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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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11
wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp
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@@ -4,8 +4,8 @@
#include "frc/SpeedControllerGroup.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
@@ -20,11 +20,12 @@ SpeedControllerGroup::SpeedControllerGroup(
void SpeedControllerGroup::Initialize() {
for (auto& speedController : m_speedControllers) {
SendableRegistry::GetInstance().AddChild(this, &speedController.get());
wpi::SendableRegistry::GetInstance().AddChild(this, &speedController.get());
}
static int instances = 0;
++instances;
SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup", instances);
wpi::SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup",
instances);
}
void SpeedControllerGroup::Set(double speed) {
@@ -60,7 +61,7 @@ void SpeedControllerGroup::StopMotor() {
}
}
void SpeedControllerGroup::InitSendable(SendableBuilder& builder) {
void SpeedControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Speed Controller");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });