[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/include/frc/IterativeRobotBase.h

@@ -212,19 +212,6 @@ class IterativeRobotBase : public RobotBase {
   [[deprecated("Deprecated without replacement.")]]
   void SetNetworkTablesFlushEnabled(bool enabled);
 
-  /**
-   * Sets whether LiveWindow operation is enabled during test mode.
-   *
-   * @param testLW True to enable, false to disable. Defaults to false.
-   * @throws if called in test mode.
-   */
-  void EnableLiveWindowInTest(bool testLW);
-
-  /**
-   * Whether LiveWindow operation is enabled during test mode.
-   */
-  bool IsLiveWindowEnabledInTest();
-
   /**
    * Gets time period between calls to Periodic() functions.
    */
@@ -260,7 +247,6 @@ class IterativeRobotBase : public RobotBase {
   units::second_t m_period;
   Watchdog m_watchdog;
   bool m_ntFlushEnabled = true;
-  bool m_lwEnabledInTest = false;
   bool m_calledDsConnected = false;
 
   void PrintLoopOverrunMessage();

wpilibc/src/main/native/include/frc/PWM.h

@@ -54,7 +54,6 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
    * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the
    *                MXP port
    * @param registerSendable If true, adds this instance to SendableRegistry
-   *                         and LiveWindow
    */
   explicit PWM(int channel, bool registerSendable = true);
 

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

@@ -1,90 +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.
-
-#pragma once
-
-#include <functional>
-
-namespace wpi {
-class Sendable;
-}  // namespace wpi
-
-namespace frc {
-
-/**
- * The LiveWindow class is the public interface for putting sensors and
- * actuators on the LiveWindow.
- */
-class LiveWindow final {
- public:
-  /**
-   * Sets function to be called when LiveWindow is enabled.
-   *
-   * @param func function (or nullptr for none)
-   */
-  static void SetEnabledCallback(std::function<void()> func);
-
-  /**
-   * Sets function to be called when LiveWindow is disabled.
-   *
-   * @param func function (or nullptr for none)
-   */
-  static void SetDisabledCallback(std::function<void()> func);
-
-  /**
-   * Enable telemetry for a single component.
-   *
-   * @param component sendable
-   */
-  static void EnableTelemetry(wpi::Sendable* component);
-
-  /**
-   * Disable telemetry for a single component.
-   *
-   * @param component sendable
-   */
-  static void DisableTelemetry(wpi::Sendable* component);
-
-  /**
-   * Disable ALL telemetry.
-   */
-  static void DisableAllTelemetry();
-
-  /**
-   * Enable ALL telemetry.
-   */
-  static void EnableAllTelemetry();
-
-  /**
-   * Returns true if LiveWindow is enabled.
-   *
-   * @return True if LiveWindow is enabled.
-   */
-  static bool IsEnabled();
-
-  /**
-   * Change the enabled status of LiveWindow.
-   *
-   * If it changes to enabled, start livewindow running otherwise stop it
-   */
-  static void SetEnabled(bool enabled);
-
-  /**
-   * Tell all the sensors to update (send) their values.
-   *
-   * Actuators are handled through callbacks on their value changing from the
-   * SmartDashboard widgets.
-   */
-  static void UpdateValues();
-
- private:
-  LiveWindow() = default;
-
-  /**
-   * Updates the entries, without using a mutex or lock.
-   */
-  static void UpdateValuesUnsafe();
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h

@@ -73,18 +73,6 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
    */
   void StopListeners();
 
-  /**
-   * Start LiveWindow mode by hooking the setters for all properties.  Also
-   * calls the SafeState function if one was provided.
-   */
-  void StartLiveWindowMode();
-
-  /**
-   * Stop LiveWindow mode by unhooking the setters for all properties.  Also
-   * calls the SafeState function if one was provided.
-   */
-  void StopLiveWindowMode();
-
   /**
    * Clear properties.
    */
@@ -92,7 +80,6 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
 
   void SetSmartDashboardType(std::string_view type) override;
   void SetActuator(bool value) override;
-  void SetSafeState(std::function<void()> func) override;
   void SetUpdateTable(wpi::unique_function<void()> func) override;
   nt::Topic GetTopic(std::string_view key) override;
 
@@ -238,7 +225,6 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
   void AddSmallPropertyImpl(Topic topic, Getter getter, Setter setter);
 
   std::vector<std::unique_ptr<Property>> m_properties;
-  std::function<void()> m_safeState;
   std::vector<wpi::unique_function<void()>> m_updateTables;
   std::shared_ptr<nt::NetworkTable> m_table;
   bool m_controllable = false;