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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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12
wpilibc/src/main/native/cpp/Ultrasonic.cpp
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@@ -8,14 +8,14 @@
#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Counter.h"
#include "frc/DigitalInput.h"
#include "frc/DigitalOutput.h"
#include "frc/Errors.h"
#include "frc/Timer.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -30,7 +30,7 @@ Ultrasonic::Ultrasonic(int pingChannel, int echoChannel)
m_echoChannel(std::make_shared<DigitalInput>(echoChannel)),
m_counter(m_echoChannel) {
Initialize();
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_pingChannel.get());
registry.AddChild(this, m_echoChannel.get());
}
@@ -156,7 +156,7 @@ void Ultrasonic::SetEnabled(bool enable) {
m_enabled = enable;
}
void Ultrasonic::InitSendable(SendableBuilder& builder) {
void Ultrasonic::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Ultrasonic");
builder.AddDoubleProperty(
"Value", [=] { return units::inch_t{GetRange()}.to<double>(); }, nullptr);
@@ -185,8 +185,8 @@ void Ultrasonic::Initialize() {
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
m_echoChannel->GetChannel());
wpi::SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
m_echoChannel->GetChannel());
}
void Ultrasonic::UltrasonicChecker() {