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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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14
wpilibc/src/main/native/cpp/AnalogGyro.cpp
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@@ -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);