Made SensorBase a utility class and renamed it to SensorUtil (#813)

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

@@ -7,8 +7,9 @@
 
 #pragma once
 
+#include "ErrorBase.h"
 #include "I2C.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Accelerometer.h"
 
 namespace frc {
@@ -20,7 +21,9 @@ namespace frc {
  * an I2C bus. This class assumes the default (not alternate) sensor address of
  * 0x1D (7-bit address).
  */
-class ADXL345_I2C : public SensorBase, public Accelerometer {
+class ADXL345_I2C : public ErrorBase,
+                    public SendableBase,
+                    public Accelerometer {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 

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

@@ -7,8 +7,9 @@
 
 #pragma once
 
+#include "ErrorBase.h"
 #include "SPI.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Accelerometer.h"
 
 namespace frc {
@@ -19,7 +20,9 @@ namespace frc {
  * This class allows access to an Analog Devices ADXL345 3-axis accelerometer
  * via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
  */
-class ADXL345_SPI : public SensorBase, public Accelerometer {
+class ADXL345_SPI : public ErrorBase,
+                    public SendableBase,
+                    public Accelerometer {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 

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

@@ -7,8 +7,9 @@
 
 #pragma once
 
+#include "ErrorBase.h"
 #include "SPI.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Accelerometer.h"
 
 namespace frc {
@@ -18,7 +19,7 @@ namespace frc {
  *
  * This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
  */
-class ADXL362 : public SensorBase, public Accelerometer {
+class ADXL362 : public ErrorBase, public SendableBase, public Accelerometer {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
   struct AllAxes {

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

@@ -10,8 +10,9 @@
 #include <memory>
 
 #include "AnalogInput.h"
+#include "ErrorBase.h"
 #include "PIDSource.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -22,7 +23,9 @@ namespace frc {
  * 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 SensorBase, public PIDSource {
+class AnalogAccelerometer : public ErrorBase,
+                            public SendableBase,
+                            public PIDSource {
  public:
   explicit AnalogAccelerometer(int channel);
   explicit AnalogAccelerometer(AnalogInput* channel);

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

@@ -11,8 +11,9 @@
 
 #include <HAL/Types.h>
 
+#include "ErrorBase.h"
 #include "PIDSource.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -28,7 +29,7 @@ namespace frc {
  * are divided by the number of samples to retain the resolution, but get more
  * stable values.
  */
-class AnalogInput : public SensorBase, public PIDSource {
+class AnalogInput : public ErrorBase, public SendableBase, public PIDSource {
   friend class AnalogTrigger;
   friend class AnalogGyro;
 

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

@@ -10,7 +10,8 @@
 #include <memory>
 
 #include "AnalogInput.h"
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Potentiometer.h"
 
 namespace frc {
@@ -21,7 +22,9 @@ namespace frc {
  * units you choose, by way of the scaling and offset constants passed to the
  * constructor.
  */
-class AnalogPotentiometer : public SensorBase, public Potentiometer {
+class AnalogPotentiometer : public ErrorBase,
+                            public SendableBase,
+                            public Potentiometer {
  public:
   /**
    * AnalogPotentiometer constructor.

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

@@ -12,13 +12,14 @@
 #include <HAL/Types.h>
 
 #include "AnalogTriggerOutput.h"
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
 class AnalogInput;
 
-class AnalogTrigger : public SensorBase {
+class AnalogTrigger : public ErrorBase, public SendableBase {
   friend class AnalogTriggerOutput;
 
  public:

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

@@ -7,7 +7,8 @@
 
 #pragma once
 
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Accelerometer.h"
 
 namespace frc {
@@ -17,7 +18,9 @@ namespace frc {
  *
  * This class allows access to the roboRIO's internal accelerometer.
  */
-class BuiltInAccelerometer : public SensorBase, public Accelerometer {
+class BuiltInAccelerometer : public ErrorBase,
+                             public SendableBase,
+                             public Accelerometer {
  public:
   explicit BuiltInAccelerometer(Range range = kRange_8G);
 

wpilibc/src/main/native/include/Compressor.h

@@ -10,7 +10,7 @@
 #include <HAL/Types.h>
 
 #include "ErrorBase.h"
-#include "SensorBase.h"
+#include "SensorUtil.h"
 #include "SmartDashboard/SendableBase.h"
 
 namespace frc {
@@ -33,7 +33,7 @@ namespace frc {
 class Compressor : public ErrorBase, public SendableBase {
  public:
   // Default PCM ID is 0
-  explicit Compressor(int pcmID = SensorBase::GetDefaultSolenoidModule());
+  explicit Compressor(int pcmID = SensorUtil::GetDefaultSolenoidModule());
   ~Compressor() override = default;
 
   void Start();

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

@@ -14,7 +14,8 @@
 
 #include "AnalogTrigger.h"
 #include "CounterBase.h"
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -30,7 +31,7 @@ class DigitalGlitchFilter;
  * All counters will immediately start counting - Reset() them if you need them
  * to be zeroed before use.
  */
-class Counter : public SensorBase, public CounterBase {
+class Counter : public ErrorBase, public SendableBase, public CounterBase {
  public:
   enum Mode {
     kTwoPulse = 0,

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

@@ -14,7 +14,8 @@
 #include <wpi/mutex.h>
 
 #include "DigitalSource.h"
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -28,7 +29,7 @@ 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 SensorBase {
+class DigitalGlitchFilter : public ErrorBase, public SendableBase {
  public:
   DigitalGlitchFilter();
   ~DigitalGlitchFilter() override;

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

@@ -13,8 +13,9 @@
 
 #include "Counter.h"
 #include "CounterBase.h"
+#include "ErrorBase.h"
 #include "PIDSource.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -36,7 +37,10 @@ class DigitalGlitchFilter;
  * All encoders will immediately start counting - Reset() them if you need them
  * to be zeroed before use.
  */
-class Encoder : public SensorBase, public CounterBase, public PIDSource {
+class Encoder : public ErrorBase,
+                public SendableBase,
+                public CounterBase,
+                public PIDSource {
  public:
   enum IndexingType {
     kResetWhileHigh,

wpilibc/src/main/native/include/GyroBase.h

@@ -7,8 +7,9 @@
 
 #pragma once
 
+#include "ErrorBase.h"
 #include "PIDSource.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Gyro.h"
 
 namespace frc {
@@ -17,7 +18,10 @@ namespace frc {
  * GyroBase is the common base class for Gyro implementations such as
  * AnalogGyro.
  */
-class GyroBase : public Gyro, public SensorBase, public PIDSource {
+class GyroBase : public Gyro,
+                 public ErrorBase,
+                 public SendableBase,
+                 public PIDSource {
  public:
   // PIDSource interface
   double PIDGet() override;

wpilibc/src/main/native/include/InterruptableSensorBase.h

@@ -10,11 +10,12 @@
 #include <HAL/Interrupts.h>
 
 #include "AnalogTriggerType.h"
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
-class InterruptableSensorBase : public SensorBase {
+class InterruptableSensorBase : public ErrorBase, public SendableBase {
  public:
   enum WaitResult {
     kTimeout = 0x0,

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

@@ -49,11 +49,11 @@ class LiveWindow {
   void AddActuator(const wpi::Twine& subsystem, const wpi::Twine& name,
                    std::shared_ptr<Sendable> component);
 
-  WPI_DEPRECATED("use SensorBase::SetName() instead")
+  WPI_DEPRECATED("use SensorUtil::SetName() instead")
   void AddSensor(const wpi::Twine& type, int channel, Sendable* component);
-  WPI_DEPRECATED("use SensorBase::SetName() instead")
+  WPI_DEPRECATED("use SensorUtil::SetName() instead")
   void AddActuator(const wpi::Twine& type, int channel, Sendable* component);
-  WPI_DEPRECATED("use SensorBase::SetName() instead")
+  WPI_DEPRECATED("use SensorUtil::SetName() instead")
   void AddActuator(const wpi::Twine& type, int module, int channel,
                    Sendable* component);
 

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

@@ -7,7 +7,8 @@
 
 #pragma once
 
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -15,7 +16,7 @@ namespace frc {
  * Class for getting voltage, current, temperature, power and energy from the
  * CAN PDP.
  */
-class PowerDistributionPanel : public SensorBase {
+class PowerDistributionPanel : public ErrorBase, public SendableBase {
  public:
   PowerDistributionPanel();
   explicit PowerDistributionPanel(int module);

wpilibc/src/main/native/include/SensorUtil.h

@@ -7,28 +7,14 @@
 
 #pragma once
 
-#include <memory>
-
-#include "Base.h"
-#include "ErrorBase.h"
-#include "SmartDashboard/Sendable.h"
-#include "SmartDashboard/SendableBase.h"
-
 namespace frc {
 
 /**
- * Base class for all sensors.
- *
  * Stores most recent status information as well as containing utility functions
  * for checking channels and error processing.
  */
-class SensorBase : public ErrorBase, public SendableBase {
+class SensorUtil final {
  public:
-  SensorBase() = default;
-
-  SensorBase(const SensorBase&) = delete;
-  SensorBase& operator=(const SensorBase&) = delete;
-
   static int GetDefaultSolenoidModule() { return 0; }
 
   static bool CheckSolenoidModule(int moduleNumber);
@@ -48,6 +34,9 @@ class SensorBase : public ErrorBase, public SendableBase {
   static const int kPwmChannels;
   static const int kRelayChannels;
   static const int kPDPChannels;
+
+ private:
+  SensorUtil() = default;
 };
 
 }  // namespace frc

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

@@ -13,13 +13,14 @@
 
 #include <networktables/NetworkTableValue.h>
 
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
 class Sendable;
 
-class SmartDashboard : public SensorBase {
+class SmartDashboard : public ErrorBase, public SendableBase {
  public:
   static void init();
 

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

@@ -13,8 +13,9 @@
 #include <vector>
 
 #include "Counter.h"
+#include "ErrorBase.h"
 #include "PIDSource.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -33,7 +34,7 @@ class DigitalOutput;
  * received. The time that the line is high determines the round trip distance
  * (time of flight).
  */
-class Ultrasonic : public SensorBase, public PIDSource {
+class Ultrasonic : public ErrorBase, public SendableBase, public PIDSource {
  public:
   enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
 

wpilibc/src/main/native/include/WPILib.h

@@ -74,7 +74,7 @@
 #include "SD540.h"
 #include "SPI.h"
 #include "SampleRobot.h"
-#include "SensorBase.h"
+#include "SensorUtil.h"
 #include "SerialPort.h"
 #include "Servo.h"
 #include "SmartDashboard/SendableChooser.h"