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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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8
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
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@@ -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); });