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

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The non-NT portion has been moved to wpiutil.
The NT portion has been moved to ntcore (as NTSendable).

SendableBuilder similarly split and moved.

SendableRegistry moved to wpiutil.

In C++, SendableHelper also moved to wpiutil.

This enables use of Sendable from wpimath and also enables
moving several classes from wpilib to wpimath.
This commit is contained in:
Peter Johnson
2021-06-13 16:38:05 -07:00
committed by GitHub
parent ef4ea84cb5
commit b417d961ec
196 changed files with 1147 additions and 891 deletions
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12
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java
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@@ -49,7 +49,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
public void testBothHigh() {
m_relayFixture.getRelay().setDirection(Direction.kBoth);
m_relayFixture.getRelay().set(Value.kOn);
m_builder.updateTable();
m_builder.update();
assertTrue(
"Input one was not high when relay set both high", m_relayFixture.getInputOne().get());
assertTrue(
@@ -62,7 +62,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
public void testFirstHigh() {
m_relayFixture.getRelay().setDirection(Direction.kBoth);
m_relayFixture.getRelay().set(Value.kForward);
m_builder.updateTable();
m_builder.update();
assertFalse(
"Input one was not low when relay set Value.kForward", m_relayFixture.getInputOne().get());
assertTrue(
@@ -75,7 +75,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
public void testSecondHigh() {
m_relayFixture.getRelay().setDirection(Direction.kBoth);
m_relayFixture.getRelay().set(Value.kReverse);
m_builder.updateTable();
m_builder.update();
assertTrue(
"Input one was not high when relay set Value.kReverse", m_relayFixture.getInputOne().get());
assertFalse(
@@ -88,7 +88,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
public void testForwardDirection() {
m_relayFixture.getRelay().setDirection(Direction.kForward);
m_relayFixture.getRelay().set(Value.kOn);
m_builder.updateTable();
m_builder.update();
assertFalse(
"Input one was not low when relay set Value.kOn in kForward Direction",
m_relayFixture.getInputOne().get());
@@ -103,7 +103,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
public void testReverseDirection() {
m_relayFixture.getRelay().setDirection(Direction.kReverse);
m_relayFixture.getRelay().set(Value.kOn);
m_builder.updateTable();
m_builder.update();
assertTrue(
"Input one was not high when relay set Value.kOn in kReverse Direction",
m_relayFixture.getInputOne().get());
@@ -128,7 +128,7 @@ public class RelayCrossConnectTest extends AbstractComsSetup {
@Test
public void testInitialSettings() {
m_builder.updateTable();
m_builder.update();
assertEquals(Value.kOff, m_relayFixture.getRelay().get());
// Initially both outputs should be off
assertFalse(m_relayFixture.getInputOne().get());