[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.

wpilibc/src/main/native/cpp/ADXL345_I2C.cpp

@@ -30,7 +30,7 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
   HAL_Report(HALUsageReporting::kResourceType_ADXL345,
              HALUsageReporting::kADXL345_I2C, 0);
 
-  wpi::SendableRegistry::AddLW(this, "ADXL345_I2C", port);
+  wpi::SendableRegistry::Add(this, "ADXL345_I2C", port);
 }
 
 I2C::Port ADXL345_I2C::GetI2CPort() const {

wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp

@@ -56,6 +56,6 @@ void AnalogAccelerometer::InitAccelerometer() {
   HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
              m_analogInput->GetChannel() + 1);
 
-  wpi::SendableRegistry::AddLW(this, "Accelerometer",
-                               m_analogInput->GetChannel());
+  wpi::SendableRegistry::Add(this, "Accelerometer",
+                             m_analogInput->GetChannel());
 }

wpilibc/src/main/native/cpp/AnalogEncoder.cpp

@@ -67,8 +67,8 @@ void AnalogEncoder::Init(double fullRange, double expectedZero) {
   m_fullRange = fullRange;
   m_expectedZero = expectedZero;
 
-  wpi::SendableRegistry::AddLW(this, "Analog Encoder",
-                               m_analogInput->GetChannel());
+  wpi::SendableRegistry::Add(this, "Analog Encoder",
+                             m_analogInput->GetChannel());
 }
 
 double AnalogEncoder::Get() const {

wpilibc/src/main/native/cpp/AnalogInput.cpp

@@ -35,7 +35,7 @@ AnalogInput::AnalogInput(int channel) {
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel + 1);
 
-  wpi::SendableRegistry::AddLW(this, "AnalogInput", channel);
+  wpi::SendableRegistry::Add(this, "AnalogInput", channel);
 }
 
 int AnalogInput::GetValue() const {

wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp

@@ -33,8 +33,8 @@ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
     : m_analog_input(std::move(input)),
       m_fullRange(fullRange),
       m_offset(offset) {
-  wpi::SendableRegistry::AddLW(this, "AnalogPotentiometer",
-                               m_analog_input->GetChannel());
+  wpi::SendableRegistry::Add(this, "AnalogPotentiometer",
+                             m_analog_input->GetChannel());
 }
 
 double AnalogPotentiometer::Get() const {

wpilibc/src/main/native/cpp/AnalogTrigger.cpp

@@ -38,7 +38,7 @@ AnalogTrigger::AnalogTrigger(std::shared_ptr<AnalogInput> input)
   int index = GetIndex();
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
-  wpi::SendableRegistry::AddLW(this, "AnalogTrigger", index);
+  wpi::SendableRegistry::Add(this, "AnalogTrigger", index);
 }
 
 AnalogTrigger::AnalogTrigger(DutyCycle& input)
@@ -55,7 +55,7 @@ AnalogTrigger::AnalogTrigger(std::shared_ptr<DutyCycle> input)
   int index = GetIndex();
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
-  wpi::SendableRegistry::AddLW(this, "AnalogTrigger", index);
+  wpi::SendableRegistry::Add(this, "AnalogTrigger", index);
 }
 
 void AnalogTrigger::SetLimitsVoltage(double lower, double upper) {

wpilibc/src/main/native/cpp/Compressor.cpp

@@ -25,7 +25,7 @@ Compressor::Compressor(int module, PneumaticsModuleType moduleType)
   m_module->EnableCompressorDigital();
 
   HAL_Report(HALUsageReporting::kResourceType_Compressor, module + 1);
-  wpi::SendableRegistry::AddLW(this, "Compressor", module);
+  wpi::SendableRegistry::Add(this, "Compressor", module);
 }
 
 Compressor::Compressor(PneumaticsModuleType moduleType)

wpilibc/src/main/native/cpp/Counter.cpp

@@ -27,7 +27,7 @@ Counter::Counter(Mode mode) {
   SetMaxPeriod(0.5_s);
 
   HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1, mode + 1);
-  wpi::SendableRegistry::AddLW(this, "Counter", m_index);
+  wpi::SendableRegistry::Add(this, "Counter", m_index);
 }
 
 Counter::Counter(int channel) : Counter(kTwoPulse) {

wpilibc/src/main/native/cpp/DigitalInput.cpp

@@ -32,7 +32,7 @@ DigitalInput::DigitalInput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel + 1);
-  wpi::SendableRegistry::AddLW(this, "DigitalInput", channel);
+  wpi::SendableRegistry::Add(this, "DigitalInput", channel);
 }
 
 bool DigitalInput::Get() const {

wpilibc/src/main/native/cpp/DigitalOutput.cpp

@@ -33,7 +33,7 @@ DigitalOutput::DigitalOutput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel + 1);
-  wpi::SendableRegistry::AddLW(this, "DigitalOutput", channel);
+  wpi::SendableRegistry::Add(this, "DigitalOutput", channel);
 }
 
 DigitalOutput::~DigitalOutput() {

wpilibc/src/main/native/cpp/DoubleSolenoid.cpp

@@ -55,8 +55,8 @@ DoubleSolenoid::DoubleSolenoid(int module, PneumaticsModuleType moduleType,
   HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel + 1,
              m_module->GetModuleNumber() + 1);
 
-  wpi::SendableRegistry::AddLW(this, "DoubleSolenoid",
-                               m_module->GetModuleNumber(), m_forwardChannel);
+  wpi::SendableRegistry::Add(this, "DoubleSolenoid",
+                             m_module->GetModuleNumber(), m_forwardChannel);
 }
 
 DoubleSolenoid::DoubleSolenoid(PneumaticsModuleType moduleType,
@@ -129,7 +129,6 @@ bool DoubleSolenoid::IsRevSolenoidDisabled() const {
 void DoubleSolenoid::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Double Solenoid");
   builder.SetActuator(true);
-  builder.SetSafeState([=, this] { Set(kOff); });
   builder.AddSmallStringProperty(
       "Value",
       [=, this](wpi::SmallVectorImpl<char>& buf) -> std::string_view {

wpilibc/src/main/native/cpp/DutyCycle.cpp

@@ -34,7 +34,7 @@ void DutyCycle::InitDutyCycle() {
                                      &status);
   FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
   HAL_Report(HALUsageReporting::kResourceType_DutyCycle, m_channel + 1);
-  wpi::SendableRegistry::AddLW(this, "Duty Cycle", m_channel);
+  wpi::SendableRegistry::Add(this, "Duty Cycle", m_channel);
 }
 
 int DutyCycle::GetFPGAIndex() const {

wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp

@@ -74,8 +74,8 @@ void DutyCycleEncoder::Init(double fullRange, double expectedZero) {
   m_fullRange = fullRange;
   m_expectedZero = expectedZero;
 
-  wpi::SendableRegistry::AddLW(this, "DutyCycle Encoder",
-                               m_dutyCycle->GetSourceChannel());
+  wpi::SendableRegistry::Add(this, "DutyCycle Encoder",
+                             m_dutyCycle->GetSourceChannel());
 }
 
 double DutyCycleEncoder::Get() const {

wpilibc/src/main/native/cpp/Encoder.cpp

@@ -234,7 +234,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
 
   HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
              encodingType);
-  wpi::SendableRegistry::AddLW(this, "Encoder", m_aSource->GetChannel());
+  wpi::SendableRegistry::Add(this, "Encoder", m_aSource->GetChannel());
 }
 
 double Encoder::DecodingScaleFactor() const {

wpilibc/src/main/native/cpp/IterativeRobotBase.cpp

@@ -13,7 +13,6 @@
 
 #include "frc/DSControlWord.h"
 #include "frc/Errors.h"
-#include "frc/livewindow/LiveWindow.h"
 #include "frc/smartdashboard/SmartDashboard.h"
 
 using namespace frc;
@@ -96,24 +95,6 @@ void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
   m_ntFlushEnabled = enabled;
 }
 
-void IterativeRobotBase::EnableLiveWindowInTest(bool testLW) {
-  static bool hasReported;
-  if (IsTestEnabled()) {
-    throw FRC_MakeError(err::IncompatibleMode,
-                        "Can't configure test mode while in test mode!");
-  }
-  if (!hasReported && testLW) {
-    HAL_Report(HALUsageReporting::kResourceType_SmartDashboard,
-               HALUsageReporting::kSmartDashboard_LiveWindow);
-    hasReported = true;
-  }
-  m_lwEnabledInTest = testLW;
-}
-
-bool IterativeRobotBase::IsLiveWindowEnabledInTest() {
-  return m_lwEnabledInTest;
-}
-
 units::second_t IterativeRobotBase::GetPeriod() const {
   return m_period;
 }
@@ -150,9 +131,6 @@ void IterativeRobotBase::LoopFunc() {
     } else if (m_lastMode == Mode::kTeleop) {
       TeleopExit();
     } else if (m_lastMode == Mode::kTest) {
-      if (m_lwEnabledInTest) {
-        LiveWindow::SetEnabled(false);
-      }
       TestExit();
     }
 
@@ -167,9 +145,6 @@ void IterativeRobotBase::LoopFunc() {
       TeleopInit();
       m_watchdog.AddEpoch("TeleopInit()");
     } else if (mode == Mode::kTest) {
-      if (m_lwEnabledInTest) {
-        LiveWindow::SetEnabled(true);
-      }
       TestInit();
       m_watchdog.AddEpoch("TestInit()");
     }
@@ -201,8 +176,6 @@ void IterativeRobotBase::LoopFunc() {
 
   SmartDashboard::UpdateValues();
   m_watchdog.AddEpoch("SmartDashboard::UpdateValues()");
-  LiveWindow::UpdateValues();
-  m_watchdog.AddEpoch("LiveWindow::UpdateValues()");
 
   if constexpr (IsSimulation()) {
     HAL_SimPeriodicBefore();

wpilibc/src/main/native/cpp/PWM.cpp

@@ -40,7 +40,7 @@ PWM::PWM(int channel, bool registerSendable) {
 
   HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
   if (registerSendable) {
-    wpi::SendableRegistry::AddLW(this, "PWM", channel);
+    wpi::SendableRegistry::Add(this, "PWM", channel);
   }
 }
 
@@ -174,7 +174,6 @@ int PWM::GetChannel() const {
 void PWM::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("PWM");
   builder.SetActuator(true);
-  builder.SetSafeState([=, this] { SetDisabled(); });
   builder.AddDoubleProperty(
       "Value", [=, this] { return GetPulseTime().value(); },
       [=, this](double value) { SetPulseTime(units::millisecond_t{value}); });

wpilibc/src/main/native/cpp/PowerDistribution.cpp

@@ -47,7 +47,7 @@ PowerDistribution::PowerDistribution() {
     HAL_Report(HALUsageReporting::kResourceType_PDP,
                HALUsageReporting::kPDP_REV);
   }
-  wpi::SendableRegistry::AddLW(this, "PowerDistribution", m_module);
+  wpi::SendableRegistry::Add(this, "PowerDistribution", m_module);
 }
 
 PowerDistribution::PowerDistribution(int module, ModuleType moduleType) {
@@ -68,7 +68,7 @@ PowerDistribution::PowerDistribution(int module, ModuleType moduleType) {
     HAL_Report(HALUsageReporting::kResourceType_PDP,
                HALUsageReporting::kPDP_REV);
   }
-  wpi::SendableRegistry::AddLW(this, "PowerDistribution", m_module);
+  wpi::SendableRegistry::Add(this, "PowerDistribution", m_module);
 }
 
 int PowerDistribution::GetNumChannels() const {

wpilibc/src/main/native/cpp/SharpIR.cpp

@@ -31,7 +31,7 @@ SharpIR SharpIR::GP2Y0A51SK0F(int channel) {
 
 SharpIR::SharpIR(int channel, double a, double b, double minCM, double maxCM)
     : m_sensor(channel), m_A(a), m_B(b), m_minCM(minCM), m_maxCM(maxCM) {
-  wpi::SendableRegistry::AddLW(this, "SharpIR", channel);
+  wpi::SendableRegistry::Add(this, "SharpIR", channel);
 
   m_simDevice = hal::SimDevice("SharpIR", m_sensor.GetChannel());
   if (m_simDevice) {

wpilibc/src/main/native/cpp/Solenoid.cpp

@@ -30,8 +30,8 @@ Solenoid::Solenoid(int module, PneumaticsModuleType moduleType, int channel)
 
   HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
              m_module->GetModuleNumber() + 1);
-  wpi::SendableRegistry::AddLW(this, "Solenoid", m_module->GetModuleNumber(),
-                               m_channel);
+  wpi::SendableRegistry::Add(this, "Solenoid", m_module->GetModuleNumber(),
+                             m_channel);
 }
 
 Solenoid::Solenoid(PneumaticsModuleType moduleType, int channel)
@@ -77,7 +77,6 @@ void Solenoid::StartPulse() {
 void Solenoid::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Solenoid");
   builder.SetActuator(true);
-  builder.SetSafeState([=, this] { Set(false); });
   builder.AddBooleanProperty(
       "Value", [=, this] { return Get(); },
       [=, this](bool value) { Set(value); });

wpilibc/src/main/native/cpp/Ultrasonic.cpp

@@ -183,7 +183,7 @@ void Ultrasonic::Initialize() {
   static int instances = 0;
   instances++;
   HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
-  wpi::SendableRegistry::AddLW(this, "Ultrasonic", m_echoChannel->GetChannel());
+  wpi::SendableRegistry::Add(this, "Ultrasonic", m_echoChannel->GetChannel());
 }
 
 void Ultrasonic::UltrasonicChecker() {

wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp

@@ -60,7 +60,7 @@ ExternalDirectionCounter::ExternalDirectionCounter(
   Reset();
 
   HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
-  wpi::SendableRegistry::AddLW(this, "External Direction Counter", m_index);
+  wpi::SendableRegistry::Add(this, "External Direction Counter", m_index);
 }
 
 int ExternalDirectionCounter::GetCount() const {

wpilibc/src/main/native/cpp/counter/Tachometer.cpp

@@ -34,7 +34,7 @@ Tachometer::Tachometer(std::shared_ptr<DigitalSource> source) {
   FRC_CheckErrorStatus(status, "{}", m_index);
 
   HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
-  wpi::SendableRegistry::AddLW(this, "Tachometer", m_index);
+  wpi::SendableRegistry::Add(this, "Tachometer", m_index);
 }
 
 units::hertz_t Tachometer::GetFrequency() const {

wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp

@@ -54,7 +54,7 @@ UpDownCounter::UpDownCounter(std::shared_ptr<DigitalSource> upSource,
   Reset();
 
   HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
-  wpi::SendableRegistry::AddLW(this, "UpDown Counter", m_index);
+  wpi::SendableRegistry::Add(this, "UpDown Counter", m_index);
 }
 
 int UpDownCounter::GetCount() const {

wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp

@@ -35,7 +35,7 @@ DifferentialDrive::DifferentialDrive(std::function<void(double)> leftMotor,
     : m_leftMotor{std::move(leftMotor)}, m_rightMotor{std::move(rightMotor)} {
   static int instances = 0;
   ++instances;
-  wpi::SendableRegistry::AddLW(this, "DifferentialDrive", instances);
+  wpi::SendableRegistry::Add(this, "DifferentialDrive", instances);
 }
 
 void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
@@ -194,7 +194,6 @@ std::string DifferentialDrive::GetDescription() const {
 void DifferentialDrive::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("DifferentialDrive");
   builder.SetActuator(true);
-  builder.SetSafeState([=, this] { StopMotor(); });
   builder.AddDoubleProperty(
       "Left Motor Speed", [&] { return m_leftOutput; }, m_leftMotor);
   builder.AddDoubleProperty(

wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp

@@ -46,7 +46,7 @@ MecanumDrive::MecanumDrive(std::function<void(double)> frontLeftMotor,
       m_rearRightMotor{std::move(rearRightMotor)} {
   static int instances = 0;
   ++instances;
-  wpi::SendableRegistry::AddLW(this, "MecanumDrive", instances);
+  wpi::SendableRegistry::Add(this, "MecanumDrive", instances);
 }
 
 void MecanumDrive::DriveCartesian(double xSpeed, double ySpeed,
@@ -133,7 +133,6 @@ std::string MecanumDrive::GetDescription() const {
 void MecanumDrive::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("MecanumDrive");
   builder.SetActuator(true);
-  builder.SetSafeState([=, this] { StopMotor(); });
   builder.AddDoubleProperty(
       "Front Left Motor Speed", [&] { return m_frontLeftOutput; },
       m_frontLeftMotor);

wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp

@@ -1,230 +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.
-
-#include "frc/livewindow/LiveWindow.h"
-
-#include <memory>
-
-#include <networktables/BooleanTopic.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableInstance.h>
-#include <networktables/StringTopic.h>
-#include <wpi/json.h>
-#include <wpi/mutex.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableRegistry.h>
-
-#include "frc/smartdashboard/SendableBuilderImpl.h"
-
-using namespace frc;
-
-static constexpr std::string_view kSmartDashboardType = "LW Subsystem";
-
-namespace {
-struct Component {
-  bool firstTime = true;
-  bool telemetryEnabled = false;
-  nt::StringPublisher namePub;
-  nt::StringPublisher typePub;
-};
-
-struct Instance {
-  Instance() {
-    wpi::SendableRegistry::SetLiveWindowBuilderFactory(
-        [] { return std::make_unique<SendableBuilderImpl>(); });
-    enabledPub.Set(false);
-  }
-
-  wpi::mutex mutex;
-
-  int dataHandle = wpi::SendableRegistry::GetDataHandle();
-
-  std::shared_ptr<nt::NetworkTable> liveWindowTable =
-      nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow");
-  std::shared_ptr<nt::NetworkTable> statusTable =
-      liveWindowTable->GetSubTable(".status");
-  nt::BooleanPublisher enabledPub =
-      statusTable->GetBooleanTopic("LW Enabled").Publish();
-
-  bool startLiveWindow = false;
-  bool liveWindowEnabled = false;
-  bool telemetryEnabled = false;
-
-  std::function<void()> enabled;
-  std::function<void()> disabled;
-
-  std::shared_ptr<Component> GetOrAdd(wpi::Sendable* sendable);
-};
-}  // namespace
-
-static std::unique_ptr<Instance>& GetInstanceHolder() {
-  static std::unique_ptr<Instance> instance = std::make_unique<Instance>();
-  return instance;
-}
-
-static Instance& GetInstance() {
-  return *GetInstanceHolder();
-}
-
-#ifndef __FRC_ROBORIO__
-namespace frc::impl {
-void ResetLiveWindow() {
-  std::make_unique<Instance>().swap(GetInstanceHolder());
-}
-}  // namespace frc::impl
-#endif
-
-std::shared_ptr<Component> Instance::GetOrAdd(wpi::Sendable* sendable) {
-  auto data = std::static_pointer_cast<Component>(
-      wpi::SendableRegistry::GetData(sendable, dataHandle));
-  if (!data) {
-    data = std::make_shared<Component>();
-    wpi::SendableRegistry::SetData(sendable, dataHandle, data);
-  }
-  return data;
-}
-
-void LiveWindow::SetEnabledCallback(std::function<void()> func) {
-  ::GetInstance().enabled = func;
-}
-
-void LiveWindow::SetDisabledCallback(std::function<void()> func) {
-  ::GetInstance().disabled = func;
-}
-
-void LiveWindow::EnableTelemetry(wpi::Sendable* sendable) {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  // Re-enable global setting in case DisableAllTelemetry() was called.
-  inst.telemetryEnabled = true;
-  inst.GetOrAdd(sendable)->telemetryEnabled = true;
-}
-
-void LiveWindow::DisableTelemetry(wpi::Sendable* sendable) {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  inst.GetOrAdd(sendable)->telemetryEnabled = false;
-}
-
-void LiveWindow::DisableAllTelemetry() {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  inst.telemetryEnabled = false;
-  wpi::SendableRegistry::ForeachLiveWindow(inst.dataHandle, [&](auto& cbdata) {
-    if (!cbdata.data) {
-      cbdata.data = std::make_shared<Component>();
-    }
-    std::static_pointer_cast<Component>(cbdata.data)->telemetryEnabled = false;
-  });
-}
-
-void LiveWindow::EnableAllTelemetry() {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  inst.telemetryEnabled = true;
-  wpi::SendableRegistry::ForeachLiveWindow(inst.dataHandle, [&](auto& cbdata) {
-    if (!cbdata.data) {
-      cbdata.data = std::make_shared<Component>();
-    }
-    std::static_pointer_cast<Component>(cbdata.data)->telemetryEnabled = true;
-  });
-}
-
-bool LiveWindow::IsEnabled() {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  return inst.liveWindowEnabled;
-}
-
-void LiveWindow::SetEnabled(bool enabled) {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  if (inst.liveWindowEnabled == enabled) {
-    return;
-  }
-  inst.startLiveWindow = enabled;
-  inst.liveWindowEnabled = enabled;
-  // Force table generation now to make sure everything is defined
-  UpdateValuesUnsafe();
-  if (enabled) {
-    if (inst.enabled) {
-      inst.enabled();
-    }
-  } else {
-    wpi::SendableRegistry::ForeachLiveWindow(
-        inst.dataHandle, [&](auto& cbdata) {
-          static_cast<SendableBuilderImpl&>(cbdata.builder)
-              .StopLiveWindowMode();
-        });
-    if (inst.disabled) {
-      inst.disabled();
-    }
-  }
-  inst.enabledPub.Set(enabled);
-}
-
-void LiveWindow::UpdateValues() {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  UpdateValuesUnsafe();
-}
-
-void LiveWindow::UpdateValuesUnsafe() {
-  auto& inst = ::GetInstance();
-  // Only do this if either LiveWindow mode or telemetry is enabled.
-  if (!inst.liveWindowEnabled && !inst.telemetryEnabled) {
-    return;
-  }
-
-  wpi::SendableRegistry::ForeachLiveWindow(inst.dataHandle, [&](auto& cbdata) {
-    if (!cbdata.sendable || cbdata.parent) {
-      return;
-    }
-
-    if (!cbdata.data) {
-      cbdata.data = std::make_shared<Component>();
-    }
-
-    auto& comp = *std::static_pointer_cast<Component>(cbdata.data);
-
-    if (!inst.liveWindowEnabled && !comp.telemetryEnabled) {
-      return;
-    }
-
-    if (comp.firstTime) {
-      // By holding off creating the NetworkTable entries, it allows the
-      // components to be redefined. This allows default sensor and actuator
-      // values to be created that are replaced with the custom names from
-      // users calling setName.
-      if (cbdata.name.empty()) {
-        return;
-      }
-      auto ssTable = inst.liveWindowTable->GetSubTable(cbdata.subsystem);
-      std::shared_ptr<nt::NetworkTable> table;
-      // Treat name==subsystem as top level of subsystem
-      if (cbdata.name == cbdata.subsystem) {
-        table = ssTable;
-      } else {
-        table = ssTable->GetSubTable(cbdata.name);
-      }
-      comp.namePub = nt::StringTopic{table->GetTopic(".name")}.Publish();
-      comp.namePub.Set(cbdata.name);
-      static_cast<SendableBuilderImpl&>(cbdata.builder).SetTable(table);
-      cbdata.sendable->InitSendable(cbdata.builder);
-      comp.typePub = nt::StringTopic{ssTable->GetTopic(".type")}.PublishEx(
-          nt::StringTopic::kTypeString,
-          {{"SmartDashboard", kSmartDashboardType}});
-      comp.typePub.Set(kSmartDashboardType);
-
-      comp.firstTime = false;
-    }
-
-    if (inst.startLiveWindow) {
-      static_cast<SendableBuilderImpl&>(cbdata.builder).StartLiveWindowMode();
-    }
-    cbdata.builder.Update();
-  });
-
-  inst.startLiveWindow = false;
-}

wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp

@@ -74,7 +74,6 @@ void MotorControllerGroup::StopMotor() {
 void MotorControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
-  builder.SetSafeState([=, this] { StopMotor(); });
   builder.AddDoubleProperty(
       "Value", [=, this] { return Get(); },
       [=, this](double value) { Set(value); });

wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp

@@ -27,7 +27,7 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
   m_dio.EnablePWM(0.5);
 
   HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel + 1);
-  wpi::SendableRegistry::AddLW(this, "Nidec Brushless", pwmChannel);
+  wpi::SendableRegistry::Add(this, "Nidec Brushless", pwmChannel);
 }
 
 WPI_UNIGNORE_DEPRECATED
@@ -79,7 +79,6 @@ int NidecBrushless::GetChannel() const {
 void NidecBrushless::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Nidec Brushless");
   builder.SetActuator(true);
-  builder.SetSafeState([=, this] { StopMotor(); });
   builder.AddDoubleProperty(
       "Value", [=, this] { return Get(); },
       [=, this](double value) { Set(value); });

wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp

@@ -94,7 +94,7 @@ WPI_IGNORE_DEPRECATED
 
 PWMMotorController::PWMMotorController(std::string_view name, int channel)
     : m_pwm(channel, false) {
-  wpi::SendableRegistry::AddLW(this, name, channel);
+  wpi::SendableRegistry::Add(this, name, channel);
 }
 
 WPI_UNIGNORE_DEPRECATED
@@ -102,7 +102,6 @@ WPI_UNIGNORE_DEPRECATED
 void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
-  builder.SetSafeState([=, this] { Disable(); });
   builder.AddDoubleProperty(
       "Value", [=, this] { return Get(); },
       [=, this](double value) { Set(value); });

wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp

@@ -77,20 +77,6 @@ void SendableBuilderImpl::StopListeners() {
   }
 }
 
-void SendableBuilderImpl::StartLiveWindowMode() {
-  if (m_safeState) {
-    m_safeState();
-  }
-  StartListeners();
-}
-
-void SendableBuilderImpl::StopLiveWindowMode() {
-  StopListeners();
-  if (m_safeState) {
-    m_safeState();
-  }
-}
-
 void SendableBuilderImpl::ClearProperties() {
   m_properties.clear();
 }
@@ -111,10 +97,6 @@ void SendableBuilderImpl::SetActuator(bool value) {
   m_actuator = value;
 }
 
-void SendableBuilderImpl::SetSafeState(std::function<void()> func) {
-  m_safeState = func;
-}
-
 void SendableBuilderImpl::SetUpdateTable(wpi::unique_function<void()> func) {
   m_updateTables.emplace_back(std::move(func));
 }