[wpilib] Remove LiveWindow (#7733)

This will be replaced by a different mechanism, but removing it eases
the initial implementation burden of a new Telemetry/Sendable framework.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java

@@ -18,7 +18,6 @@ import edu.wpi.first.wpilibj.RobotState;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Watchdog;
 import edu.wpi.first.wpilibj.event.EventLoop;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
 import java.io.PrintWriter;
 import java.io.StringWriter;
@@ -101,13 +100,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
 
   CommandScheduler() {
     HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand2_Scheduler);
-    SendableRegistry.addLW(this, "Scheduler");
-    LiveWindow.setEnabledListener(
-        () -> {
-          disable();
-          cancelAll();
-        });
-    LiveWindow.setDisabledListener(this::enable);
+    SendableRegistry.add(this, "Scheduler");
   }
 
   /**
@@ -123,8 +116,6 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   @Override
   public void close() {
     SendableRegistry.remove(this);
-    LiveWindow.setEnabledListener(null);
-    LiveWindow.setDisabledListener(null);
   }
 
   /**

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java

@@ -20,7 +20,7 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
   public SubsystemBase() {
     String name = this.getClass().getSimpleName();
     name = name.substring(name.lastIndexOf('.') + 1);
-    SendableRegistry.addLW(this, name, name);
+    SendableRegistry.add(this, name, name);
     CommandScheduler.getInstance().registerSubsystem(this);
   }
 
@@ -31,7 +31,7 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
    */
   @SuppressWarnings("this-escape")
   public SubsystemBase(String name) {
-    SendableRegistry.addLW(this, name, name);
+    SendableRegistry.add(this, name, name);
     CommandScheduler.getInstance().registerSubsystem(this);
   }
 
@@ -79,7 +79,7 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
    * @param child sendable
    */
   public void addChild(String name, Sendable child) {
-    SendableRegistry.addLW(child, getSubsystem(), name);
+    SendableRegistry.add(child, getSubsystem(), name);
   }
 
   @Override

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp

@@ -13,7 +13,6 @@
 #include <frc/RobotBase.h>
 #include <frc/RobotState.h>
 #include <frc/TimedRobot.h>
-#include <frc/livewindow/LiveWindow.h>
 #include <hal/FRCUsageReporting.h>
 #include <hal/HALBase.h>
 #include <networktables/IntegerArrayTopic.h>
@@ -72,19 +71,11 @@ CommandScheduler::CommandScheduler()
       }) {
   HAL_Report(HALUsageReporting::kResourceType_Command,
              HALUsageReporting::kCommand2_Scheduler);
-  wpi::SendableRegistry::AddLW(this, "Scheduler");
-  frc::LiveWindow::SetEnabledCallback([this] {
-    this->Disable();
-    this->CancelAll();
-  });
-  frc::LiveWindow::SetDisabledCallback([this] { this->Enable(); });
+  wpi::SendableRegistry::Add(this, "Scheduler");
 }
 
 CommandScheduler::~CommandScheduler() {
   wpi::SendableRegistry::Remove(this);
-  frc::LiveWindow::SetEnabledCallback(nullptr);
-  frc::LiveWindow::SetDisabledCallback(nullptr);
-
   std::unique_ptr<Impl>().swap(m_impl);
 }
 

wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp

@@ -15,12 +15,12 @@
 using namespace frc2;
 
 SubsystemBase::SubsystemBase() {
-  wpi::SendableRegistry::AddLW(this, GetTypeName(*this));
+  wpi::SendableRegistry::Add(this, GetTypeName(*this));
   CommandScheduler::GetInstance().RegisterSubsystem({this});
 }
 
 SubsystemBase::SubsystemBase(std::string_view name) {
-  wpi::SendableRegistry::AddLW(this, name);
+  wpi::SendableRegistry::Add(this, name);
   CommandScheduler::GetInstance().RegisterSubsystem({this});
 }
 
@@ -71,5 +71,5 @@ void SubsystemBase::SetSubsystem(std::string_view name) {
 }
 
 void SubsystemBase::AddChild(std::string name, wpi::Sendable* child) {
-  wpi::SendableRegistry::AddLW(child, GetSubsystem(), name);
+  wpi::SendableRegistry::Add(child, GetSubsystem(), name);
 }