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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
wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
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@@ -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());
}