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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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10
wpilibc/src/main/native/cpp/Solenoid.cpp
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@@ -8,11 +8,11 @@
#include <hal/FRCUsageReporting.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;
@@ -36,8 +36,8 @@ Solenoid::Solenoid(std::shared_ptr<PneumaticsBase> module, int channel)
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
m_module->GetModuleNumber() + 1);
SendableRegistry::GetInstance().AddLW(this, "Solenoid",
m_module->GetModuleNumber(), m_channel);
wpi::SendableRegistry::GetInstance().AddLW(
this, "Solenoid", m_module->GetModuleNumber(), m_channel);
}
Solenoid::~Solenoid() {}
@@ -72,7 +72,7 @@ void Solenoid::StartPulse() {
m_module->FireOneShot(m_channel);
}
void Solenoid::InitSendable(SendableBuilder& builder) {
void Solenoid::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Solenoid");
builder.SetActuator(true);
builder.SetSafeState([=] { Set(false); });