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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/drive/DifferentialDrive.cpp
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@@ -8,10 +8,10 @@
#include <cmath>
#include <hal/FRCUsageReporting.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/SpeedController.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -26,7 +26,7 @@ using namespace frc;
DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SpeedController& rightMotor)
: m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
static int instances = 0;
@@ -193,7 +193,7 @@ std::string DifferentialDrive::GetDescription() const {
return "DifferentialDrive";
}
void DifferentialDrive::InitSendable(SendableBuilder& builder) {
void DifferentialDrive::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("DifferentialDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });

8
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
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@@ -9,10 +9,10 @@
#include <hal/FRCUsageReporting.h>
#include <wpi/numbers>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/SpeedController.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -43,7 +43,7 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
std::sin(rightMotorAngle * (wpi::numbers::pi / 180.0))};
m_backVec = {std::cos(backMotorAngle * (wpi::numbers::pi / 180.0)),
std::sin(backMotorAngle * (wpi::numbers::pi / 180.0))};
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
registry.AddChild(this, m_backMotor);
@@ -118,7 +118,7 @@ std::string KilloughDrive::GetDescription() const {
return "KilloughDrive";
}
void KilloughDrive::InitSendable(SendableBuilder& builder) {
void KilloughDrive::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("KilloughDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });

8
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
View File

@@ -9,11 +9,11 @@
#include <hal/FRCUsageReporting.h>
#include <wpi/numbers>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/SpeedController.h"
#include "frc/drive/Vector2d.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -33,7 +33,7 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
m_rearLeftMotor(&rearLeftMotor),
m_frontRightMotor(&frontRightMotor),
m_rearRightMotor(&rearRightMotor) {
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_frontLeftMotor);
registry.AddChild(this, m_rearLeftMotor);
registry.AddChild(this, m_frontRightMotor);
@@ -113,7 +113,7 @@ std::string MecanumDrive::GetDescription() const {
return "MecanumDrive";
}
void MecanumDrive::InitSendable(SendableBuilder& builder) {
void MecanumDrive::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("MecanumDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });