Split Sendable into NT and non-NT portions (#3432)

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.

wpilibc/src/main/native/include/frc/ADXL345_I2C.h

@@ -5,16 +5,14 @@
 #pragma once
 
 #include <hal/SimDevice.h>
+#include <networktables/NTSendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/I2C.h"
 #include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * ADXL345 Accelerometer on I2C.
  *
@@ -23,8 +21,8 @@ class SendableBuilder;
  * 0x1D (7-bit address).
  */
 class ADXL345_I2C : public Accelerometer,
-                    public Sendable,
-                    public SendableHelper<ADXL345_I2C> {
+                    public nt::NTSendable,
+                    public wpi::SendableHelper<ADXL345_I2C> {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 
@@ -70,7 +68,7 @@ class ADXL345_I2C : public Accelerometer,
    */
   virtual AllAxes GetAccelerations();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 
  protected:
   I2C m_i2c;

wpilibc/src/main/native/include/frc/ADXL345_SPI.h

@@ -5,11 +5,11 @@
 #pragma once
 
 #include <hal/SimDevice.h>
+#include <networktables/NTSendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/SPI.h"
 #include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -20,8 +20,8 @@ namespace frc {
  * via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
  */
 class ADXL345_SPI : public Accelerometer,
-                    public Sendable,
-                    public SendableHelper<ADXL345_SPI> {
+                    public nt::NTSendable,
+                    public wpi::SendableHelper<ADXL345_SPI> {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 
@@ -66,7 +66,7 @@ class ADXL345_SPI : public Accelerometer,
    */
   virtual AllAxes GetAccelerations();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 
  protected:
   SPI m_spi;

wpilibc/src/main/native/include/frc/ADXL362.h

@@ -5,24 +5,22 @@
 #pragma once
 
 #include <hal/SimDevice.h>
+#include <networktables/NTSendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/SPI.h"
 #include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * ADXL362 SPI Accelerometer.
  *
  * This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
  */
 class ADXL362 : public Accelerometer,
-                public Sendable,
-                public SendableHelper<ADXL362> {
+                public nt::NTSendable,
+                public wpi::SendableHelper<ADXL362> {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
   struct AllAxes {
@@ -74,7 +72,7 @@ class ADXL362 : public Accelerometer,
    */
   virtual AllAxes GetAccelerations();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 
  private:
   SPI m_spi;

wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h

@@ -7,11 +7,11 @@
 #include <stdint.h>
 
 #include <hal/SimDevice.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/SPI.h"
 #include "frc/interfaces/Gyro.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -29,8 +29,8 @@ namespace frc {
  * Only one instance of an ADXRS Gyro is supported.
  */
 class ADXRS450_Gyro : public Gyro,
-                      public Sendable,
-                      public SendableHelper<ADXRS450_Gyro> {
+                      public wpi::Sendable,
+                      public wpi::SendableHelper<ADXRS450_Gyro> {
  public:
   /**
    * Gyro constructor on onboard CS0.
@@ -100,7 +100,7 @@ class ADXRS450_Gyro : public Gyro,
    */
   int GetPort() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   SPI m_spi;

wpilibc/src/main/native/include/frc/AnalogAccelerometer.h

@@ -6,14 +6,13 @@
 
 #include <memory>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/AnalogInput.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Handle operation of an analog accelerometer.
  *
@@ -21,8 +20,8 @@ class SendableBuilder;
  * sensors have multiple axis and can be treated as multiple devices. Each is
  * calibrated by finding the center value over a period of time.
  */
-class AnalogAccelerometer : public Sendable,
-                            public SendableHelper<AnalogAccelerometer> {
+class AnalogAccelerometer : public wpi::Sendable,
+                            public wpi::SendableHelper<AnalogAccelerometer> {
  public:
   /**
    * Create a new instance of an accelerometer.
@@ -93,7 +92,7 @@ class AnalogAccelerometer : public Sendable,
    */
   void SetZero(double zero);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   /**

wpilibc/src/main/native/include/frc/AnalogEncoder.h

@@ -9,11 +9,11 @@
 #include <hal/SimDevice.h>
 #include <hal/Types.h>
 #include <units/angle.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/AnalogTrigger.h"
 #include "frc/Counter.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 class AnalogInput;
@@ -21,7 +21,8 @@ class AnalogInput;
 /**
  * Class for supporting continuous analog encoders, such as the US Digital MA3.
  */
-class AnalogEncoder : public Sendable, public SendableHelper<AnalogEncoder> {
+class AnalogEncoder : public wpi::Sendable,
+                      public wpi::SendableHelper<AnalogEncoder> {
  public:
   /**
    * Construct a new AnalogEncoder attached to a specific AnalogIn channel.
@@ -116,7 +117,7 @@ class AnalogEncoder : public Sendable, public SendableHelper<AnalogEncoder> {
    */
   int GetChannel() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   void Init();

wpilibc/src/main/native/include/frc/AnalogGyro.h

@@ -7,10 +7,10 @@
 #include <memory>
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/interfaces/Gyro.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -30,8 +30,8 @@ class AnalogInput;
  * This class is for gyro sensors that connect to an analog input.
  */
 class AnalogGyro : public Gyro,
-                   public Sendable,
-                   public SendableHelper<AnalogGyro> {
+                   public wpi::Sendable,
+                   public wpi::SendableHelper<AnalogGyro> {
  public:
   static constexpr int kOversampleBits = 10;
   static constexpr int kAverageBits = 0;
@@ -192,7 +192,7 @@ class AnalogGyro : public Gyro,
    */
   std::shared_ptr<AnalogInput> GetAnalogInput() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  protected:
   std::shared_ptr<AnalogInput> m_analog;

wpilibc/src/main/native/include/frc/AnalogInput.h

@@ -7,13 +7,11 @@
 #include <stdint.h>
 
 #include <hal/Types.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 
-class SendableBuilder;
 class DMA;
 class DMASample;
 
@@ -29,7 +27,8 @@ class DMASample;
  * are divided by the number of samples to retain the resolution, but get more
  * stable values.
  */
-class AnalogInput : public Sendable, public SendableHelper<AnalogInput> {
+class AnalogInput : public wpi::Sendable,
+                    public wpi::SendableHelper<AnalogInput> {
   friend class AnalogTrigger;
   friend class AnalogGyro;
   friend class DMA;
@@ -282,7 +281,7 @@ class AnalogInput : public Sendable, public SendableHelper<AnalogInput> {
    */
   void SetSimDevice(HAL_SimDeviceHandle device);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_channel;

wpilibc/src/main/native/include/frc/AnalogOutput.h

@@ -5,18 +5,16 @@
 #pragma once
 
 #include <hal/Types.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * MXP analog output class.
  */
-class AnalogOutput : public Sendable, public SendableHelper<AnalogOutput> {
+class AnalogOutput : public wpi::Sendable,
+                     public wpi::SendableHelper<AnalogOutput> {
  public:
   /**
    * Construct an analog output on the given channel.
@@ -51,7 +49,7 @@ class AnalogOutput : public Sendable, public SendableHelper<AnalogOutput> {
    */
   int GetChannel() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  protected:
   int m_channel;

wpilibc/src/main/native/include/frc/AnalogPotentiometer.h

@@ -6,22 +6,21 @@
 
 #include <memory>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/AnalogInput.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Class for reading analog potentiometers. Analog potentiometers read in an
  * analog voltage that corresponds to a position. The position is in whichever
  * units you choose, by way of the scaling and offset constants passed to the
  * constructor.
  */
-class AnalogPotentiometer : public Sendable,
-                            public SendableHelper<AnalogPotentiometer> {
+class AnalogPotentiometer : public wpi::Sendable,
+                            public wpi::SendableHelper<AnalogPotentiometer> {
  public:
   /**
    * Construct an Analog Potentiometer object from a channel number.
@@ -103,7 +102,7 @@ class AnalogPotentiometer : public Sendable,
    */
   double Get() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   std::shared_ptr<AnalogInput> m_analog_input;

wpilibc/src/main/native/include/frc/AnalogTrigger.h

@@ -7,18 +7,18 @@
 #include <memory>
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/AnalogTriggerOutput.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
 class AnalogInput;
 class DutyCycle;
-class SendableBuilder;
 
-class AnalogTrigger : public Sendable, public SendableHelper<AnalogTrigger> {
+class AnalogTrigger : public wpi::Sendable,
+                      public wpi::SendableHelper<AnalogTrigger> {
   friend class AnalogTriggerOutput;
 
  public:
@@ -148,7 +148,7 @@ class AnalogTrigger : public Sendable, public SendableHelper<AnalogTrigger> {
   std::shared_ptr<AnalogTriggerOutput> CreateOutput(
       AnalogTriggerType type) const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int GetSourceChannel() const;

wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h

@@ -4,9 +4,10 @@
 
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/DigitalSource.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -44,8 +45,8 @@ class AnalogTrigger;
  * may help with this, but rotational speeds of the sensor will then be limited.
  */
 class AnalogTriggerOutput : public DigitalSource,
-                            public Sendable,
-                            public SendableHelper<AnalogTriggerOutput> {
+                            public wpi::Sendable,
+                            public wpi::SendableHelper<AnalogTriggerOutput> {
   friend class AnalogTrigger;
 
  public:
@@ -77,7 +78,7 @@ class AnalogTriggerOutput : public DigitalSource,
    */
   int GetChannel() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  protected:
   /**

wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h

@@ -4,22 +4,21 @@
 
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Built-in accelerometer.
  *
  * This class allows access to the roboRIO's internal accelerometer.
  */
 class BuiltInAccelerometer : public Accelerometer,
-                             public Sendable,
-                             public SendableHelper<BuiltInAccelerometer> {
+                             public wpi::Sendable,
+                             public wpi::SendableHelper<BuiltInAccelerometer> {
  public:
   /**
    * Constructor.
@@ -56,7 +55,7 @@ class BuiltInAccelerometer : public Accelerometer,
    */
   double GetZ() override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/Counter.h

@@ -8,16 +8,15 @@
 
 #include <hal/Types.h>
 #include <units/time.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/AnalogTrigger.h"
 #include "frc/CounterBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
 class DigitalGlitchFilter;
-class SendableBuilder;
 class DMA;
 class DMASample;
 
@@ -32,8 +31,8 @@ class DMASample;
  * to be zeroed before use.
  */
 class Counter : public CounterBase,
-                public Sendable,
-                public SendableHelper<Counter> {
+                public wpi::Sendable,
+                public wpi::SendableHelper<Counter> {
   friend class DMA;
   friend class DMASample;
 
@@ -421,7 +420,7 @@ class Counter : public CounterBase,
    */
   bool GetDirection() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  protected:
   // Makes the counter count up.

wpilibc/src/main/native/include/frc/DigitalGlitchFilter.h

@@ -9,10 +9,10 @@
 #include <array>
 
 #include <wpi/mutex.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/DigitalSource.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -26,8 +26,8 @@ class Counter;
  * filter. The filter lets the user configure the time that an input must remain
  * high or low before it is classified as high or low.
  */
-class DigitalGlitchFilter : public Sendable,
-                            public SendableHelper<DigitalGlitchFilter> {
+class DigitalGlitchFilter : public wpi::Sendable,
+                            public wpi::SendableHelper<DigitalGlitchFilter> {
  public:
   DigitalGlitchFilter();
   ~DigitalGlitchFilter() override;
@@ -114,7 +114,7 @@ class DigitalGlitchFilter : public Sendable,
    */
   uint64_t GetPeriodNanoSeconds();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   // Sets the filter for the input to be the requested index. A value of 0

wpilibc/src/main/native/include/frc/DigitalInput.h

@@ -4,14 +4,14 @@
 
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/DigitalSource.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
 class DigitalGlitchFilter;
-class SendableBuilder;
 
 /**
  * Class to read a digital input.
@@ -23,8 +23,8 @@ class SendableBuilder;
  * implemented anywhere else.
  */
 class DigitalInput : public DigitalSource,
-                     public Sendable,
-                     public SendableHelper<DigitalInput> {
+                     public wpi::Sendable,
+                     public wpi::SendableHelper<DigitalInput> {
  public:
   /**
    * Create an instance of a Digital Input class.
@@ -75,7 +75,7 @@ class DigitalInput : public DigitalSource,
    */
   void SetSimDevice(HAL_SimDeviceHandle device);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_channel;

wpilibc/src/main/native/include/frc/DigitalOutput.h

@@ -5,15 +5,13 @@
 #pragma once
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/DigitalSource.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Class to write to digital outputs.
  *
@@ -22,8 +20,8 @@ class SendableBuilder;
  * shouldn't be done here.
  */
 class DigitalOutput : public DigitalSource,
-                      public Sendable,
-                      public SendableHelper<DigitalOutput> {
+                      public wpi::Sendable,
+                      public wpi::SendableHelper<DigitalOutput> {
  public:
   /**
    * Create an instance of a digital output.
@@ -145,7 +143,7 @@ class DigitalOutput : public DigitalSource,
    */
   void SetSimDevice(HAL_SimDeviceHandle device);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_channel;

wpilibc/src/main/native/include/frc/DoubleSolenoid.h

@@ -7,15 +7,13 @@
 #include <memory>
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/PneumaticsBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * DoubleSolenoid class for running 2 channels of high voltage Digital Output
  * (PCM).
@@ -23,7 +21,8 @@ class SendableBuilder;
  * The DoubleSolenoid class is typically used for pneumatics solenoids that
  * have two positions controlled by two separate channels.
  */
-class DoubleSolenoid : public Sendable, public SendableHelper<DoubleSolenoid> {
+class DoubleSolenoid : public wpi::Sendable,
+                       public wpi::SendableHelper<DoubleSolenoid> {
  public:
   enum Value { kOff, kForward, kReverse };
 
@@ -98,7 +97,7 @@ class DoubleSolenoid : public Sendable, public SendableHelper<DoubleSolenoid> {
    */
   bool IsRevSolenoidDisabled() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_forwardChannel;  // The forward channel on the module to control.

wpilibc/src/main/native/include/frc/DutyCycle.h

@@ -7,9 +7,8 @@
 #include <memory>
 
 #include <hal/Types.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 class DigitalSource;
@@ -28,7 +27,7 @@ class DMASample;
  * order to implement rollover checking.
  *
  */
-class DutyCycle : public Sendable, public SendableHelper<DutyCycle> {
+class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
   friend class AnalogTrigger;
   friend class DMA;
   friend class DMASample;
@@ -119,7 +118,7 @@ class DutyCycle : public Sendable, public SendableHelper<DutyCycle> {
   int GetSourceChannel() const;
 
  protected:
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   void InitDutyCycle();

wpilibc/src/main/native/include/frc/DutyCycleEncoder.h

@@ -9,11 +9,11 @@
 #include <hal/SimDevice.h>
 #include <hal/Types.h>
 #include <units/angle.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/AnalogTrigger.h"
 #include "frc/Counter.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 class DutyCycle;
@@ -24,8 +24,8 @@ class DigitalSource;
  * PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag
  * Encoder.
  */
-class DutyCycleEncoder : public Sendable,
-                         public SendableHelper<DutyCycleEncoder> {
+class DutyCycleEncoder : public wpi::Sendable,
+                         public wpi::SendableHelper<DutyCycleEncoder> {
  public:
   /**
    * Construct a new DutyCycleEncoder on a specific channel.
@@ -163,7 +163,7 @@ class DutyCycleEncoder : public Sendable,
    */
   int GetSourceChannel() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   void Init();

wpilibc/src/main/native/include/frc/Encoder.h

@@ -7,17 +7,16 @@
 #include <memory>
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/Counter.h"
 #include "frc/CounterBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
 class DigitalSource;
 class DigitalGlitchFilter;
-class SendableBuilder;
 class DMA;
 class DMASample;
 
@@ -37,8 +36,8 @@ class DMASample;
  * to be zeroed before use.
  */
 class Encoder : public CounterBase,
-                public Sendable,
-                public SendableHelper<Encoder> {
+                public wpi::Sendable,
+                public wpi::SendableHelper<Encoder> {
   friend class DMA;
   friend class DMASample;
 
@@ -340,7 +339,7 @@ class Encoder : public CounterBase,
 
   int GetFPGAIndex() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   /**

wpilibc/src/main/native/include/frc/PWM.h

@@ -7,13 +7,11 @@
 #include <stdint.h>
 
 #include <hal/Types.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 class AddressableLED;
-class SendableBuilder;
 
 /**
  * Class implements the PWM generation in the FPGA.
@@ -32,7 +30,7 @@ class SendableBuilder;
  *   - 1 = minimum pulse width (currently 0.5ms)
  *   - 0 = disabled (i.e. PWM output is held low)
  */
-class PWM : public Sendable, public SendableHelper<PWM> {
+class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
  public:
   friend class AddressableLED;
   /**
@@ -224,7 +222,7 @@ class PWM : public Sendable, public SendableHelper<PWM> {
   int GetChannel() const;
 
  protected:
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_channel;

wpilibc/src/main/native/include/frc/PowerDistributionPanel.h

@@ -5,20 +5,18 @@
 #pragma once
 
 #include <hal/Types.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Class for getting voltage, current, temperature, power and energy from the
  * CAN PDP.
  */
-class PowerDistributionPanel : public Sendable,
-                               public SendableHelper<PowerDistributionPanel> {
+class PowerDistributionPanel
+    : public wpi::Sendable,
+      public wpi::SendableHelper<PowerDistributionPanel> {
  public:
   /**
    * Constructs a PowerDistributionPanel.
@@ -96,7 +94,7 @@ class PowerDistributionPanel : public Sendable,
    */
   int GetModule() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   hal::Handle<HAL_PDPHandle> m_handle;

wpilibc/src/main/native/include/frc/Relay.h

@@ -8,15 +8,13 @@
 #include <string>
 
 #include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/MotorSafety.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Class for Spike style relay outputs.
  *
@@ -30,8 +28,8 @@ class SendableBuilder;
  * a solenoid).
  */
 class Relay : public MotorSafety,
-              public Sendable,
-              public SendableHelper<Relay> {
+              public wpi::Sendable,
+              public wpi::SendableHelper<Relay> {
  public:
   enum Value { kOff, kOn, kForward, kReverse };
   enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
@@ -93,7 +91,7 @@ class Relay : public MotorSafety,
 
   std::string GetDescription() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   int m_channel;

wpilibc/src/main/native/include/frc/Servo.h

@@ -92,7 +92,7 @@ class Servo : public PWM {
    */
   double GetMinAngle() const;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   double GetServoAngleRange() const;

wpilibc/src/main/native/include/frc/Solenoid.h

@@ -8,22 +8,20 @@
 
 #include <hal/Types.h>
 #include <units/time.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/PneumaticsBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Solenoid class for running high voltage Digital Output (PCM).
  *
  * The Solenoid class is typically used for pneumatics solenoids, but could be
  * used for any device within the current spec of the PCM.
  */
-class Solenoid : public Sendable, public SendableHelper<Solenoid> {
+class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
  public:
   Solenoid(PneumaticsBase& module, int channel);
   Solenoid(PneumaticsBase* module, int channel);
@@ -93,7 +91,7 @@ class Solenoid : public Sendable, public SendableHelper<Solenoid> {
    */
   void StartPulse();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   std::shared_ptr<PneumaticsBase> m_module;

wpilibc/src/main/native/include/frc/SpeedControllerGroup.h

@@ -8,17 +8,17 @@
 #include <vector>
 
 #include <wpi/deprecated.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/motorcontrol/MotorController.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
 class WPI_DEPRECATED("use MotorControllerGroup") SpeedControllerGroup
-    : public Sendable,
+    : public wpi::Sendable,
       public MotorController,
-      public SendableHelper<SpeedControllerGroup> {
+      public wpi::SendableHelper<SpeedControllerGroup> {
  public:
   template <class... SpeedControllers>
   explicit SpeedControllerGroup(SpeedController& speedController,
@@ -36,7 +36,7 @@ class WPI_DEPRECATED("use MotorControllerGroup") SpeedControllerGroup
   void Disable() override;
   void StopMotor() override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   bool m_isInverted = false;

wpilibc/src/main/native/include/frc/Ultrasonic.h

@@ -13,10 +13,10 @@
 #include <units/length.h>
 #include <units/time.h>
 #include <units/velocity.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/Counter.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -35,7 +35,8 @@ class DigitalOutput;
  * received. The time that the line is high determines the round trip distance
  * (time of flight).
  */
-class Ultrasonic : public Sendable, public SendableHelper<Ultrasonic> {
+class Ultrasonic : public wpi::Sendable,
+                   public wpi::SendableHelper<Ultrasonic> {
  public:
   /**
    * Create an instance of the Ultrasonic Sensor.
@@ -136,7 +137,7 @@ class Ultrasonic : public Sendable, public SendableHelper<Ultrasonic> {
 
   void SetEnabled(bool enable);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   /**

wpilibc/src/main/native/include/frc/controller/PIDController.h

@@ -8,17 +8,16 @@
 #include <limits>
 
 #include <units/time.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc2 {
 
 /**
  * Implements a PID control loop.
  */
-class PIDController : public frc::Sendable,
-                      public frc::SendableHelper<PIDController> {
+class PIDController : public wpi::Sendable,
+                      public wpi::SendableHelper<PIDController> {
  public:
   /**
    * Allocates a PIDController with the given constants for Kp, Ki, and Kd.
@@ -193,7 +192,7 @@ class PIDController : public frc::Sendable,
    */
   void Reset();
 
-  void InitSendable(frc::SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   // Factor for "proportional" control

wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h

@@ -10,12 +10,12 @@
 #include <limits>
 
 #include <units/time.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/MathUtil.h"
 #include "frc/controller/PIDController.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableHelper.h"
 #include "frc/trajectory/TrapezoidProfile.h"
 
 namespace frc {
@@ -29,8 +29,8 @@ void ReportProfiledPIDController();
  */
 template <class Distance>
 class ProfiledPIDController
-    : public Sendable,
-      public SendableHelper<ProfiledPIDController<Distance>> {
+    : public wpi::Sendable,
+      public wpi::SendableHelper<ProfiledPIDController<Distance>> {
  public:
   using Distance_t = units::unit_t<Distance>;
   using Velocity =
@@ -340,7 +340,7 @@ class ProfiledPIDController
     Reset(measuredPosition, Velocity_t(0));
   }
 
-  void InitSendable(frc::SendableBuilder& builder) override {
+  void InitSendable(wpi::SendableBuilder& builder) override {
     builder.SetSmartDashboardType("ProfiledPIDController");
     builder.AddDoubleProperty(
         "p", [this] { return GetP(); }, [this](double value) { SetP(value); });

wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h

@@ -6,9 +6,10 @@
 
 #include <string>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/drive/RobotDriveBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -97,8 +98,8 @@ class SpeedController;
  * with SetDeadband().
  */
 class DifferentialDrive : public RobotDriveBase,
-                          public Sendable,
-                          public SendableHelper<DifferentialDrive> {
+                          public wpi::Sendable,
+                          public wpi::SendableHelper<DifferentialDrive> {
  public:
   struct WheelSpeeds {
     double left = 0.0;
@@ -208,7 +209,7 @@ class DifferentialDrive : public RobotDriveBase,
   void StopMotor() override;
   std::string GetDescription() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   SpeedController* m_leftMotor;

wpilibc/src/main/native/include/frc/drive/KilloughDrive.h

@@ -7,10 +7,11 @@
 #include <memory>
 #include <string>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/drive/RobotDriveBase.h"
 #include "frc/drive/Vector2d.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -54,8 +55,8 @@ class SpeedController;
  * clockwise rotation around the Z axis is positive.
  */
 class KilloughDrive : public RobotDriveBase,
-                      public Sendable,
-                      public SendableHelper<KilloughDrive> {
+                      public wpi::Sendable,
+                      public wpi::SendableHelper<KilloughDrive> {
  public:
   static constexpr double kDefaultLeftMotorAngle = 60.0;
   static constexpr double kDefaultRightMotorAngle = 120.0;
@@ -160,7 +161,7 @@ class KilloughDrive : public RobotDriveBase,
   void StopMotor() override;
   std::string GetDescription() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   SpeedController* m_leftMotor;

wpilibc/src/main/native/include/frc/drive/MecanumDrive.h

@@ -7,9 +7,10 @@
 #include <memory>
 #include <string>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/drive/RobotDriveBase.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -72,8 +73,8 @@ class SpeedController;
  * deadband of 0 is used.
  */
 class MecanumDrive : public RobotDriveBase,
-                     public Sendable,
-                     public SendableHelper<MecanumDrive> {
+                     public wpi::Sendable,
+                     public wpi::SendableHelper<MecanumDrive> {
  public:
   struct WheelSpeeds {
     double frontLeft = 0.0;
@@ -150,7 +151,7 @@ class MecanumDrive : public RobotDriveBase,
   void StopMotor() override;
   std::string GetDescription() const override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   SpeedController* m_frontLeftMotor;

wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h

@@ -7,9 +7,11 @@
 #include <functional>
 #include <memory>
 
-namespace frc {
-
+namespace wpi {
 class Sendable;
+}  // namespace wpi
+
+namespace frc {
 
 /**
  * The LiveWindow class is the public interface for putting sensors and
@@ -36,14 +38,14 @@ class LiveWindow {
    *
    * @param sendable component
    */
-  void EnableTelemetry(Sendable* component);
+  void EnableTelemetry(wpi::Sendable* component);
 
   /**
    * Disable telemetry for a single component.
    *
    * @param sendable component
    */
-  void DisableTelemetry(Sendable* component);
+  void DisableTelemetry(wpi::Sendable* component);
 
   /**
    * Disable ALL telemetry.

wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.h

@@ -7,15 +7,16 @@
 #include <functional>
 #include <vector>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/motorcontrol/MotorController.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class MotorControllerGroup : public Sendable,
+class MotorControllerGroup : public wpi::Sendable,
                              public MotorController,
-                             public SendableHelper<MotorControllerGroup> {
+                             public wpi::SendableHelper<MotorControllerGroup> {
  public:
   template <class... MotorControllers>
   explicit MotorControllerGroup(MotorController& motorController,
@@ -33,7 +34,7 @@ class MotorControllerGroup : public Sendable,
   void Disable() override;
   void StopMotor() override;
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   bool m_isInverted = false;

wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h

@@ -6,24 +6,23 @@
 
 #include <string>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/DigitalOutput.h"
 #include "frc/MotorSafety.h"
 #include "frc/PWM.h"
 #include "frc/motorcontrol/MotorController.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SendableBuilder;
-
 /**
  * Nidec Brushless Motor.
  */
 class NidecBrushless : public MotorController,
                        public MotorSafety,
-                       public Sendable,
-                       public SendableHelper<NidecBrushless> {
+                       public wpi::Sendable,
+                       public wpi::SendableHelper<NidecBrushless> {
  public:
   /**
    * Constructor.
@@ -86,7 +85,7 @@ class NidecBrushless : public MotorController,
   int GetChannel() const;
 
   // Sendable interface
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   bool m_isInverted = false;

wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h

@@ -7,11 +7,12 @@
 #include <string>
 #include <string_view>
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/MotorSafety.h"
 #include "frc/PWM.h"
 #include "frc/motorcontrol/MotorController.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -20,8 +21,8 @@ namespace frc {
  */
 class PWMMotorController : public MotorController,
                            public MotorSafety,
-                           public Sendable,
-                           public SendableHelper<PWMMotorController> {
+                           public wpi::Sendable,
+                           public wpi::SendableHelper<PWMMotorController> {
  public:
   PWMMotorController(PWMMotorController&&) = default;
   PWMMotorController& operator=(PWMMotorController&&) = default;
@@ -67,7 +68,7 @@ class PWMMotorController : public MotorController,
    */
   PWMMotorController(std::string_view name, int channel);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
   PWM m_pwm;
 

wpilibc/src/main/native/include/frc/shuffleboard/ComplexWidget.h

@@ -10,12 +10,14 @@
 #include <networktables/NetworkTable.h>
 
 #include "frc/shuffleboard/ShuffleboardWidget.h"
-#include "frc/smartdashboard/SendableBuilder.h"
-#include "frc/smartdashboard/SendableBuilderImpl.h"
+
+namespace wpi {
+class Sendable;
+class SendableBuilder;
+}  // namespace wpi
 
 namespace frc {
 
-class Sendable;
 class ShuffleboardContainer;
 
 /**
@@ -25,7 +27,9 @@ class ShuffleboardContainer;
 class ComplexWidget final : public ShuffleboardWidget<ComplexWidget> {
  public:
   ComplexWidget(ShuffleboardContainer& parent, std::string_view title,
-                Sendable& sendable);
+                wpi::Sendable& sendable);
+
+  ~ComplexWidget() override;
 
   void EnableIfActuator() override;
 
@@ -35,9 +39,8 @@ class ComplexWidget final : public ShuffleboardWidget<ComplexWidget> {
                  std::shared_ptr<nt::NetworkTable> metaTable) override;
 
  private:
-  Sendable& m_sendable;
-  SendableBuilderImpl m_builder;
-  bool m_builderInit = false;
+  wpi::Sendable& m_sendable;
+  std::unique_ptr<wpi::SendableBuilder> m_builder;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h

@@ -18,8 +18,8 @@ using CS_Handle = int;        // NOLINT
 using CS_Source = CS_Handle;  // NOLINT
 #endif
 
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 
@@ -29,14 +29,15 @@ namespace detail {
 constexpr const char* kProtocol = "camera_server://";
 std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
     CS_Source source);
-void AddToSendableRegistry(Sendable* sendable, std::string name);
+void AddToSendableRegistry(wpi::Sendable* sendable, std::string name);
 }  // namespace detail
 
 /**
  * A wrapper to make video sources sendable and usable from Shuffleboard.
  */
-class SendableCameraWrapper : public Sendable,
-                              public SendableHelper<SendableCameraWrapper> {
+class SendableCameraWrapper
+    : public wpi::Sendable,
+      public wpi::SendableHelper<SendableCameraWrapper> {
  private:
   struct private_init {};
 
@@ -60,7 +61,7 @@ class SendableCameraWrapper : public Sendable,
   static SendableCameraWrapper& Wrap(const cs::VideoSource& source);
   static SendableCameraWrapper& Wrap(CS_Source source);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
   std::string m_uri;

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponent.h

@@ -29,8 +29,6 @@ class ShuffleboardComponent : public ShuffleboardComponentBase {
   ShuffleboardComponent(ShuffleboardContainer& parent, std::string_view title,
                         std::string_view type = "");
 
-  ~ShuffleboardComponent() override = default;
-
   /**
    * Sets custom properties for this component. Property names are
    * case-sensitive and whitespace-insensitive (capitalization and spaces do not

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponentBase.h

@@ -26,8 +26,6 @@ class ShuffleboardComponentBase : public virtual ShuffleboardValue {
   ShuffleboardComponentBase(ShuffleboardContainer& parent,
                             std::string_view title, std::string_view type = "");
 
-  ~ShuffleboardComponentBase() override = default;
-
   void SetType(std::string_view type);
 
   void BuildMetadata(std::shared_ptr<nt::NetworkTable> metaTable);

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h

@@ -26,10 +26,13 @@ namespace cs {
 class VideoSource;
 }  // namespace cs
 
+namespace wpi {
+class Sendable;
+}  // namespace wpi
+
 namespace frc {
 
 class ComplexWidget;
-class Sendable;
 class ShuffleboardLayout;
 class SimpleWidget;
 
@@ -111,7 +114,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * @throws IllegalArgumentException if a widget already exists in this
    * container with the given title
    */
-  ComplexWidget& Add(std::string_view title, Sendable& sendable);
+  ComplexWidget& Add(std::string_view title, wpi::Sendable& sendable);
 
   /**
    * Adds a widget to this container to display the given video stream.
@@ -133,7 +136,7 @@ class ShuffleboardContainer : public virtual ShuffleboardValue {
    * container with the given title, or if the sendable's name has not been
    * specified
    */
-  ComplexWidget& Add(Sendable& sendable);
+  ComplexWidget& Add(wpi::Sendable& sendable);
 
   /**
    * Adds a widget to this container to display the given video stream.

wpilibc/src/main/native/include/frc/smartdashboard/Field2d.h

@@ -8,16 +8,16 @@
 #include <string_view>
 #include <vector>
 
+#include <networktables/NTSendable.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <units/length.h>
 #include <wpi/mutex.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
 #include "frc/smartdashboard/FieldObject2d.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
@@ -39,7 +39,7 @@ namespace frc {
  * also be shown by using the GetObject() function.  Other objects can
  * also have multiple poses (which will show the object at multiple locations).
  */
-class Field2d : public Sendable, public SendableHelper<Field2d> {
+class Field2d : public nt::NTSendable, public wpi::SendableHelper<Field2d> {
  public:
   using Entry = size_t;
 
@@ -85,7 +85,7 @@ class Field2d : public Sendable, public SendableHelper<Field2d> {
    */
   FieldObject2d* GetRobotObject();
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 
  private:
   std::shared_ptr<nt::NetworkTable> m_table;

wpilibc/src/main/native/include/frc/smartdashboard/Mechanism2d.h

@@ -7,13 +7,13 @@
 #include <memory>
 #include <string>
 
+#include <networktables/NTSendable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <wpi/StringMap.h>
 #include <wpi/mutex.h>
+#include <wpi/sendable/SendableHelper.h>
 
 #include "frc/smartdashboard/MechanismRoot2d.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 #include "frc/util/Color8Bit.h"
 
 namespace frc {
@@ -36,7 +36,8 @@ namespace frc {
  * @see MechanismLigament2d
  * @see MechanismRoot2d
  */
-class Mechanism2d : public Sendable, public SendableHelper<Mechanism2d> {
+class Mechanism2d : public nt::NTSendable,
+                    public wpi::SendableHelper<Mechanism2d> {
  public:
   /**
    * Create a new Mechanism2d with the given dimensions and background color.
@@ -68,7 +69,7 @@ class Mechanism2d : public Sendable, public SendableHelper<Mechanism2d> {
    */
   void SetBackgroundColor(const Color8Bit& color);
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 
  private:
   double m_width;

wpilibc/src/main/native/include/frc/smartdashboard/Sendable.h

@@ -1,26 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-namespace frc {
-
-class SendableBuilder;
-
-/**
- * Interface for Sendable objects.
- */
-class Sendable {
- public:
-  virtual ~Sendable() = default;
-
-  /**
-   * Initializes this Sendable object.
-   *
-   * @param builder sendable builder
-   */
-  virtual void InitSendable(SendableBuilder& builder) = 0;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilder.h

@@ -1,227 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <functional>
-#include <memory>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableEntry.h>
-#include <networktables/NetworkTableValue.h>
-#include <wpi/SmallVector.h>
-#include <wpi/span.h>
-
-namespace frc {
-
-class SendableBuilder {
- public:
-  virtual ~SendableBuilder() = default;
-
-  /**
-   * Set the string representation of the named data type that will be used
-   * by the smart dashboard for this sendable.
-   *
-   * @param type    data type
-   */
-  virtual void SetSmartDashboardType(std::string_view type) = 0;
-
-  /**
-   * Set a flag indicating if this sendable should be treated as an actuator.
-   * By default this flag is false.
-   *
-   * @param value   true if actuator, false if not
-   */
-  virtual void SetActuator(bool value) = 0;
-
-  /**
-   * Set the function that should be called to set the Sendable into a safe
-   * state.  This is called when entering and exiting Live Window mode.
-   *
-   * @param func    function
-   */
-  virtual void SetSafeState(std::function<void()> func) = 0;
-
-  /**
-   * Set the function that should be called to update the network table
-   * for things other than properties.  Note this function is not passed
-   * the network table object; instead it should use the entry handles
-   * returned by GetEntry().
-   *
-   * @param func    function
-   */
-  virtual void SetUpdateTable(std::function<void()> func) = 0;
-
-  /**
-   * Add a property without getters or setters.  This can be used to get
-   * entry handles for the function called by SetUpdateTable().
-   *
-   * @param key   property name
-   * @return Network table entry
-   */
-  virtual nt::NetworkTableEntry GetEntry(std::string_view key) = 0;
-
-  /**
-   * Add a boolean property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddBooleanProperty(std::string_view key,
-                                  std::function<bool()> getter,
-                                  std::function<void(bool)> setter) = 0;
-
-  /**
-   * Add a double property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddDoubleProperty(std::string_view key,
-                                 std::function<double()> getter,
-                                 std::function<void(double)> setter) = 0;
-
-  /**
-   * Add a string property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddStringProperty(
-      std::string_view key, std::function<std::string()> getter,
-      std::function<void(std::string_view)> setter) = 0;
-
-  /**
-   * Add a boolean array property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddBooleanArrayProperty(
-      std::string_view key, std::function<std::vector<int>()> getter,
-      std::function<void(wpi::span<const int>)> setter) = 0;
-
-  /**
-   * Add a double array property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddDoubleArrayProperty(
-      std::string_view key, std::function<std::vector<double>()> getter,
-      std::function<void(wpi::span<const double>)> setter) = 0;
-
-  /**
-   * Add a string array property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddStringArrayProperty(
-      std::string_view key, std::function<std::vector<std::string>()> getter,
-      std::function<void(wpi::span<const std::string>)> setter) = 0;
-
-  /**
-   * Add a raw property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddRawProperty(std::string_view key,
-                              std::function<std::string()> getter,
-                              std::function<void(std::string_view)> setter) = 0;
-
-  /**
-   * Add a NetworkTableValue property.
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddValueProperty(
-      std::string_view key, std::function<std::shared_ptr<nt::Value>()> getter,
-      std::function<void(std::shared_ptr<nt::Value>)> setter) = 0;
-
-  /**
-   * Add a string property (SmallString form).
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddSmallStringProperty(
-      std::string_view key,
-      std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
-      std::function<void(std::string_view)> setter) = 0;
-
-  /**
-   * Add a boolean array property (SmallVector form).
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddSmallBooleanArrayProperty(
-      std::string_view key,
-      std::function<wpi::span<const int>(wpi::SmallVectorImpl<int>& buf)>
-          getter,
-      std::function<void(wpi::span<const int>)> setter) = 0;
-
-  /**
-   * Add a double array property (SmallVector form).
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddSmallDoubleArrayProperty(
-      std::string_view key,
-      std::function<wpi::span<const double>(wpi::SmallVectorImpl<double>& buf)>
-          getter,
-      std::function<void(wpi::span<const double>)> setter) = 0;
-
-  /**
-   * Add a string array property (SmallVector form).
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddSmallStringArrayProperty(
-      std::string_view key,
-      std::function<
-          wpi::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
-          getter,
-      std::function<void(wpi::span<const std::string>)> setter) = 0;
-
-  /**
-   * Add a raw property (SmallVector form).
-   *
-   * @param key     property name
-   * @param getter  getter function (returns current value)
-   * @param setter  setter function (sets new value)
-   */
-  virtual void AddSmallRawProperty(
-      std::string_view key,
-      std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
-      std::function<void(std::string_view)> setter) = 0;
-
-  /**
-   * Get the network table.
-   * @return The network table
-   */
-  virtual std::shared_ptr<nt::NetworkTable> GetTable() = 0;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h

@@ -11,17 +11,16 @@
 #include <utility>
 #include <vector>
 
+#include <networktables/NTSendableBuilder.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableValue.h>
 #include <wpi/SmallVector.h>
 #include <wpi/span.h>
 
-#include "frc/smartdashboard/SendableBuilder.h"
-
 namespace frc {
 
-class SendableBuilderImpl : public SendableBuilder {
+class SendableBuilderImpl : public nt::NTSendableBuilder {
  public:
   SendableBuilderImpl() = default;
   ~SendableBuilderImpl() override = default;
@@ -46,7 +45,7 @@ class SendableBuilderImpl : public SendableBuilder {
    * Return whether this sendable has an associated table.
    * @return True if it has a table, false if not.
    */
-  bool HasTable() const;
+  bool IsPublished() const override;
 
   /**
    * Return whether this sendable should be treated as an actuator.
@@ -57,7 +56,7 @@ class SendableBuilderImpl : public SendableBuilder {
   /**
    * Update the network table values by calling the getters for all properties.
    */
-  void UpdateTable();
+  void Update() override;
 
   /**
    * Hook setters for all properties.
@@ -84,7 +83,7 @@ class SendableBuilderImpl : public SendableBuilder {
   /**
    * Clear properties.
    */
-  void ClearProperties();
+  void ClearProperties() override;
 
   void SetSmartDashboardType(std::string_view type) override;
   void SetActuator(bool value) override;

wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h

@@ -10,7 +10,6 @@
 #include <wpi/StringMap.h>
 #include <wpi/deprecated.h>
 
-#include "frc/smartdashboard/SendableBuilder.h"
 #include "frc/smartdashboard/SendableChooserBase.h"
 
 namespace frc {
@@ -112,7 +111,7 @@ class SendableChooser : public SendableChooserBase {
    */
   auto GetSelected() -> decltype(_unwrap_smart_ptr(m_choices[""]));
 
-  void InitSendable(SendableBuilder& builder) override;
+  void InitSendable(nt::NTSendableBuilder& builder) override;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.inc

@@ -11,6 +11,8 @@
 #include <utility>
 #include <vector>
 
+#include <networktables/NTSendableBuilder.h>
+
 #include "frc/smartdashboard/SendableChooser.h"
 
 namespace frc {
@@ -44,7 +46,7 @@ auto SendableChooser<T>::GetSelected()
 }
 
 template <class T>
-void SendableChooser<T>::InitSendable(SendableBuilder& builder) {
+void SendableChooser<T>::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("String Chooser");
   builder.GetEntry(kInstance).SetDouble(m_instance);
   builder.AddStringArrayProperty(

wpilibc/src/main/native/include/frc/smartdashboard/SendableChooserBase.h

@@ -7,12 +7,11 @@
 #include <atomic>
 #include <string>
 
+#include <networktables/NTSendable.h>
 #include <networktables/NetworkTableEntry.h>
 #include <wpi/SmallVector.h>
 #include <wpi/mutex.h>
-
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
+#include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
 
@@ -22,8 +21,8 @@ namespace frc {
  * It contains static, non-templated variables to avoid their duplication in the
  * template class.
  */
-class SendableChooserBase : public Sendable,
-                            public SendableHelper<SendableChooserBase> {
+class SendableChooserBase : public nt::NTSendable,
+                            public wpi::SendableHelper<SendableChooserBase> {
  public:
   SendableChooserBase();
   ~SendableChooserBase() override = default;

wpilibc/src/main/native/include/frc/smartdashboard/SendableHelper.h

@@ -1,176 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <memory>
-#include <string>
-#include <string_view>
-
-#include <wpi/deprecated.h>
-
-#include "frc/smartdashboard/SendableRegistry.h"
-
-namespace frc {
-
-/**
- * A helper class for use with objects that add themselves to SendableRegistry.
- * It takes care of properly calling Move() and Remove() on move and
- * destruction.  No action is taken if the object is copied.
- * Use public inheritance with CRTP when using this class.
- * @tparam CRTP derived class
- */
-template <typename Derived>
-class SendableHelper {
- public:
-  SendableHelper(const SendableHelper& rhs) = default;
-  SendableHelper& operator=(const SendableHelper& rhs) = default;
-
-  SendableHelper(SendableHelper&& rhs) {
-    // it is safe to call Move() multiple times with the same rhs
-    SendableRegistry::GetInstance().Move(static_cast<Derived*>(this),
-                                         static_cast<Derived*>(&rhs));
-  }
-
-  SendableHelper& operator=(SendableHelper&& rhs) {
-    // it is safe to call Move() multiple times with the same rhs
-    SendableRegistry::GetInstance().Move(static_cast<Derived*>(this),
-                                         static_cast<Derived*>(&rhs));
-    return *this;
-  }
-
-  /**
-   * Gets the name of this Sendable object.
-   *
-   * @deprecated use SendableRegistry::GetName()
-   *
-   * @return Name
-   */
-  WPI_DEPRECATED("use SendableRegistry::GetName()")
-  std::string GetName() const {
-    return SendableRegistry::GetInstance().GetName(
-        static_cast<const Derived*>(this));
-  }
-
-  /**
-   * Sets the name of this Sendable object.
-   *
-   * @deprecated use SendableRegistry::SetName()
-   *
-   * @param name name
-   */
-  WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(std::string_view name) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this), name);
-  }
-
-  /**
-   * Sets both the subsystem name and device name of this Sendable object.
-   *
-   * @deprecated use SendableRegistry::SetName()
-   *
-   * @param subsystem subsystem name
-   * @param name device name
-   */
-  WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(std::string_view subsystem, std::string_view name) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
-                                            subsystem, name);
-  }
-
-  /**
-   * Gets the subsystem name of this Sendable object.
-   *
-   * @deprecated use SendableRegistry::GetSubsystem().
-   *
-   * @return Subsystem name
-   */
-  WPI_DEPRECATED("use SendableRegistry::GetSubsystem()")
-  std::string GetSubsystem() const {
-    return SendableRegistry::GetInstance().GetSubsystem(
-        static_cast<const Derived*>(this));
-  }
-
-  /**
-   * Sets the subsystem name of this Sendable object.
-   *
-   * @deprecated use SendableRegistry::SetSubsystem()
-   *
-   * @param subsystem subsystem name
-   */
-  WPI_DEPRECATED("use SendableRegistry::SetSubsystem()")
-  void SetSubsystem(std::string_view subsystem) {
-    SendableRegistry::GetInstance().SetSubsystem(static_cast<Derived*>(this),
-                                                 subsystem);
-  }
-
- protected:
-  /**
-   * Add a child component.
-   *
-   * @deprecated use SendableRegistry::AddChild()
-   *
-   * @param child child component
-   */
-  WPI_DEPRECATED("use SendableRegistry::AddChild()")
-  void AddChild(std::shared_ptr<Sendable> child) {
-    SendableRegistry::GetInstance().AddChild(static_cast<Derived*>(this),
-                                             child.get());
-  }
-
-  /**
-   * Add a child component.
-   *
-   * @deprecated use SendableRegistry::AddChild()
-   *
-   * @param child child component
-   */
-  WPI_DEPRECATED("use SendableRegistry::AddChild()")
-  void AddChild(void* child) {
-    SendableRegistry::GetInstance().AddChild(static_cast<Derived*>(this),
-                                             child);
-  }
-
-  /**
-   * Sets the name of the sensor with a channel number.
-   *
-   * @deprecated use SendableRegistry::SetName()
-   *
-   * @param moduleType A string that defines the module name in the label for
-   *                   the value
-   * @param channel    The channel number the device is plugged into
-   */
-  WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(std::string_view moduleType, int channel) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
-                                            moduleType, channel);
-  }
-
-  /**
-   * Sets the name of the sensor with a module and channel number.
-   *
-   * @deprecated use SendableRegistry::SetName()
-   *
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into (usually
-   * PWM)
-   */
-  WPI_DEPRECATED("use SendableRegistry::SetName()")
-  void SetName(std::string_view moduleType, int moduleNumber, int channel) {
-    SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
-                                            moduleType, moduleNumber, channel);
-  }
-
- protected:
-  SendableHelper() = default;
-
-  ~SendableHelper() {
-    // it is safe to call Remove() multiple times with the same object
-    SendableRegistry::GetInstance().Remove(static_cast<Derived*>(this));
-  }
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SendableRegistry.h

@@ -1,338 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <memory>
-#include <string>
-#include <string_view>
-
-#include <networktables/NetworkTable.h>
-#include <wpi/function_ref.h>
-
-namespace frc {
-
-class Sendable;
-class SendableBuilderImpl;
-
-/**
- * The SendableRegistry class is the public interface for registering sensors
- * and actuators for use on dashboards and LiveWindow.
- */
-class SendableRegistry {
- public:
-  SendableRegistry(const SendableRegistry&) = delete;
-  SendableRegistry& operator=(const SendableRegistry&) = delete;
-
-  using UID = size_t;
-
-  /**
-   * Gets an instance of the SendableRegistry class.
-   *
-   * This is a singleton to guarantee that there is only a single instance
-   * regardless of how many times GetInstance is called.
-   */
-  static SendableRegistry& GetInstance();
-
-  /**
-   * Adds an object to the registry.
-   *
-   * @param sendable object to add
-   * @param name component name
-   */
-  void Add(Sendable* sendable, std::string_view name);
-
-  /**
-   * Adds an object to the registry.
-   *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param channel      The channel number the device is plugged into
-   */
-  void Add(Sendable* sendable, std::string_view moduleType, int channel);
-
-  /**
-   * Adds an object to the registry.
-   *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into
-   */
-  void Add(Sendable* sendable, std::string_view moduleType, int moduleNumber,
-           int channel);
-
-  /**
-   * Adds an object to the registry.
-   *
-   * @param sendable object to add
-   * @param subsystem subsystem name
-   * @param name component name
-   */
-  void Add(Sendable* sendable, std::string_view subsystem,
-           std::string_view name);
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param name component name
-   */
-  void AddLW(Sendable* sendable, std::string_view name);
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param channel      The channel number the device is plugged into
-   */
-  void AddLW(Sendable* sendable, std::string_view moduleType, int channel);
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into
-   */
-  void AddLW(Sendable* sendable, std::string_view moduleType, int moduleNumber,
-             int channel);
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param subsystem subsystem name
-   * @param name component name
-   */
-  void AddLW(Sendable* sendable, std::string_view subsystem,
-             std::string_view name);
-
-  /**
-   * Adds a child object to an object.  Adds the child object to the registry
-   * if it's not already present.
-   *
-   * @param parent parent object
-   * @param child child object
-   */
-  void AddChild(Sendable* parent, Sendable* child);
-
-  /**
-   * Adds a child object to an object.  Adds the child object to the registry
-   * if it's not already present.
-   *
-   * @param parent parent object
-   * @param child child object
-   */
-  void AddChild(Sendable* parent, void* child);
-
-  /**
-   * Removes an object from the registry.
-   *
-   * @param sendable object to remove
-   * @return true if the object was removed; false if it was not present
-   */
-  bool Remove(Sendable* sendable);
-
-  /**
-   * Moves an object in the registry (for use in move constructors/assignments).
-   *
-   * @param to new object
-   * @param from old object
-   */
-  void Move(Sendable* to, Sendable* from);
-
-  /**
-   * Determines if an object is in the registry.
-   *
-   * @param sendable object to check
-   * @return True if in registry, false if not.
-   */
-  bool Contains(const Sendable* sendable) const;
-
-  /**
-   * Gets the name of an object.
-   *
-   * @param sendable object
-   * @return Name (empty if object is not in registry)
-   */
-  std::string GetName(const Sendable* sendable) const;
-
-  /**
-   * Sets the name of an object.
-   *
-   * @param sendable object
-   * @param name name
-   */
-  void SetName(Sendable* sendable, std::string_view name);
-
-  /**
-   * Sets the name of an object with a channel number.
-   *
-   * @param sendable   object
-   * @param moduleType A string that defines the module name in the label for
-   *                   the value
-   * @param channel    The channel number the device is plugged into
-   */
-  void SetName(Sendable* sendable, std::string_view moduleType, int channel);
-
-  /**
-   * Sets the name of an object with a module and channel number.
-   *
-   * @param sendable     object
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into
-   */
-  void SetName(Sendable* sendable, std::string_view moduleType,
-               int moduleNumber, int channel);
-
-  /**
-   * Sets both the subsystem name and device name of an object.
-   *
-   * @param sendable object
-   * @param subsystem subsystem name
-   * @param name device name
-   */
-  void SetName(Sendable* sendable, std::string_view subsystem,
-               std::string_view name);
-
-  /**
-   * Gets the subsystem name of an object.
-   *
-   * @param sendable object
-   * @return Subsystem name (empty if object is not in registry)
-   */
-  std::string GetSubsystem(const Sendable* sendable) const;
-
-  /**
-   * Sets the subsystem name of an object.
-   *
-   * @param sendable object
-   * @param subsystem subsystem name
-   */
-  void SetSubsystem(Sendable* sendable, std::string_view subsystem);
-
-  /**
-   * Gets a unique handle for setting/getting data with SetData() and GetData().
-   *
-   * @return Handle
-   */
-  int GetDataHandle();
-
-  /**
-   * Associates arbitrary data with an object in the registry.
-   *
-   * @param sendable object
-   * @param handle data handle returned by GetDataHandle()
-   * @param data data to set
-   * @return Previous data (may be null)
-   */
-  std::shared_ptr<void> SetData(Sendable* sendable, int handle,
-                                std::shared_ptr<void> data);
-
-  /**
-   * Gets arbitrary data associated with an object in the registry.
-   *
-   * @param sendable object
-   * @param handle data handle returned by GetDataHandle()
-   * @return data (may be null if none associated)
-   */
-  std::shared_ptr<void> GetData(Sendable* sendable, int handle);
-
-  /**
-   * Enables LiveWindow for an object.
-   *
-   * @param sendable object
-   */
-  void EnableLiveWindow(Sendable* sendable);
-
-  /**
-   * Disables LiveWindow for an object.
-   *
-   * @param sendable object
-   */
-  void DisableLiveWindow(Sendable* sendable);
-
-  /**
-   * Get unique id for an object.  Since objects can move, use this instead
-   * of storing Sendable* directly if ownership is in question.
-   *
-   * @param sendable object
-   * @return unique id
-   */
-  UID GetUniqueId(Sendable* sendable);
-
-  /**
-   * Get sendable object for a given unique id.
-   *
-   * @param uid unique id
-   * @return sendable object (may be null)
-   */
-  Sendable* GetSendable(UID uid);
-
-  /**
-   * Publishes an object in the registry to a network table.
-   *
-   * @param sendableUid sendable unique id
-   * @param table network table
-   */
-  void Publish(UID sendableUid, std::shared_ptr<nt::NetworkTable> table);
-
-  /**
-   * Updates network table information from an object.
-   *
-   * @param sendableUid sendable unique id
-   */
-  void Update(UID sendableUid);
-
-  /**
-   * Data passed to ForeachLiveWindow() callback function
-   */
-  struct CallbackData {
-    CallbackData(Sendable* sendable_, std::string_view name_,
-                 std::string_view subsystem_, Sendable* parent_,
-                 std::shared_ptr<void>& data_, SendableBuilderImpl& builder_)
-        : sendable(sendable_),
-          name(name_),
-          subsystem(subsystem_),
-          parent(parent_),
-          data(data_),
-          builder(builder_) {}
-
-    Sendable* sendable;
-    std::string_view name;
-    std::string_view subsystem;
-    Sendable* parent;
-    std::shared_ptr<void>& data;
-    SendableBuilderImpl& builder;
-  };
-
-  /**
-   * Iterates over LiveWindow-enabled objects in the registry.
-   * It is *not* safe to call other SendableRegistry functions from the
-   * callback (this will likely deadlock).
-   *
-   * @param dataHandle data handle to get data pointer passed to callback
-   * @param callback function to call for each object
-   */
-  void ForeachLiveWindow(
-      int dataHandle,
-      wpi::function_ref<void(CallbackData& cbdata)> callback) const;
-
- private:
-  SendableRegistry();
-
-  struct Impl;
-  std::unique_ptr<Impl> m_impl;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h

@@ -11,15 +11,16 @@
 
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableValue.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
 #include <wpi/span.h>
 
 #include "frc/smartdashboard/ListenerExecutor.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
 
-class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
+class SmartDashboard : public wpi::Sendable,
+                       public wpi::SendableHelper<SmartDashboard> {
  public:
   static void init();
 
@@ -115,7 +116,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param keyName the key
    * @param value   the value
    */
-  static void PutData(std::string_view key, Sendable* data);
+  static void PutData(std::string_view key, wpi::Sendable* data);
 
   /**
    * Maps the specified key (where the key is the name of the Sendable)
@@ -129,7 +130,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    *
    * @param value the value
    */
-  static void PutData(Sendable* value);
+  static void PutData(wpi::Sendable* value);
 
   /**
    * Returns the value at the specified key.
@@ -137,7 +138,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
    * @param keyName the key
    * @return the value
    */
-  static Sendable* GetData(std::string_view keyName);
+  static wpi::Sendable* GetData(std::string_view keyName);
 
   /**
    * Maps the specified key to the specified value in this table.