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/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.