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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/AnalogPotentiometer.cpp
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@@ -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);