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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/Counter.cpp
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@@ -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);