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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/Relay.cpp
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@@ -12,11 +12,11 @@
#include <hal/Ports.h>
#include <hal/Relay.h>
#include <wpi/StackTrace.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;
@@ -56,7 +56,7 @@ Relay::Relay(int channel, Relay::Direction direction)
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
wpi::SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
}
Relay::~Relay() {
@@ -172,7 +172,7 @@ std::string Relay::GetDescription() const {
return fmt::format("Relay {}", GetChannel());
}
void Relay::InitSendable(SendableBuilder& builder) {
void Relay::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Relay");
builder.SetActuator(true);
builder.SetSafeState([=] { Set(kOff); });