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.

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java

@@ -10,16 +10,17 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.hal.SimEnum;
+import edu.wpi.first.networktables.NTSendable;
+import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
 /** ADXL345 I2C Accelerometer. */
 @SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
-public class ADXL345_I2C implements Accelerometer, Sendable, AutoCloseable {
+public class ADXL345_I2C implements Accelerometer, NTSendable, AutoCloseable {
   private static final byte kAddress = 0x1D;
   private static final byte kPowerCtlRegister = 0x2D;
   private static final byte kDataFormatRegister = 0x31;
@@ -215,7 +216,7 @@ public class ADXL345_I2C implements Accelerometer, Sendable, AutoCloseable {
   }
 
   @Override
-  public void initSendable(SendableBuilder builder) {
+  public void initSendable(NTSendableBuilder builder) {
     builder.setSmartDashboardType("3AxisAccelerometer");
     NetworkTableEntry entryX = builder.getEntry("X");
     NetworkTableEntry entryY = builder.getEntry("Y");

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java

@@ -10,16 +10,17 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.hal.SimEnum;
+import edu.wpi.first.networktables.NTSendable;
+import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
 /** ADXL345 SPI Accelerometer. */
 @SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
-public class ADXL345_SPI implements Accelerometer, Sendable, AutoCloseable {
+public class ADXL345_SPI implements Accelerometer, NTSendable, AutoCloseable {
   private static final int kPowerCtlRegister = 0x2D;
   private static final int kDataFormatRegister = 0x31;
   private static final int kDataRegister = 0x32;
@@ -229,7 +230,7 @@ public class ADXL345_SPI implements Accelerometer, Sendable, AutoCloseable {
   }
 
   @Override
-  public void initSendable(SendableBuilder builder) {
+  public void initSendable(NTSendableBuilder builder) {
     builder.setSmartDashboardType("3AxisAccelerometer");
     NetworkTableEntry entryX = builder.getEntry("X");
     NetworkTableEntry entryY = builder.getEntry("Y");

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java

@@ -9,10 +9,11 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.hal.SimEnum;
+import edu.wpi.first.networktables.NTSendable;
+import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
@@ -21,7 +22,7 @@ import java.nio.ByteOrder;
  *
  * <p>This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
  */
-public class ADXL362 implements Accelerometer, Sendable, AutoCloseable {
+public class ADXL362 implements Accelerometer, NTSendable, AutoCloseable {
   private static final byte kRegWrite = 0x0A;
   private static final byte kRegRead = 0x0B;
 
@@ -258,7 +259,7 @@ public class ADXL362 implements Accelerometer, Sendable, AutoCloseable {
   }
 
   @Override
-  public void initSendable(SendableBuilder builder) {
+  public void initSendable(NTSendableBuilder builder) {
     builder.setSmartDashboardType("3AxisAccelerometer");
     NetworkTableEntry entryX = builder.getEntry("X");
     NetworkTableEntry entryY = builder.getEntry("Y");

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java

@@ -9,9 +9,10 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimBoolean;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java

@@ -8,8 +8,9 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /**
  * Handle operation of an analog accelerometer. The accelerometer reads acceleration directly

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java

@@ -7,9 +7,10 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDevice.Direction;
 import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /** Class for supporting continuous analog encoders, such as the US Digital MA3. */
 public class AnalogEncoder implements Sendable, AutoCloseable {

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java

@@ -9,9 +9,10 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 import edu.wpi.first.hal.AnalogGyroJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * Use a rate gyro to return the robots heading relative to a starting position. The Gyro class

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java

@@ -10,8 +10,9 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.util.AllocationException;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /**
  * Analog channel class.

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java

@@ -7,8 +7,9 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.hal.AnalogJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /** Analog output class. */
 public class AnalogOutput implements Sendable, AutoCloseable {

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java

@@ -4,8 +4,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /**
  * Class for reading analog potentiometers. Analog potentiometers read in an analog voltage that

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java

@@ -8,9 +8,10 @@ import edu.wpi.first.hal.AnalogJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.util.BoundaryException;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /** Class for creating and configuring Analog Triggers. */
 public class AnalogTrigger implements Sendable, AutoCloseable {

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java

@@ -9,7 +9,8 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 import edu.wpi.first.hal.AnalogJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
 
 /**
  * Class to represent a specific output from an analog trigger. This class is used to get the

wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java

@@ -7,9 +7,10 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.hal.AccelerometerJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * Built-in accelerometer.

wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java

@@ -10,9 +10,10 @@ import static java.util.Objects.requireNonNull;
 import edu.wpi.first.hal.CounterJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java

@@ -7,8 +7,9 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.hal.DigitalGlitchFilterJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java

@@ -8,8 +8,9 @@ import edu.wpi.first.hal.DIOJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimDevice;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /**
  * Class to read a digital input. This class will read digital inputs and return the current value

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java

@@ -8,8 +8,9 @@ import edu.wpi.first.hal.DIOJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimDevice;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /**
  * Class to write digital outputs. This class will write digital outputs. Other devices that are

wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java

@@ -6,8 +6,9 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.Objects;
 
 /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java

@@ -7,8 +7,9 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.hal.DutyCycleJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /**
  * Class to read a duty cycle PWM input.

wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java

@@ -7,9 +7,10 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.hal.SimBoolean;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the

wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -11,8 +11,9 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.util.AllocationException;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /**
  * Class to read quadrature encoders.

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java

@@ -8,8 +8,9 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.PWMConfigDataResult;
 import edu.wpi.first.hal.PWMJNI;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /**
  * Class implements the PWM generation in the FPGA.

wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java

@@ -7,8 +7,9 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.PDPJNI;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /**
  * Class for getting voltage, current, temperature, power and energy from the Power Distribution

wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java

@@ -10,8 +10,9 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.RelayJNI;
 import edu.wpi.first.hal.util.UncleanStatusException;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.Arrays;
 import java.util.Optional;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/Sendable.java

@@ -1,17 +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.
-
-package edu.wpi.first.wpilibj;
-
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-
-/** The base interface for objects that can be sent over the network through network tables. */
-public interface Sendable {
-  /**
-   * Initializes this {@link Sendable} object.
-   *
-   * @param builder sendable builder
-   */
-  void initSendable(SendableBuilder builder);
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java

@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /**
  * Standard hobby style servo.

wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java

@@ -6,8 +6,9 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.Objects;
 
 /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java

@@ -4,9 +4,10 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 import java.util.Arrays;
 
 /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java

@@ -12,8 +12,9 @@ import edu.wpi.first.hal.SimBoolean;
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDevice.Direction;
 import edu.wpi.first.hal.SimDouble;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.ArrayList;
 import java.util.List;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java

@@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj.controller;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 
 /** Implements a PID control loop. */
 public class PIDController implements Sendable, AutoCloseable {

wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java

@@ -8,8 +8,8 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
 
 /**
  * Implements a PID control loop whose setpoint is constrained by a trapezoid profile. Users should

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java

@@ -10,10 +10,10 @@ import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.SpeedController;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java

@@ -10,10 +10,10 @@ import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.SpeedController;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * A class for driving Killough drive platforms.

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java

@@ -10,10 +10,10 @@ import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.SpeedController;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * A class for driving Mecanum drive platforms.

wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java

@@ -7,8 +7,9 @@ package edu.wpi.first.wpilibj.livewindow;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableRegistry;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
 
 /**
  * The LiveWindow class is the public interface for putting sensors and actuators on the LiveWindow.
@@ -31,6 +32,10 @@ public class LiveWindow {
   private static Runnable enabledListener;
   private static Runnable disabledListener;
 
+  static {
+    SendableRegistry.setLiveWindowBuilderFactory(() -> new SendableBuilderImpl());
+  }
+
   private static Component getOrAdd(Sendable sendable) {
     Component data = (Component) SendableRegistry.getData(sendable, dataHandle);
     if (data == null) {
@@ -84,7 +89,7 @@ public class LiveWindow {
         SendableRegistry.foreachLiveWindow(
             dataHandle,
             cbdata -> {
-              cbdata.builder.stopLiveWindowMode();
+              ((SendableBuilderImpl) cbdata.builder).stopLiveWindowMode();
             });
         if (disabledListener != null) {
           disabledListener.run();
@@ -173,7 +178,7 @@ public class LiveWindow {
               table = ssTable.getSubTable(cbdata.name);
             }
             table.getEntry(".name").setString(cbdata.name);
-            cbdata.builder.setTable(table);
+            ((SendableBuilderImpl) cbdata.builder).setTable(table);
             cbdata.sendable.initSendable(cbdata.builder);
             ssTable.getEntry(".type").setString("LW Subsystem");
 
@@ -181,9 +186,9 @@ public class LiveWindow {
           }
 
           if (startLiveWindow) {
-            cbdata.builder.startLiveWindowMode();
+            ((SendableBuilderImpl) cbdata.builder).startLiveWindowMode();
           }
-          cbdata.builder.updateTable();
+          cbdata.builder.update();
         });
 
     startLiveWindow = false;

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroup.java

@@ -4,9 +4,9 @@
 
 package edu.wpi.first.wpilibj.motorcontrol;
 
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.Arrays;
 
 /** Allows multiple {@link MotorController} objects to be linked together. */

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java

@@ -6,12 +6,12 @@ package edu.wpi.first.wpilibj.motorcontrol;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.DigitalOutput;
 import edu.wpi.first.wpilibj.MotorSafety;
 import edu.wpi.first.wpilibj.PWM;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /** Nidec Brushless Motor. */
 public class NidecBrushless extends MotorSafety

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java

@@ -4,11 +4,11 @@
 
 package edu.wpi.first.wpilibj.motorcontrol;
 
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.MotorSafety;
 import edu.wpi.first.wpilibj.PWM;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /** Common base class for all PWM Motor Controllers. */
 public abstract class PWMMotorController extends MotorSafety

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ComplexWidget.java

@@ -5,8 +5,7 @@
 package edu.wpi.first.wpilibj.shuffleboard;
 
 import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
 
 /**
@@ -31,7 +30,7 @@ public final class ComplexWidget extends ShuffleboardWidget<ComplexWidget> {
       m_sendable.initSendable(m_builder);
       m_builder.startListeners();
     }
-    m_builder.updateTable();
+    m_builder.update();
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java

@@ -5,8 +5,8 @@
 package edu.wpi.first.wpilibj.shuffleboard;
 
 import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.ArrayList;
 import java.util.HashSet;
 import java.util.LinkedHashMap;

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java

@@ -5,9 +5,9 @@
 package edu.wpi.first.wpilibj.shuffleboard;
 
 import edu.wpi.first.cscore.VideoSource;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.Map;
 import java.util.WeakHashMap;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java

@@ -5,7 +5,7 @@
 package edu.wpi.first.wpilibj.shuffleboard;
 
 import edu.wpi.first.cscore.VideoSource;
-import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.util.sendable.Sendable;
 import java.util.List;
 import java.util.NoSuchElementException;
 import java.util.function.BooleanSupplier;

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java

@@ -7,7 +7,7 @@ package edu.wpi.first.wpilibj.shuffleboard;
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.util.sendable.Sendable;
 import java.util.List;
 import java.util.NoSuchElementException;
 import java.util.function.BooleanSupplier;

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java

@@ -5,7 +5,7 @@
 package edu.wpi.first.wpilibj.shuffleboard;
 
 import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.util.sendable.Sendable;
 import java.util.List;
 import java.util.NoSuchElementException;
 import java.util.function.BooleanSupplier;

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java

@@ -6,8 +6,10 @@ package edu.wpi.first.wpilibj.smartdashboard;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.networktables.NTSendable;
+import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.ArrayList;
 import java.util.List;
 
@@ -27,7 +29,7 @@ import java.util.List;
  * using the getObject() function. Other objects can also have multiple poses (which will show the
  * object at multiple locations).
  */
-public class Field2d implements Sendable {
+public class Field2d implements NTSendable {
   /** Constructor. */
   public Field2d() {
     FieldObject2d obj = new FieldObject2d("Robot");
@@ -98,7 +100,7 @@ public class Field2d implements Sendable {
   }
 
   @Override
-  public void initSendable(SendableBuilder builder) {
+  public void initSendable(NTSendableBuilder builder) {
     builder.setSmartDashboardType("Field2d");
     m_table = builder.getTable();
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Mechanism2d.java

@@ -4,8 +4,9 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
+import edu.wpi.first.networktables.NTSendable;
+import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.util.Color8Bit;
 import java.util.HashMap;
 import java.util.Map;
@@ -21,7 +22,7 @@ import java.util.Map.Entry;
  * @see MechanismLigament2d
  * @see MechanismRoot2d
  */
-public final class Mechanism2d implements Sendable {
+public final class Mechanism2d implements NTSendable {
   private static final String kBackgroundColor = "backgroundColor";
   private NetworkTable m_table;
   private final Map<String, MechanismRoot2d> m_roots;
@@ -89,7 +90,7 @@ public final class Mechanism2d implements Sendable {
   }
 
   @Override
-  public void initSendable(SendableBuilder builder) {
+  public void initSendable(NTSendableBuilder builder) {
     builder.setSmartDashboardType("Mechanism2d");
     m_table = builder.getTable();
     m_table.getEntry("dims").setDoubleArray(m_dims);

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilder.java

@@ -1,155 +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.
-
-package edu.wpi.first.wpilibj.smartdashboard;
-
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.networktables.NetworkTableValue;
-import java.util.function.BooleanSupplier;
-import java.util.function.Consumer;
-import java.util.function.DoubleConsumer;
-import java.util.function.DoubleSupplier;
-import java.util.function.Supplier;
-
-public interface SendableBuilder {
-  /**
-   * Get the network table.
-   *
-   * @return The network table
-   */
-  NetworkTable getTable();
-
-  /**
-   * Set the string representation of the named data type that will be used by the smart dashboard
-   * for this sendable.
-   *
-   * @param type data type
-   */
-  void setSmartDashboardType(String type);
-
-  /**
-   * 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
-   */
-  void setActuator(boolean value);
-
-  /**
-   * 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
-   */
-  void setSafeState(Runnable func);
-
-  /**
-   * 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
-   */
-  void setUpdateTable(Runnable func);
-
-  /**
-   * 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
-   */
-  NetworkTableEntry getEntry(String key);
-
-  /**
-   * Represents an operation that accepts a single boolean-valued argument and returns no result.
-   * This is the primitive type specialization of Consumer for boolean. Unlike most other functional
-   * interfaces, BooleanConsumer is expected to operate via side-effects.
-   *
-   * <p>This is a functional interface whose functional method is accept(boolean).
-   */
-  @FunctionalInterface
-  interface BooleanConsumer {
-    /**
-     * Performs the operation on the given value.
-     *
-     * @param value the value
-     */
-    void accept(boolean value);
-  }
-
-  /**
-   * Add a boolean property.
-   *
-   * @param key property name
-   * @param getter getter function (returns current value)
-   * @param setter setter function (sets new value)
-   */
-  void addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter);
-
-  /**
-   * Add a double property.
-   *
-   * @param key property name
-   * @param getter getter function (returns current value)
-   * @param setter setter function (sets new value)
-   */
-  void addDoubleProperty(String key, DoubleSupplier getter, DoubleConsumer setter);
-
-  /**
-   * Add a string property.
-   *
-   * @param key property name
-   * @param getter getter function (returns current value)
-   * @param setter setter function (sets new value)
-   */
-  void addStringProperty(String key, Supplier<String> getter, Consumer<String> setter);
-
-  /**
-   * Add a boolean array property.
-   *
-   * @param key property name
-   * @param getter getter function (returns current value)
-   * @param setter setter function (sets new value)
-   */
-  void addBooleanArrayProperty(String key, Supplier<boolean[]> getter, Consumer<boolean[]> setter);
-
-  /**
-   * Add a double array property.
-   *
-   * @param key property name
-   * @param getter getter function (returns current value)
-   * @param setter setter function (sets new value)
-   */
-  void addDoubleArrayProperty(String key, Supplier<double[]> getter, Consumer<double[]> setter);
-
-  /**
-   * Add a string array property.
-   *
-   * @param key property name
-   * @param getter getter function (returns current value)
-   * @param setter setter function (sets new value)
-   */
-  void addStringArrayProperty(String key, Supplier<String[]> getter, Consumer<String[]> setter);
-
-  /**
-   * Add a raw property.
-   *
-   * @param key property name
-   * @param getter getter function (returns current value)
-   * @param setter setter function (sets new value)
-   */
-  void addRawProperty(String key, Supplier<byte[]> getter, Consumer<byte[]> setter);
-
-  /**
-   * Add a NetworkTableValue property.
-   *
-   * @param key property name
-   * @param getter getter function (returns current value)
-   * @param setter setter function (sets new value)
-   */
-  void addValueProperty(
-      String key, Supplier<NetworkTableValue> getter, Consumer<NetworkTableValue> setter);
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java

@@ -5,6 +5,7 @@
 package edu.wpi.first.wpilibj.smartdashboard;
 
 import edu.wpi.first.networktables.EntryListenerFlags;
+import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableValue;
@@ -17,7 +18,7 @@ import java.util.function.DoubleSupplier;
 import java.util.function.Function;
 import java.util.function.Supplier;
 
-public class SendableBuilderImpl implements SendableBuilder {
+public class SendableBuilderImpl implements NTSendableBuilder {
   private static class Property {
     Property(NetworkTable table, String key) {
       m_entry = table.getEntry(key);
@@ -80,7 +81,8 @@ public class SendableBuilderImpl implements SendableBuilder {
    *
    * @return True if it has a table, false if not.
    */
-  public boolean hasTable() {
+  @Override
+  public boolean isPublished() {
     return m_table != null;
   }
 
@@ -94,7 +96,8 @@ public class SendableBuilderImpl implements SendableBuilder {
   }
 
   /** Update the network table values by calling the getters for all properties. */
-  public void updateTable() {
+  @Override
+  public void update() {
     for (Property property : m_properties) {
       if (property.m_update != null) {
         property.m_update.accept(property.m_entry);
@@ -148,6 +151,7 @@ public class SendableBuilderImpl implements SendableBuilder {
   }
 
   /** Clear properties. */
+  @Override
   public void clearProperties() {
     stopListeners();
     m_properties.clear();

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java

@@ -6,8 +6,10 @@ package edu.wpi.first.wpilibj.smartdashboard;
 
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.networktables.NTSendable;
+import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.ArrayList;
 import java.util.LinkedHashMap;
 import java.util.List;
@@ -27,7 +29,7 @@ import java.util.concurrent.locks.ReentrantLock;
  *
  * @param <V> The type of the values to be stored
  */
-public class SendableChooser<V> implements Sendable, AutoCloseable {
+public class SendableChooser<V> implements NTSendable, AutoCloseable {
   /** The key for the default value. */
   private static final String DEFAULT = "default";
   /** The key for the selected option. */
@@ -130,7 +132,7 @@ public class SendableChooser<V> implements Sendable, AutoCloseable {
   private final ReentrantLock m_mutex = new ReentrantLock();
 
   @Override
-  public void initSendable(SendableBuilder builder) {
+  public void initSendable(NTSendableBuilder builder) {
     builder.setSmartDashboardType("String Chooser");
     builder.getEntry(INSTANCE).setDouble(m_instance);
     builder.addStringProperty(DEFAULT, () -> m_defaultChoice, null);

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableRegistry.java

@@ -1,496 +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.
-
-package edu.wpi.first.wpilibj.smartdashboard;
-
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.Sendable;
-import java.lang.ref.WeakReference;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-import java.util.Map;
-import java.util.WeakHashMap;
-import java.util.function.Consumer;
-
-/**
- * The SendableRegistry class is the public interface for registering sensors and actuators for use
- * on dashboards and LiveWindow.
- */
-public class SendableRegistry {
-  private static class Component {
-    Component() {}
-
-    Component(Sendable sendable) {
-      m_sendable = new WeakReference<>(sendable);
-    }
-
-    WeakReference<Sendable> m_sendable;
-    SendableBuilderImpl m_builder = new SendableBuilderImpl();
-    String m_name;
-    String m_subsystem = "Ungrouped";
-    WeakReference<Sendable> m_parent;
-    boolean m_liveWindow;
-    Object[] m_data;
-
-    void setName(String moduleType, int channel) {
-      m_name = moduleType + "[" + channel + "]";
-    }
-
-    void setName(String moduleType, int moduleNumber, int channel) {
-      m_name = moduleType + "[" + moduleNumber + "," + channel + "]";
-    }
-  }
-
-  private static final Map<Object, Component> components = new WeakHashMap<>();
-  private static int nextDataHandle;
-
-  private static Component getOrAdd(Sendable sendable) {
-    Component comp = components.get(sendable);
-    if (comp == null) {
-      comp = new Component(sendable);
-      components.put(sendable, comp);
-    } else {
-      if (comp.m_sendable == null) {
-        comp.m_sendable = new WeakReference<>(sendable);
-      }
-    }
-    return comp;
-  }
-
-  private SendableRegistry() {
-    throw new UnsupportedOperationException("This is a utility class!");
-  }
-
-  /**
-   * Adds an object to the registry.
-   *
-   * @param sendable object to add
-   * @param name component name
-   */
-  public static synchronized void add(Sendable sendable, String name) {
-    Component comp = getOrAdd(sendable);
-    comp.m_name = 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
-   */
-  public static synchronized void add(Sendable sendable, String moduleType, int channel) {
-    Component comp = getOrAdd(sendable);
-    comp.setName(moduleType, 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
-   */
-  public static synchronized void add(
-      Sendable sendable, String moduleType, int moduleNumber, int channel) {
-    Component comp = getOrAdd(sendable);
-    comp.setName(moduleType, moduleNumber, channel);
-  }
-
-  /**
-   * Adds an object to the registry.
-   *
-   * @param sendable object to add
-   * @param subsystem subsystem name
-   * @param name component name
-   */
-  public static synchronized void add(Sendable sendable, String subsystem, String name) {
-    Component comp = getOrAdd(sendable);
-    comp.m_name = name;
-    comp.m_subsystem = subsystem;
-  }
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param name component name
-   */
-  public static synchronized void addLW(Sendable sendable, String name) {
-    Component comp = getOrAdd(sendable);
-    comp.m_liveWindow = true;
-    comp.m_name = 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
-   */
-  public static synchronized void addLW(Sendable sendable, String moduleType, int channel) {
-    Component comp = getOrAdd(sendable);
-    comp.m_liveWindow = true;
-    comp.setName(moduleType, 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
-   */
-  public static synchronized void addLW(
-      Sendable sendable, String moduleType, int moduleNumber, int channel) {
-    Component comp = getOrAdd(sendable);
-    comp.m_liveWindow = true;
-    comp.setName(moduleType, moduleNumber, channel);
-  }
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param subsystem subsystem name
-   * @param name component name
-   */
-  public static synchronized void addLW(Sendable sendable, String subsystem, String name) {
-    Component comp = getOrAdd(sendable);
-    comp.m_liveWindow = true;
-    comp.m_name = name;
-    comp.m_subsystem = subsystem;
-  }
-
-  /**
-   * 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
-   */
-  public static synchronized void addChild(Sendable parent, Object child) {
-    Component comp = components.get(child);
-    if (comp == null) {
-      comp = new Component();
-      components.put(child, comp);
-    }
-    comp.m_parent = new WeakReference<>(parent);
-  }
-
-  /**
-   * Removes an object from the registry.
-   *
-   * @param sendable object to remove
-   * @return true if the object was removed; false if it was not present
-   */
-  public static synchronized boolean remove(Sendable sendable) {
-    return components.remove(sendable) != null;
-  }
-
-  /**
-   * Determines if an object is in the registry.
-   *
-   * @param sendable object to check
-   * @return True if in registry, false if not.
-   */
-  public static synchronized boolean contains(Sendable sendable) {
-    return components.containsKey(sendable);
-  }
-
-  /**
-   * Gets the name of an object.
-   *
-   * @param sendable object
-   * @return Name (empty if object is not in registry)
-   */
-  public static synchronized String getName(Sendable sendable) {
-    Component comp = components.get(sendable);
-    if (comp == null) {
-      return "";
-    }
-    return comp.m_name;
-  }
-
-  /**
-   * Sets the name of an object.
-   *
-   * @param sendable object
-   * @param name name
-   */
-  public static synchronized void setName(Sendable sendable, String name) {
-    Component comp = components.get(sendable);
-    if (comp != null) {
-      comp.m_name = 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
-   */
-  public static synchronized void setName(Sendable sendable, String moduleType, int channel) {
-    Component comp = components.get(sendable);
-    if (comp != null) {
-      comp.setName(moduleType, 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
-   */
-  public static synchronized void setName(
-      Sendable sendable, String moduleType, int moduleNumber, int channel) {
-    Component comp = components.get(sendable);
-    if (comp != null) {
-      comp.setName(moduleType, moduleNumber, channel);
-    }
-  }
-
-  /**
-   * Sets both the subsystem name and device name of an object.
-   *
-   * @param sendable object
-   * @param subsystem subsystem name
-   * @param name device name
-   */
-  public static synchronized void setName(Sendable sendable, String subsystem, String name) {
-    Component comp = components.get(sendable);
-    if (comp != null) {
-      comp.m_name = name;
-      comp.m_subsystem = subsystem;
-    }
-  }
-
-  /**
-   * Gets the subsystem name of an object.
-   *
-   * @param sendable object
-   * @return Subsystem name (empty if object is not in registry)
-   */
-  public static synchronized String getSubsystem(Sendable sendable) {
-    Component comp = components.get(sendable);
-    if (comp == null) {
-      return "";
-    }
-    return comp.m_subsystem;
-  }
-
-  /**
-   * Sets the subsystem name of an object.
-   *
-   * @param sendable object
-   * @param subsystem subsystem name
-   */
-  public static synchronized void setSubsystem(Sendable sendable, String subsystem) {
-    Component comp = components.get(sendable);
-    if (comp != null) {
-      comp.m_subsystem = subsystem;
-    }
-  }
-
-  /**
-   * Gets a unique handle for setting/getting data with setData() and getData().
-   *
-   * @return Handle
-   */
-  public static synchronized int getDataHandle() {
-    return nextDataHandle++;
-  }
-
-  /**
-   * 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)
-   */
-  public static synchronized Object setData(Sendable sendable, int handle, Object data) {
-    Component comp = components.get(sendable);
-    if (comp == null) {
-      return null;
-    }
-    Object rv = null;
-    if (comp.m_data == null) {
-      comp.m_data = new Object[handle + 1];
-    } else if (handle < comp.m_data.length) {
-      rv = comp.m_data[handle];
-    } else {
-      comp.m_data = Arrays.copyOf(comp.m_data, handle + 1);
-    }
-    comp.m_data[handle] = data;
-    return rv;
-  }
-
-  /**
-   * 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)
-   */
-  public static synchronized Object getData(Sendable sendable, int handle) {
-    Component comp = components.get(sendable);
-    if (comp == null || comp.m_data == null || handle >= comp.m_data.length) {
-      return null;
-    }
-    return comp.m_data[handle];
-  }
-
-  /**
-   * Enables LiveWindow for an object.
-   *
-   * @param sendable object
-   */
-  public static synchronized void enableLiveWindow(Sendable sendable) {
-    Component comp = components.get(sendable);
-    if (comp != null) {
-      comp.m_liveWindow = true;
-    }
-  }
-
-  /**
-   * Disables LiveWindow for an object.
-   *
-   * @param sendable object
-   */
-  public static synchronized void disableLiveWindow(Sendable sendable) {
-    Component comp = components.get(sendable);
-    if (comp != null) {
-      comp.m_liveWindow = false;
-    }
-  }
-
-  /**
-   * Publishes an object in the registry to a network table.
-   *
-   * @param sendable object
-   * @param table network table
-   */
-  public static synchronized void publish(Sendable sendable, NetworkTable table) {
-    Component comp = getOrAdd(sendable);
-    comp.m_builder.clearProperties();
-    comp.m_builder.setTable(table);
-    sendable.initSendable(comp.m_builder);
-    comp.m_builder.updateTable();
-    comp.m_builder.startListeners();
-  }
-
-  /**
-   * Updates network table information from an object.
-   *
-   * @param sendable object
-   */
-  public static synchronized void update(Sendable sendable) {
-    Component comp = components.get(sendable);
-    if (comp != null) {
-      comp.m_builder.updateTable();
-    }
-  }
-
-  /** Data passed to foreachLiveWindow() callback function. */
-  public static class CallbackData {
-    /** Sendable object. */
-    @SuppressWarnings("MemberName")
-    public Sendable sendable;
-
-    /** Name. */
-    @SuppressWarnings("MemberName")
-    public String name;
-
-    /** Subsystem. */
-    @SuppressWarnings("MemberName")
-    public String subsystem;
-
-    /** Parent sendable object. */
-    @SuppressWarnings("MemberName")
-    public Sendable parent;
-
-    /** Data stored in object with setData(). Update this to change the data. */
-    @SuppressWarnings("MemberName")
-    public Object data;
-
-    /** Sendable builder for the sendable. */
-    @SuppressWarnings("MemberName")
-    public SendableBuilderImpl builder;
-  }
-
-  // As foreachLiveWindow is single threaded, cache the components it
-  // iterates over to avoid risk of ConcurrentModificationException
-  private static List<Component> foreachComponents = new ArrayList<>();
-
-  /**
-   * Iterates over LiveWindow-enabled objects in the registry. It is *not* safe to call other
-   * SendableRegistry functions from the callback.
-   *
-   * @param dataHandle data handle to get data object passed to callback
-   * @param callback function to call for each object
-   */
-  @SuppressWarnings("PMD.AvoidCatchingThrowable")
-  public static synchronized void foreachLiveWindow(
-      int dataHandle, Consumer<CallbackData> callback) {
-    CallbackData cbdata = new CallbackData();
-    foreachComponents.clear();
-    foreachComponents.addAll(components.values());
-    for (Component comp : foreachComponents) {
-      if (comp.m_sendable == null) {
-        continue;
-      }
-      cbdata.sendable = comp.m_sendable.get();
-      if (cbdata.sendable != null && comp.m_liveWindow) {
-        cbdata.name = comp.m_name;
-        cbdata.subsystem = comp.m_subsystem;
-        if (comp.m_parent != null) {
-          cbdata.parent = comp.m_parent.get();
-        } else {
-          cbdata.parent = null;
-        }
-        if (comp.m_data != null && dataHandle < comp.m_data.length) {
-          cbdata.data = comp.m_data[dataHandle];
-        } else {
-          cbdata.data = null;
-        }
-        cbdata.builder = comp.m_builder;
-        try {
-          callback.accept(cbdata);
-        } catch (Throwable throwable) {
-          Throwable cause = throwable.getCause();
-          if (cause != null) {
-            throwable = cause;
-          }
-          DriverStation.reportError(
-              "Unhandled exception calling LiveWindow for "
-                  + comp.m_name
-                  + ": "
-                  + throwable.toString(),
-              false);
-          comp.m_liveWindow = false;
-        }
-        if (cbdata.data != null) {
-          if (comp.m_data == null) {
-            comp.m_data = new Object[dataHandle + 1];
-          } else if (dataHandle >= comp.m_data.length) {
-            comp.m_data = Arrays.copyOf(comp.m_data, dataHandle + 1);
-          }
-          comp.m_data[dataHandle] = cbdata.data;
-        }
-      }
-    }
-    foreachComponents.clear();
-  }
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java

@@ -9,7 +9,8 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableRegistry;
 import java.nio.ByteBuffer;
 import java.util.HashMap;
 import java.util.Map;
@@ -58,7 +59,10 @@ public final class SmartDashboard {
     if (sddata == null || sddata != data) {
       tablesToData.put(key, data);
       NetworkTable dataTable = table.getSubTable(key);
-      SendableRegistry.publish(data, dataTable);
+      SendableBuilderImpl builder = new SendableBuilderImpl();
+      builder.setTable(dataTable);
+      SendableRegistry.publish(data, builder);
+      builder.startListeners();
       dataTable.getEntry(".name").setString(key);
     }
   }