m_bSource = std::make_shared<DigitalInput>(bChannel);
   InitEncoder(reverseDirection, encodingType);
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, m_aSource.get());
   registry.AddChild(this, m_bSource.get());
 }
@@ -181,7 +181,7 @@ int Encoder::GetSamplesToAverage() const {
 void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
   // Force digital input if just given an index
   m_indexSource = std::make_shared<DigitalInput>(channel);
-  SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
+  wpi::SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
   SetIndexSource(*m_indexSource.get(), type);
 }
 
@@ -207,7 +207,7 @@ int Encoder::GetFPGAIndex() const {
   return val;
 }
 
-void Encoder::InitSendable(SendableBuilder& builder) {
+void Encoder::InitSendable(wpi::SendableBuilder& builder) {
   int32_t status = 0;
   HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
   FRC_CheckErrorStatus(status, "{}", "GetEncodingType");
@@ -240,8 +240,8 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
 
   HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
              encodingType);
-  SendableRegistry::GetInstance().AddLW(this, "Encoder",
-                                        m_aSource->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Encoder",
+                                             m_aSource->GetChannel());
 }
 
 double Encoder::DecodingScaleFactor() const {

wpilibc/src/main/native/cpp/PWM.cpp

@@ -11,11 +11,11 @@
 #include <hal/PWM.h>
 #include <hal/Ports.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -40,7 +40,7 @@ PWM::PWM(int channel, bool registerSendable) {
 
   HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
   if (registerSendable) {
-    SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
+    wpi::SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
   }
 }
 
@@ -163,7 +163,7 @@ int PWM::GetChannel() const {
   return m_channel;
 }
 
-void PWM::InitSendable(SendableBuilder& builder) {
+void PWM::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("PWM");
   builder.SetActuator(true);
   builder.SetSafeState([=] { SetDisabled(); });

wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp

@@ -8,11 +8,11 @@
 #include <hal/FRCUsageReporting.h>
 #include <hal/PDP.h>
 #include <hal/Ports.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -24,7 +24,8 @@ PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
   FRC_CheckErrorStatus(status, "Module {}", module);
 
   HAL_Report(HALUsageReporting::kResourceType_PDP, module + 1);
-  SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel", module);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel",
+                                             module);
 }
 
 double PowerDistributionPanel::GetVoltage() const {
@@ -93,7 +94,7 @@ int PowerDistributionPanel::GetModule() const {
   return m_module;
 }
 
-void PowerDistributionPanel::InitSendable(SendableBuilder& builder) {
+void PowerDistributionPanel::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("PowerDistributionPanel");
   for (int i = 0; i < SensorUtil::kPDPChannels; ++i) {
     builder.AddDoubleProperty(

wpilibc/src/main/native/cpp/Relay.cpp

@@ -12,11 +12,11 @@
 #include <hal/Ports.h>
 #include <hal/Relay.h>
 #include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -56,7 +56,7 @@ Relay::Relay(int channel, Relay::Direction direction)
     FRC_CheckErrorStatus(status, "Channel {}", m_channel);
   }
 
-  SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
 }
 
 Relay::~Relay() {
@@ -172,7 +172,7 @@ std::string Relay::GetDescription() const {
   return fmt::format("Relay {}", GetChannel());
 }
 
-void Relay::InitSendable(SendableBuilder& builder) {
+void Relay::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Relay");
   builder.SetActuator(true);
   builder.SetSafeState([=] { Set(kOff); });

wpilibc/src/main/native/cpp/Servo.cpp

@@ -5,9 +5,8 @@
 #include "frc/Servo.h"
 
 #include <hal/FRCUsageReporting.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -25,7 +24,7 @@ Servo::Servo(int channel) : PWM(channel) {
   SetPeriodMultiplier(kPeriodMultiplier_4X);
 
   HAL_Report(HALUsageReporting::kResourceType_Servo, channel + 1);
-  SendableRegistry::GetInstance().SetName(this, "Servo", channel);
+  wpi::SendableRegistry::GetInstance().SetName(this, "Servo", channel);
 }
 
 void Servo::Set(double value) {
@@ -62,7 +61,7 @@ double Servo::GetMinAngle() const {
   return kMinServoAngle;
 }
 
-void Servo::InitSendable(SendableBuilder& builder) {
+void Servo::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Servo");
   builder.AddDoubleProperty(
       "Value", [=] { return Get(); }, [=](double value) { Set(value); });

wpilibc/src/main/native/cpp/Solenoid.cpp

@@ -8,11 +8,11 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -36,8 +36,8 @@ Solenoid::Solenoid(std::shared_ptr<PneumaticsBase> module, int channel)
 
   HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
              m_module->GetModuleNumber() + 1);
-  SendableRegistry::GetInstance().AddLW(this, "Solenoid",
-                                        m_module->GetModuleNumber(), m_channel);
+  wpi::SendableRegistry::GetInstance().AddLW(
+      this, "Solenoid", m_module->GetModuleNumber(), m_channel);
 }
 
 Solenoid::~Solenoid() {}
@@ -72,7 +72,7 @@ void Solenoid::StartPulse() {
   m_module->FireOneShot(m_channel);
 }
 
-void Solenoid::InitSendable(SendableBuilder& builder) {
+void Solenoid::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Solenoid");
   builder.SetActuator(true);
   builder.SetSafeState([=] { Set(false); });

wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp

@@ -4,8 +4,8 @@
 
 #include "frc/SpeedControllerGroup.h"
 
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -20,11 +20,12 @@ SpeedControllerGroup::SpeedControllerGroup(
 
 void SpeedControllerGroup::Initialize() {
   for (auto& speedController : m_speedControllers) {
-    SendableRegistry::GetInstance().AddChild(this, &speedController.get());
+    wpi::SendableRegistry::GetInstance().AddChild(this, &speedController.get());
   }
   static int instances = 0;
   ++instances;
-  SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup", instances);
+  wpi::SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup",
+                                           instances);
 }
 
 void SpeedControllerGroup::Set(double speed) {
@@ -60,7 +61,7 @@ void SpeedControllerGroup::StopMotor() {
   }
 }
 
-void SpeedControllerGroup::InitSendable(SendableBuilder& builder) {
+void SpeedControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Speed Controller");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/Ultrasonic.cpp

@@ -8,14 +8,14 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Counter.h"
 #include "frc/DigitalInput.h"
 #include "frc/DigitalOutput.h"
 #include "frc/Errors.h"
 #include "frc/Timer.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -30,7 +30,7 @@ Ultrasonic::Ultrasonic(int pingChannel, int echoChannel)
       m_echoChannel(std::make_shared<DigitalInput>(echoChannel)),
       m_counter(m_echoChannel) {
   Initialize();
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, m_pingChannel.get());
   registry.AddChild(this, m_echoChannel.get());
 }
@@ -156,7 +156,7 @@ void Ultrasonic::SetEnabled(bool enable) {
   m_enabled = enable;
 }
 
-void Ultrasonic::InitSendable(SendableBuilder& builder) {
+void Ultrasonic::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Ultrasonic");
   builder.AddDoubleProperty(
       "Value", [=] { return units::inch_t{GetRange()}.to<double>(); }, nullptr);
@@ -185,8 +185,8 @@ void Ultrasonic::Initialize() {
   static int instances = 0;
   instances++;
   HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
-  SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
-                                        m_echoChannel->GetChannel());
+  wpi::SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
+                                             m_echoChannel->GetChannel());
 }
 
 void Ultrasonic::UltrasonicChecker() {

wpilibc/src/main/native/cpp/controller/PIDController.cpp

@@ -8,11 +8,11 @@
 #include <cmath>
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/MathUtil.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc2;
 
@@ -31,7 +31,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
   static int instances = 0;
   instances++;
   HAL_Report(HALUsageReporting::kResourceType_PIDController2, instances);
-  frc::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
+  wpi::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
 }
 
 void PIDController::SetPID(double Kp, double Ki, double Kd) {
@@ -161,7 +161,7 @@ void PIDController::Reset() {
   m_totalError = 0;
 }
 
-void PIDController::InitSendable(frc::SendableBuilder& builder) {
+void PIDController::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("PIDController");
   builder.AddDoubleProperty(
       "p", [this] { return GetP(); }, [this](double value) { SetP(value); });

wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp

@@ -8,10 +8,10 @@
 #include <cmath>
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/SpeedController.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -26,7 +26,7 @@ using namespace frc;
 DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
                                      SpeedController& rightMotor)
     : m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, m_leftMotor);
   registry.AddChild(this, m_rightMotor);
   static int instances = 0;
@@ -193,7 +193,7 @@ std::string DifferentialDrive::GetDescription() const {
   return "DifferentialDrive";
 }
 
-void DifferentialDrive::InitSendable(SendableBuilder& builder) {
+void DifferentialDrive::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("DifferentialDrive");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp

@@ -9,10 +9,10 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/numbers>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/SpeedController.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -43,7 +43,7 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
                 std::sin(rightMotorAngle * (wpi::numbers::pi / 180.0))};
   m_backVec = {std::cos(backMotorAngle * (wpi::numbers::pi / 180.0)),
                std::sin(backMotorAngle * (wpi::numbers::pi / 180.0))};
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, m_leftMotor);
   registry.AddChild(this, m_rightMotor);
   registry.AddChild(this, m_backMotor);
@@ -118,7 +118,7 @@ std::string KilloughDrive::GetDescription() const {
   return "KilloughDrive";
 }
 
-void KilloughDrive::InitSendable(SendableBuilder& builder) {
+void KilloughDrive::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("KilloughDrive");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp

@@ -9,11 +9,11 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/numbers>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/SpeedController.h"
 #include "frc/drive/Vector2d.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -33,7 +33,7 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
       m_rearLeftMotor(&rearLeftMotor),
       m_frontRightMotor(&frontRightMotor),
       m_rearRightMotor(&rearRightMotor) {
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, m_frontLeftMotor);
   registry.AddChild(this, m_rearLeftMotor);
   registry.AddChild(this, m_frontRightMotor);
@@ -113,7 +113,7 @@ std::string MecanumDrive::GetDescription() const {
   return "MecanumDrive";
 }
 
-void MecanumDrive::InitSendable(SendableBuilder& builder) {
+void MecanumDrive::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("MecanumDrive");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp

@@ -8,10 +8,10 @@
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/mutex.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableRegistry.h>
 
-#include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableBuilderImpl.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -25,7 +25,7 @@ struct LiveWindow::Impl {
 
   wpi::mutex mutex;
 
-  SendableRegistry& registry;
+  wpi::SendableRegistry& registry;
   int dataHandle;
 
   std::shared_ptr<nt::NetworkTable> liveWindowTable;
@@ -36,20 +36,22 @@ struct LiveWindow::Impl {
   bool liveWindowEnabled = false;
   bool telemetryEnabled = true;
 
-  std::shared_ptr<Component> GetOrAdd(Sendable* sendable);
+  std::shared_ptr<Component> GetOrAdd(wpi::Sendable* sendable);
 };
 
 LiveWindow::Impl::Impl()
-    : registry(SendableRegistry::GetInstance()),
+    : registry(wpi::SendableRegistry::GetInstance()),
       dataHandle(registry.GetDataHandle()),
       liveWindowTable(
           nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow")) {
+  registry.SetLiveWindowBuilderFactory(
+      [] { return std::make_unique<SendableBuilderImpl>(); });
   statusTable = liveWindowTable->GetSubTable(".status");
   enabledEntry = statusTable->GetEntry("LW Enabled");
 }
 
 std::shared_ptr<LiveWindow::Impl::Component> LiveWindow::Impl::GetOrAdd(
-    Sendable* sendable) {
+    wpi::Sendable* sendable) {
   auto data = std::static_pointer_cast<Component>(
       registry.GetData(sendable, dataHandle));
   if (!data) {
@@ -64,14 +66,14 @@ LiveWindow* LiveWindow::GetInstance() {
   return &instance;
 }
 
-void LiveWindow::EnableTelemetry(Sendable* sendable) {
+void LiveWindow::EnableTelemetry(wpi::Sendable* sendable) {
   std::scoped_lock lock(m_impl->mutex);
   // Re-enable global setting in case DisableAllTelemetry() was called.
   m_impl->telemetryEnabled = true;
   m_impl->GetOrAdd(sendable)->telemetryEnabled = true;
 }
 
-void LiveWindow::DisableTelemetry(Sendable* sendable) {
+void LiveWindow::DisableTelemetry(wpi::Sendable* sendable) {
   std::scoped_lock lock(m_impl->mutex);
   m_impl->GetOrAdd(sendable)->telemetryEnabled = false;
 }
@@ -108,7 +110,7 @@ void LiveWindow::SetEnabled(bool enabled) {
     }
   } else {
     m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
-      cbdata.builder.StopLiveWindowMode();
+      static_cast<SendableBuilderImpl&>(cbdata.builder).StopLiveWindowMode();
     });
     if (this->disabled) {
       this->disabled();
@@ -160,7 +162,7 @@ void LiveWindow::UpdateValuesUnsafe() {
         table = ssTable->GetSubTable(cbdata.name);
       }
       table->GetEntry(".name").SetString(cbdata.name);
-      cbdata.builder.SetTable(table);
+      static_cast<SendableBuilderImpl&>(cbdata.builder).SetTable(table);
       cbdata.sendable->InitSendable(cbdata.builder);
       ssTable->GetEntry(".type").SetString("LW Subsystem");
 
@@ -168,9 +170,9 @@ void LiveWindow::UpdateValuesUnsafe() {
     }
 
     if (m_impl->startLiveWindow) {
-      cbdata.builder.StartLiveWindowMode();
+      static_cast<SendableBuilderImpl&>(cbdata.builder).StartLiveWindowMode();
     }
-    cbdata.builder.UpdateTable();
+    cbdata.builder.Update();
   });
 
   m_impl->startLiveWindow = false;

wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp

@@ -4,8 +4,8 @@
 
 #include "frc/motorcontrol/MotorControllerGroup.h"
 
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -20,11 +20,12 @@ MotorControllerGroup::MotorControllerGroup(
 
 void MotorControllerGroup::Initialize() {
   for (auto& motorController : m_motorControllers) {
-    SendableRegistry::GetInstance().AddChild(this, &motorController.get());
+    wpi::SendableRegistry::GetInstance().AddChild(this, &motorController.get());
   }
   static int instances = 0;
   ++instances;
-  SendableRegistry::GetInstance().Add(this, "MotorControllerGroup", instances);
+  wpi::SendableRegistry::GetInstance().Add(this, "MotorControllerGroup",
+                                           instances);
 }
 
 void MotorControllerGroup::Set(double speed) {
@@ -60,7 +61,7 @@ void MotorControllerGroup::StopMotor() {
   }
 }
 
-void MotorControllerGroup::InitSendable(SendableBuilder& builder) {
+void MotorControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp

@@ -6,15 +6,14 @@
 
 #include <fmt/format.h>
 #include <hal/FRCUsageReporting.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
 NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
     : m_dio(dioChannel), m_pwm(pwmChannel) {
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   registry.AddChild(this, &m_dio);
   registry.AddChild(this, &m_pwm);
   SetExpiration(0_s);
@@ -72,7 +71,7 @@ int NidecBrushless::GetChannel() const {
   return m_pwm.GetChannel();
 }
 
-void NidecBrushless::InitSendable(SendableBuilder& builder) {
+void NidecBrushless::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Nidec Brushless");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });

wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp

@@ -5,8 +5,8 @@
 #include "frc/motorcontrol/PWMMotorController.h"
 
 #include <fmt/format.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -44,10 +44,10 @@ int PWMMotorController::GetChannel() const {
 
 PWMMotorController::PWMMotorController(std::string_view name, int channel)
     : m_pwm(channel, false) {
-  SendableRegistry::GetInstance().AddLW(this, name, channel);
+  wpi::SendableRegistry::GetInstance().AddLW(this, name, channel);
 }
 
-void PWMMotorController::InitSendable(SendableBuilder& builder) {
+void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
   builder.SetSafeState([=] { Disable(); });

wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp

@@ -6,8 +6,6 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
 PWMSparkMax::PWMSparkMax(int channel)

wpilibc/src/main/native/cpp/shuffleboard/ComplexWidget.cpp

@@ -4,36 +4,41 @@
 
 #include "frc/shuffleboard/ComplexWidget.h"
 
-#include "frc/smartdashboard/Sendable.h"
+#include <wpi/sendable/Sendable.h>
+
+#include "frc/smartdashboard/SendableBuilderImpl.h"
 
 using namespace frc;
 
 ComplexWidget::ComplexWidget(ShuffleboardContainer& parent,
-                             std::string_view title, Sendable& sendable)
+                             std::string_view title, wpi::Sendable& sendable)
     : ShuffleboardValue(title),
       ShuffleboardWidget(parent, title),
       m_sendable(sendable) {}
 
+ComplexWidget::~ComplexWidget() = default;
+
 void ComplexWidget::EnableIfActuator() {
-  if (m_builder.IsActuator()) {
-    m_builder.StartLiveWindowMode();
+  if (m_builder && static_cast<SendableBuilderImpl&>(*m_builder).IsActuator()) {
+    static_cast<SendableBuilderImpl&>(*m_builder).StartLiveWindowMode();
   }
 }
 
 void ComplexWidget::DisableIfActuator() {
-  if (m_builder.IsActuator()) {
-    m_builder.StopLiveWindowMode();
+  if (m_builder && static_cast<SendableBuilderImpl&>(*m_builder).IsActuator()) {
+    static_cast<SendableBuilderImpl&>(*m_builder).StopLiveWindowMode();
   }
 }
 
 void ComplexWidget::BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
                               std::shared_ptr<nt::NetworkTable> metaTable) {
   BuildMetadata(metaTable);
-  if (!m_builderInit) {
-    m_builder.SetTable(parentTable->GetSubTable(GetTitle()));
-    m_sendable.InitSendable(m_builder);
-    m_builder.StartListeners();
-    m_builderInit = true;
+  if (!m_builder) {
+    m_builder = std::make_unique<SendableBuilderImpl>();
+    static_cast<SendableBuilderImpl&>(*m_builder)
+        .SetTable(parentTable->GetSubTable(GetTitle()));
+    m_sendable.InitSendable(static_cast<SendableBuilderImpl&>(*m_builder));
+    static_cast<SendableBuilderImpl&>(*m_builder).StartListeners();
   }
-  m_builder.UpdateTable();
+  m_builder->Update();
 }

wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp

@@ -9,9 +9,8 @@
 #include <string>
 
 #include <wpi/DenseMap.h>
-
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 namespace frc {
 namespace detail {
@@ -21,12 +20,12 @@ std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
   return wrappers[static_cast<int>(source)];
 }
 
-void AddToSendableRegistry(frc::Sendable* sendable, std::string name) {
-  SendableRegistry::GetInstance().Add(sendable, name);
+void AddToSendableRegistry(wpi::Sendable* sendable, std::string name) {
+  wpi::SendableRegistry::GetInstance().Add(sendable, name);
 }
 }  // namespace detail
 
-void SendableCameraWrapper::InitSendable(SendableBuilder& builder) {
+void SendableCameraWrapper::InitSendable(wpi::SendableBuilder& builder) {
   builder.AddStringProperty(
       ".ShuffleboardURI", [this] { return m_uri; }, nullptr);
 }

wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp

@@ -4,12 +4,13 @@
 
 #include "frc/shuffleboard/ShuffleboardContainer.h"
 
+#include <wpi/sendable/SendableRegistry.h>
+
 #include "frc/Errors.h"
 #include "frc/shuffleboard/ComplexWidget.h"
 #include "frc/shuffleboard/ShuffleboardComponent.h"
 #include "frc/shuffleboard/ShuffleboardLayout.h"
 #include "frc/shuffleboard/SimpleWidget.h"
-#include "frc/smartdashboard/SendableRegistry.h"
 
 using namespace frc;
 
@@ -57,7 +58,7 @@ ShuffleboardLayout& ShuffleboardContainer::GetLayout(std::string_view title) {
 }
 
 ComplexWidget& ShuffleboardContainer::Add(std::string_view title,
-                                          Sendable& sendable) {
+                                          wpi::Sendable& sendable) {
   CheckTitle(title);
   auto widget = std::make_unique<ComplexWidget>(*this, title, sendable);
   auto ptr = widget.get();
@@ -65,8 +66,8 @@ ComplexWidget& ShuffleboardContainer::Add(std::string_view title,
   return *ptr;
 }
 
-ComplexWidget& ShuffleboardContainer::Add(Sendable& sendable) {
-  auto name = SendableRegistry::GetInstance().GetName(&sendable);
+ComplexWidget& ShuffleboardContainer::Add(wpi::Sendable& sendable) {
+  auto name = wpi::SendableRegistry::GetInstance().GetName(&sendable);
   if (name.empty()) {
     FRC_ReportError(err::Error, "{}", "Sendable must have a name");
   }

wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp

@@ -4,8 +4,8 @@
 
 #include "frc/smartdashboard/Field2d.h"
 
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
@@ -13,7 +13,7 @@ Field2d::Field2d() {
   m_objects.emplace_back(
       std::make_unique<FieldObject2d>("Robot", FieldObject2d::private_init{}));
   m_objects[0]->SetPose(Pose2d{});
-  SendableRegistry::GetInstance().Add(this, "Field");
+  wpi::SendableRegistry::GetInstance().Add(this, "Field");
 }
 
 Field2d::Field2d(Field2d&& rhs) : SendableHelper(std::move(rhs)) {
@@ -67,7 +67,7 @@ FieldObject2d* Field2d::GetRobotObject() {
   return m_objects[0].get();
 }
 
-void Field2d::InitSendable(SendableBuilder& builder) {
+void Field2d::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("Field2d");
   m_table = builder.GetTable();
 

wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp

@@ -6,7 +6,7 @@
 
 #include <cstdio>
 
-#include "frc/smartdashboard/SendableBuilder.h"
+#include <networktables/NTSendableBuilder.h>
 
 using namespace frc;
 
@@ -41,7 +41,7 @@ void Mechanism2d::SetBackgroundColor(const Color8Bit& color) {
   }
 }
 
-void Mechanism2d::InitSendable(SendableBuilder& builder) {
+void Mechanism2d::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("Mechanism2d");
   m_table = builder.GetTable();
 

wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp

@@ -4,8 +4,6 @@
 
 #include "frc/smartdashboard/MechanismRoot2d.h"
 
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 #include "frc/util/Color8Bit.h"
 
 using namespace frc;

wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp

@@ -20,7 +20,7 @@ std::shared_ptr<nt::NetworkTable> SendableBuilderImpl::GetTable() {
   return m_table;
 }
 
-bool SendableBuilderImpl::HasTable() const {
+bool SendableBuilderImpl::IsPublished() const {
   return m_table != nullptr;
 }
 
@@ -28,7 +28,7 @@ bool SendableBuilderImpl::IsActuator() const {
   return m_actuator;
 }
 
-void SendableBuilderImpl::UpdateTable() {
+void SendableBuilderImpl::Update() {
   uint64_t time = nt::Now();
   for (auto& property : m_properties) {
     if (property.update) {

wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp

@@ -4,14 +4,14 @@
 
 #include "frc/smartdashboard/SendableChooserBase.h"
 
-#include "frc/smartdashboard/SendableRegistry.h"
+#include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
 
 std::atomic_int SendableChooserBase::s_instances{0};
 
 SendableChooserBase::SendableChooserBase() : m_instance{s_instances++} {
-  SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
+  wpi::SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
 }
 
 SendableChooserBase::SendableChooserBase(SendableChooserBase&& oth)

wpilibc/src/main/native/cpp/smartdashboard/SendableRegistry.cpp

@@ -1,400 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// 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 "frc/smartdashboard/SendableRegistry.h"
-
-#include <memory>
-
-#include <fmt/format.h>
-#include <wpi/DenseMap.h>
-#include <wpi/SmallVector.h>
-#include <wpi/UidVector.h>
-#include <wpi/mutex.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableBuilderImpl.h"
-
-using namespace frc;
-
-struct SendableRegistry::Impl {
-  struct Component {
-    Sendable* sendable = nullptr;
-    SendableBuilderImpl builder;
-    std::string name;
-    std::string subsystem = "Ungrouped";
-    Sendable* parent = nullptr;
-    bool liveWindow = false;
-    wpi::SmallVector<std::shared_ptr<void>, 2> data;
-
-    void SetName(std::string_view moduleType, int channel) {
-      name = fmt::format("{}[{}]", moduleType, channel);
-    }
-
-    void SetName(std::string_view moduleType, int moduleNumber, int channel) {
-      name = fmt::format("{}[{},{}]", moduleType, moduleNumber, channel);
-    }
-  };
-
-  wpi::recursive_mutex mutex;
-
-  wpi::UidVector<std::unique_ptr<Component>, 32> components;
-  wpi::DenseMap<void*, UID> componentMap;
-  int nextDataHandle = 0;
-
-  Component& GetOrAdd(void* sendable, UID* uid = nullptr);
-};
-
-SendableRegistry::Impl::Component& SendableRegistry::Impl::GetOrAdd(
-    void* sendable, UID* uid) {
-  UID& compUid = componentMap[sendable];
-  if (compUid == 0) {
-    compUid = components.emplace_back(std::make_unique<Component>()) + 1;
-  }
-  if (uid) {
-    *uid = compUid;
-  }
-
-  return *components[compUid - 1];
-}
-
-SendableRegistry& SendableRegistry::GetInstance() {
-  static SendableRegistry instance;
-  return instance;
-}
-
-void SendableRegistry::Add(Sendable* sendable, std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.name = name;
-}
-
-void SendableRegistry::Add(Sendable* sendable, std::string_view moduleType,
-                           int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.SetName(moduleType, channel);
-}
-
-void SendableRegistry::Add(Sendable* sendable, std::string_view moduleType,
-                           int moduleNumber, int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.SetName(moduleType, moduleNumber, channel);
-}
-
-void SendableRegistry::Add(Sendable* sendable, std::string_view subsystem,
-                           std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.name = name;
-  comp.subsystem = subsystem;
-}
-
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.liveWindow = true;
-  comp.name = name;
-}
-
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
-                             int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.liveWindow = true;
-  comp.SetName(moduleType, channel);
-}
-
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
-                             int moduleNumber, int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.liveWindow = true;
-  comp.SetName(moduleType, moduleNumber, channel);
-}
-
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view subsystem,
-                             std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(sendable);
-  comp.sendable = sendable;
-  comp.liveWindow = true;
-  comp.name = name;
-  comp.subsystem = subsystem;
-}
-
-void SendableRegistry::AddChild(Sendable* parent, Sendable* child) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(child);
-  comp.parent = parent;
-}
-
-void SendableRegistry::AddChild(Sendable* parent, void* child) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto& comp = m_impl->GetOrAdd(child);
-  comp.parent = parent;
-}
-
-bool SendableRegistry::Remove(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end()) {
-    return false;
-  }
-  UID compUid = it->getSecond();
-  m_impl->components.erase(compUid - 1);
-  m_impl->componentMap.erase(it);
-  // update any parent pointers
-  for (auto&& comp : m_impl->components) {
-    if (comp->parent == sendable) {
-      comp->parent = nullptr;
-    }
-  }
-  return true;
-}
-
-void SendableRegistry::Move(Sendable* to, Sendable* from) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(from);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  UID compUid = it->getSecond();
-  m_impl->componentMap.erase(it);
-  m_impl->componentMap[to] = compUid;
-  auto& comp = *m_impl->components[compUid - 1];
-  comp.sendable = to;
-  if (comp.builder.HasTable()) {
-    // rebuild builder, as lambda captures can point to "from"
-    comp.builder.ClearProperties();
-    to->InitSendable(comp.builder);
-  }
-  // update any parent pointers
-  for (auto&& comp : m_impl->components) {
-    if (comp->parent == from) {
-      comp->parent = to;
-    }
-  }
-}
-
-bool SendableRegistry::Contains(const Sendable* sendable) const {
-  std::scoped_lock lock(m_impl->mutex);
-  return m_impl->componentMap.count(sendable) != 0;
-}
-
-std::string SendableRegistry::GetName(const Sendable* sendable) const {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return {};
-  }
-  return m_impl->components[it->getSecond() - 1]->name;
-}
-
-void SendableRegistry::SetName(Sendable* sendable, std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->name = name;
-}
-
-void SendableRegistry::SetName(Sendable* sendable, std::string_view moduleType,
-                               int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->SetName(moduleType, channel);
-}
-
-void SendableRegistry::SetName(Sendable* sendable, std::string_view moduleType,
-                               int moduleNumber, int channel) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->SetName(moduleType, moduleNumber,
-                                                   channel);
-}
-
-void SendableRegistry::SetName(Sendable* sendable, std::string_view subsystem,
-                               std::string_view name) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  auto& comp = *m_impl->components[it->getSecond() - 1];
-  comp.name = name;
-  comp.subsystem = subsystem;
-}
-
-std::string SendableRegistry::GetSubsystem(const Sendable* sendable) const {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return {};
-  }
-  return m_impl->components[it->getSecond() - 1]->subsystem;
-}
-
-void SendableRegistry::SetSubsystem(Sendable* sendable,
-                                    std::string_view subsystem) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->subsystem = subsystem;
-}
-
-int SendableRegistry::GetDataHandle() {
-  std::scoped_lock lock(m_impl->mutex);
-  return m_impl->nextDataHandle++;
-}
-
-std::shared_ptr<void> SendableRegistry::SetData(Sendable* sendable, int handle,
-                                                std::shared_ptr<void> data) {
-  assert(handle >= 0);
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return nullptr;
-  }
-  auto& comp = *m_impl->components[it->getSecond() - 1];
-  std::shared_ptr<void> rv;
-  if (static_cast<size_t>(handle) < comp.data.size()) {
-    rv = std::move(comp.data[handle]);
-  } else {
-    comp.data.resize(handle + 1);
-  }
-  comp.data[handle] = std::move(data);
-  return rv;
-}
-
-std::shared_ptr<void> SendableRegistry::GetData(Sendable* sendable,
-                                                int handle) {
-  assert(handle >= 0);
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return nullptr;
-  }
-  auto& comp = *m_impl->components[it->getSecond() - 1];
-  if (static_cast<size_t>(handle) >= comp.data.size()) {
-    return nullptr;
-  }
-  return comp.data[handle];
-}
-
-void SendableRegistry::EnableLiveWindow(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->liveWindow = true;
-}
-
-void SendableRegistry::DisableLiveWindow(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  auto it = m_impl->componentMap.find(sendable);
-  if (it == m_impl->componentMap.end() ||
-      !m_impl->components[it->getSecond() - 1]) {
-    return;
-  }
-  m_impl->components[it->getSecond() - 1]->liveWindow = false;
-}
-
-SendableRegistry::UID SendableRegistry::GetUniqueId(Sendable* sendable) {
-  std::scoped_lock lock(m_impl->mutex);
-  UID uid;
-  auto& comp = m_impl->GetOrAdd(sendable, &uid);
-  comp.sendable = sendable;
-  return uid;
-}
-
-Sendable* SendableRegistry::GetSendable(UID uid) {
-  if (uid == 0) {
-    return nullptr;
-  }
-  std::scoped_lock lock(m_impl->mutex);
-  if ((uid - 1) >= m_impl->components.size() || !m_impl->components[uid - 1]) {
-    return nullptr;
-  }
-  return m_impl->components[uid - 1]->sendable;
-}
-
-void SendableRegistry::Publish(UID sendableUid,
-                               std::shared_ptr<nt::NetworkTable> table) {
-  std::scoped_lock lock(m_impl->mutex);
-  if (sendableUid == 0 || (sendableUid - 1) >= m_impl->components.size() ||
-      !m_impl->components[sendableUid - 1]) {
-    return;
-  }
-  auto& comp = *m_impl->components[sendableUid - 1];
-  comp.builder = SendableBuilderImpl{};  // clear any current builder
-  comp.builder.SetTable(table);
-  comp.sendable->InitSendable(comp.builder);
-  comp.builder.UpdateTable();
-  comp.builder.StartListeners();
-}
-
-void SendableRegistry::Update(UID sendableUid) {
-  if (sendableUid == 0) {
-    return;
-  }
-  std::scoped_lock lock(m_impl->mutex);
-  if ((sendableUid - 1) >= m_impl->components.size() ||
-      !m_impl->components[sendableUid - 1]) {
-    return;
-  }
-  m_impl->components[sendableUid - 1]->builder.UpdateTable();
-}
-
-void SendableRegistry::ForeachLiveWindow(
-    int dataHandle,
-    wpi::function_ref<void(CallbackData& data)> callback) const {
-  assert(dataHandle >= 0);
-  std::scoped_lock lock(m_impl->mutex);
-  wpi::SmallVector<Impl::Component*, 128> components;
-  for (auto&& comp : m_impl->components) {
-    components.emplace_back(comp.get());
-  }
-  for (auto comp : components) {
-    if (comp && comp->sendable && comp->liveWindow) {
-      if (static_cast<size_t>(dataHandle) >= comp->data.size()) {
-        comp->data.resize(dataHandle + 1);
-      }
-      CallbackData cbdata{comp->sendable,         comp->name,
-                          comp->subsystem,        comp->parent,
-                          comp->data[dataHandle], comp->builder};
-      callback(cbdata);
-    }
-  }
-}
-
-SendableRegistry::SendableRegistry() : m_impl(new Impl) {}

wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp

@@ -9,9 +9,10 @@
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/StringMap.h>
 #include <wpi/mutex.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
-#include "frc/smartdashboard/SendableRegistry.h"
+#include "frc/smartdashboard/SendableBuilderImpl.h"
 
 using namespace frc;
 
@@ -21,7 +22,7 @@ class Singleton {
   static Singleton& GetInstance();
 
   std::shared_ptr<nt::NetworkTable> table;
-  wpi::StringMap<SendableRegistry::UID> tablesToData;
+  wpi::StringMap<wpi::SendableRegistry::UID> tablesToData;
   wpi::mutex tablesToDataMutex;
 
  private:
@@ -84,41 +85,45 @@ nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
   return Singleton::GetInstance().table->GetEntry(key);
 }
 
-void SmartDashboard::PutData(std::string_view key, Sendable* data) {
+void SmartDashboard::PutData(std::string_view key, wpi::Sendable* data) {
   if (!data) {
     throw FRC_MakeError(err::NullParameter, "{}", "value");
   }
   auto& inst = Singleton::GetInstance();
   std::scoped_lock lock(inst.tablesToDataMutex);
   auto& uid = inst.tablesToData[key];
-  auto& registry = SendableRegistry::GetInstance();
-  Sendable* sddata = registry.GetSendable(uid);
+  auto& registry = wpi::SendableRegistry::GetInstance();
+  wpi::Sendable* sddata = registry.GetSendable(uid);
   if (sddata != data) {
     uid = registry.GetUniqueId(data);
     auto dataTable = inst.table->GetSubTable(key);
-    registry.Publish(uid, dataTable);
+    auto builder = std::make_unique<SendableBuilderImpl>();
+    auto builderPtr = builder.get();
+    builderPtr->SetTable(dataTable);
+    registry.Publish(uid, std::move(builder));
+    builderPtr->StartListeners();
     dataTable->GetEntry(".name").SetString(key);
   }
 }
 
-void SmartDashboard::PutData(Sendable* value) {
+void SmartDashboard::PutData(wpi::Sendable* value) {
   if (!value) {
     throw FRC_MakeError(err::NullParameter, "{}", "value");
   }
-  auto name = SendableRegistry::GetInstance().GetName(value);
+  auto name = wpi::SendableRegistry::GetInstance().GetName(value);
   if (!name.empty()) {
     PutData(name, value);
   }
 }
 
-Sendable* SmartDashboard::GetData(std::string_view key) {
+wpi::Sendable* SmartDashboard::GetData(std::string_view key) {
   auto& inst = Singleton::GetInstance();
   std::scoped_lock lock(inst.tablesToDataMutex);
   auto it = inst.tablesToData.find(key);
   if (it == inst.tablesToData.end()) {
     throw FRC_MakeError(err::SmartDashboardMissingKey, "{}", key);
   }
-  return SendableRegistry::GetInstance().GetSendable(it->getValue());
+  return wpi::SendableRegistry::GetInstance().GetSendable(it->getValue());
 }
 
 bool SmartDashboard::PutBoolean(std::string_view keyName, bool value) {
@@ -257,7 +262,7 @@ void SmartDashboard::PostListenerTask(std::function<void()> task) {
 }
 
 void SmartDashboard::UpdateValues() {
-  auto& registry = SendableRegistry::GetInstance();
+  auto& registry = wpi::SendableRegistry::GetInstance();
   auto& inst = Singleton::GetInstance();
   listenerExecutor.RunListenerTasks();
   std::scoped_lock lock(inst.tablesToDataMutex);