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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/smartdashboard/Field2d.cpp
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@@ -4,8 +4,8 @@
#include "frc/smartdashboard/Field2d.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <networktables/NTSendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
@@ -13,7 +13,7 @@ Field2d::Field2d() {
m_objects.emplace_back(
std::make_unique<FieldObject2d>("Robot", FieldObject2d::private_init{}));
m_objects[0]->SetPose(Pose2d{});
SendableRegistry::GetInstance().Add(this, "Field");
wpi::SendableRegistry::GetInstance().Add(this, "Field");
}
Field2d::Field2d(Field2d&& rhs) : SendableHelper(std::move(rhs)) {
@@ -67,7 +67,7 @@ FieldObject2d* Field2d::GetRobotObject() {
return m_objects[0].get();
}
void Field2d::InitSendable(SendableBuilder& builder) {
void Field2d::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("Field2d");
m_table = builder.GetTable();