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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/Encoder.cpp
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@@ -9,11 +9,11 @@
#include <hal/Encoder.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/DigitalInput.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -22,7 +22,7 @@ Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
m_aSource = std::make_shared<DigitalInput>(aChannel);
m_bSource = std::make_shared<DigitalInput>(bChannel);
InitEncoder(reverseDirection, encodingType);
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_aSource.get());
registry.AddChild(this, m_bSource.get());
}
@@ -181,7 +181,7 @@ int Encoder::GetSamplesToAverage() const {
void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
// Force digital input if just given an index
m_indexSource = std::make_shared<DigitalInput>(channel);
SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
wpi::SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
SetIndexSource(*m_indexSource.get(), type);
}
@@ -207,7 +207,7 @@ int Encoder::GetFPGAIndex() const {
return val;
}
void Encoder::InitSendable(SendableBuilder& builder) {
void Encoder::InitSendable(wpi::SendableBuilder& builder) {
int32_t status = 0;
HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetEncodingType");
@@ -240,8 +240,8 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
encodingType);
SendableRegistry::GetInstance().AddLW(this, "Encoder",
m_aSource->GetChannel());
wpi::SendableRegistry::GetInstance().AddLW(this, "Encoder",
m_aSource->GetChannel());
}
double Encoder::DecodingScaleFactor() const {