[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.

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/LogBackedSendableBuilder.java

@@ -43,11 +43,6 @@ public class LogBackedSendableBuilder implements SendableBuilder {
     // ignore
   }
 
-  @Override
-  public void setSafeState(Runnable func) {
-    // ignore
-  }
-
   @Override
   public void addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter) {
     m_updates.add(() -> m_backend.log(key, getter.getAsBoolean()));

gradle.properties

@@ -1,2 +1,2 @@
-org.gradle.jvmargs=-Xmx2g
+org.gradle.jvmargs=-Xmx4g
 org.ysb33r.gradle.doxygen.download.url=https://frcmaven.wpi.edu/artifactory/generic-release-mirror/doxygen

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");
+    SendableRegistry.add(this, "Scheduler");
-    LiveWindow.setEnabledListener(
-        () -> {
-          disable();
-          cancelAll();
-        });
-    LiveWindow.setDisabledListener(this::enable);
   }
 
   /**
@@ -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");
+  wpi::SendableRegistry::Add(this, "Scheduler");
-  frc::LiveWindow::SetEnabledCallback([this] {
-    this->Disable();
-    this->CancelAll();
-  });
-  frc::LiveWindow::SetDisabledCallback([this] { this->Enable(); });
 }
 
 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);
 }

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",
+  wpi::SendableRegistry::Add(this, "Accelerometer",
-                               m_analogInput->GetChannel());
+                             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",
+  wpi::SendableRegistry::Add(this, "Analog Encoder",
-                               m_analogInput->GetChannel());
+                             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",
+  wpi::SendableRegistry::Add(this, "AnalogPotentiometer",
-                               m_analog_input->GetChannel());
+                             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",
+  wpi::SendableRegistry::Add(this, "DoubleSolenoid",
-                               m_module->GetModuleNumber(), m_forwardChannel);
+                             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",
+  wpi::SendableRegistry::Add(this, "DutyCycle Encoder",
-                               m_dutyCycle->GetSourceChannel());
+                             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(),
+  wpi::SendableRegistry::Add(this, "Solenoid", m_module->GetModuleNumber(),
-                               m_channel);
+                             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));
 }

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -26,7 +26,6 @@
 #include "frc/DriverStation.h"
 #include "frc/Errors.h"
 #include "frc/Notifier.h"
-#include "frc/livewindow/LiveWindow.h"
 #include "frc/smartdashboard/SmartDashboard.h"
 
 static_assert(frc::RuntimeType::kRoboRIO ==
@@ -333,7 +332,4 @@ RobotBase::RobotBase() {
 
   // Call DriverStation::RefreshData() to kick things off
   DriverStation::RefreshData();
-
-  // First and one-time initialization
-  LiveWindow::SetEnabled(false);
 }

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;

wpilibc/src/test/native/cpp/TimedRobotTest.cpp

@@ -11,7 +11,6 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/livewindow/LiveWindow.h"
 #include "frc/simulation/DriverStationSim.h"
 #include "frc/simulation/SimHooks.h"
 
@@ -20,7 +19,7 @@ using namespace frc;
 inline constexpr auto kPeriod = 20_ms;
 
 namespace {
-class TimedRobotTest : public ::testing::TestWithParam<bool> {
+class TimedRobotTest : public ::testing::Test {
  protected:
   void SetUp() override { frc::sim::PauseTiming(); }
 
@@ -308,12 +307,8 @@ TEST_F(TimedRobotTest, TeleopMode) {
   robotThread.join();
 }
 
-TEST_P(TimedRobotTest, TestMode) {
+TEST_F(TimedRobotTest, TestMode) {
-  bool isTestLW = GetParam();
-
   MockRobot robot;
-  robot.EnableLiveWindowInTest(isTestLW);
-
   std::thread robotThread{[&] { robot.StartCompetition(); }};
 
   frc::sim::DriverStationSim::SetEnabled(true);
@@ -328,7 +323,6 @@ TEST_P(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
   EXPECT_EQ(0u, robot.m_teleopInitCount);
   EXPECT_EQ(0u, robot.m_testInitCount);
-  EXPECT_FALSE(frc::LiveWindow::IsEnabled());
 
   EXPECT_EQ(0u, robot.m_robotPeriodicCount);
   EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
@@ -350,9 +344,6 @@ TEST_P(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
   EXPECT_EQ(0u, robot.m_teleopInitCount);
   EXPECT_EQ(1u, robot.m_testInitCount);
-  EXPECT_EQ(isTestLW, frc::LiveWindow::IsEnabled());
-
-  EXPECT_THROW(robot.EnableLiveWindowInTest(isTestLW), std::runtime_error);
 
   EXPECT_EQ(1u, robot.m_robotPeriodicCount);
   EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
@@ -399,7 +390,6 @@ TEST_P(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
   EXPECT_EQ(0u, robot.m_teleopInitCount);
   EXPECT_EQ(1u, robot.m_testInitCount);
-  EXPECT_FALSE(frc::LiveWindow::IsEnabled());
 
   EXPECT_EQ(3u, robot.m_robotPeriodicCount);
   EXPECT_EQ(3u, robot.m_simulationPeriodicCount);
@@ -609,5 +599,3 @@ TEST_F(TimedRobotTest, AddPeriodicWithOffset) {
   robot.EndCompetition();
   robotThread.join();
 }
-
-INSTANTIATE_TEST_SUITE_P(TimedRobotTests, TimedRobotTest, testing::Bool());

wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp

@@ -6,7 +6,6 @@
 
 #include <frc/DriverStation.h>
 #include <frc/internal/DriverStationModeThread.h>
-#include <frc/livewindow/LiveWindow.h>
 #include <hal/DriverStation.h>
 #include <networktables/NetworkTable.h>
 
@@ -45,14 +44,12 @@ void Robot::StartCompetition() {
         wpi::WaitForObject(event.GetHandle());
       }
     } else if (IsTest()) {
-      frc::LiveWindow::SetEnabled(true);
       modeThread.InTest(true);
       Test();
       modeThread.InTest(false);
       while (IsTest() && IsEnabled()) {
         wpi::WaitForObject(event.GetHandle());
       }
-      frc::LiveWindow::SetEnabled(false);
     } else {
       modeThread.InTeleop(true);
       Teleop();

wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp

@@ -4,16 +4,11 @@
 
 #include "Robot.h"
 
-#include <frc/livewindow/LiveWindow.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <wpi/print.h>
 
 // Run robot periodic() functions for 5 ms, and run controllers every 10 ms
 Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
-  // LiveWindow causes drastic overruns in robot periodic functions that will
-  // interfere with controllers
-  frc::LiveWindow::DisableAllTelemetry();
-
   // Runs for 2 ms after robot periodic functions
   Schedule([=] {}, 2_ms);
 

wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp

@@ -4,14 +4,8 @@
 
 #include "Robot.h"
 
-#include <frc/livewindow/LiveWindow.h>
-
 // Run robot periodic() functions for 5 ms, and run controllers every 10 ms
 Robot::Robot() : frc::TimesliceRobot{5_ms, 10_ms} {
-  // LiveWindow causes drastic overruns in robot periodic functions that will
-  // interfere with controllers
-  frc::LiveWindow::DisableAllTelemetry();
-
   // Runs for 2 ms after robot periodic functions
   Schedule([=] {}, 2_ms);
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java

@@ -135,7 +135,7 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
     setRange(range);
 
     HAL.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
-    SendableRegistry.addLW(this, "ADXL345_I2C", port.value);
+    SendableRegistry.add(this, "ADXL345_I2C", port.value);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java

@@ -26,7 +26,7 @@ public class AnalogAccelerometer implements Sendable, AutoCloseable {
   /** Common initialization. */
   private void initAccelerometer() {
     HAL.report(tResourceType.kResourceType_Accelerometer, m_analogChannel.getChannel() + 1);
-    SendableRegistry.addLW(this, "Accelerometer", m_analogChannel.getChannel());
+    SendableRegistry.add(this, "Accelerometer", m_analogChannel.getChannel());
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java

@@ -83,7 +83,7 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
     m_fullRange = fullRange;
     m_expectedZero = expectedZero;
 
-    SendableRegistry.addLW(this, "Analog Encoder", m_analogInput.getChannel());
+    SendableRegistry.add(this, "Analog Encoder", m_analogInput.getChannel());
   }
 
   private double mapSensorRange(double pos) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java

@@ -29,7 +29,7 @@ public class AnalogGyro implements Sendable, AutoCloseable {
   /** Initialize the gyro. Calibration is handled by calibrate(). */
   private void initGyro() {
     HAL.report(tResourceType.kResourceType_Gyro, m_analog.getChannel() + 1);
-    SendableRegistry.addLW(this, "AnalogGyro", m_analog.getChannel());
+    SendableRegistry.add(this, "AnalogGyro", m_analog.getChannel());
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java

@@ -42,7 +42,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
     m_port = AnalogJNI.initializeAnalogInputPort(portHandle);
 
     HAL.report(tResourceType.kResourceType_AnalogChannel, channel + 1);
-    SendableRegistry.addLW(this, "AnalogInput", channel);
+    SendableRegistry.add(this, "AnalogInput", channel);
   }
 
   @Override

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java

@@ -56,7 +56,7 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable {
    */
   @SuppressWarnings("this-escape")
   public AnalogPotentiometer(final AnalogInput input, double fullRange, double offset) {
-    SendableRegistry.addLW(this, "AnalogPotentiometer", input.getChannel());
+    SendableRegistry.add(this, "AnalogPotentiometer", input.getChannel());
     m_analogInput = input;
     m_initAnalogInput = false;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java

@@ -52,7 +52,7 @@ public class AnalogTrigger implements Sendable, AutoCloseable {
     int index = getIndex();
 
     HAL.report(tResourceType.kResourceType_AnalogTrigger, index + 1);
-    SendableRegistry.addLW(this, "AnalogTrigger", index);
+    SendableRegistry.add(this, "AnalogTrigger", index);
   }
 
   /**
@@ -69,7 +69,7 @@ public class AnalogTrigger implements Sendable, AutoCloseable {
     int index = getIndex();
 
     HAL.report(tResourceType.kResourceType_AnalogTrigger, index + 1);
-    SendableRegistry.addLW(this, "AnalogTrigger", index);
+    SendableRegistry.add(this, "AnalogTrigger", index);
   }
 
   @Override

wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java

@@ -45,7 +45,7 @@ public class Compressor implements Sendable, AutoCloseable {
     m_module.enableCompressorDigital();
 
     HAL.report(tResourceType.kResourceType_Compressor, module + 1);
-    SendableRegistry.addLW(this, "Compressor", module);
+    SendableRegistry.add(this, "Compressor", module);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java

@@ -85,7 +85,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
     setMaxPeriod(0.5);
 
     HAL.report(tResourceType.kResourceType_Counter, m_index + 1, mode.value + 1);
-    SendableRegistry.addLW(this, "Counter", m_index);
+    SendableRegistry.add(this, "Counter", m_index);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java

@@ -35,7 +35,7 @@ public class DigitalInput extends DigitalSource implements Sendable {
     m_handle = DIOJNI.initializeDIOPort(HAL.getPort((byte) channel), true);
 
     HAL.report(tResourceType.kResourceType_DigitalInput, channel + 1);
-    SendableRegistry.addLW(this, "DigitalInput", channel);
+    SendableRegistry.add(this, "DigitalInput", channel);
   }
 
   @Override

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java

@@ -37,7 +37,7 @@ public class DigitalOutput extends DigitalSource implements Sendable {
     m_handle = DIOJNI.initializeDIOPort(HAL.getPort((byte) channel), false);
 
     HAL.report(tResourceType.kResourceType_DigitalOutput, channel + 1);
-    SendableRegistry.addLW(this, "DigitalOutput", channel);
+    SendableRegistry.add(this, "DigitalOutput", channel);
   }
 
   @Override

wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java

@@ -99,7 +99,7 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
           tResourceType.kResourceType_Solenoid, forwardChannel + 1, m_module.getModuleNumber() + 1);
       HAL.report(
           tResourceType.kResourceType_Solenoid, reverseChannel + 1, m_module.getModuleNumber() + 1);
-      SendableRegistry.addLW(this, "DoubleSolenoid", m_module.getModuleNumber(), forwardChannel);
+      SendableRegistry.add(this, "DoubleSolenoid", m_module.getModuleNumber(), forwardChannel);
       successfulCompletion = true;
     } finally {
       if (!successfulCompletion) {
@@ -210,7 +210,6 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Double Solenoid");
     builder.setActuator(true);
-    builder.setSafeState(() -> set(Value.kOff));
     builder.addStringProperty(
         "Value",
         () -> get().name().substring(1),

wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java

@@ -36,7 +36,7 @@ public class DutyCycle implements Sendable, AutoCloseable {
 
     m_channel = channel;
     HAL.report(tResourceType.kResourceType_DutyCycle, channel + 1);
-    SendableRegistry.addLW(this, "Duty Cycle", channel);
+    SendableRegistry.add(this, "Duty Cycle", channel);
   }
 
   /** Close the DutyCycle and free all resources. */

wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java

@@ -93,7 +93,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
     m_fullRange = fullRange;
     m_expectedZero = expectedZero;
 
-    SendableRegistry.addLW(this, "DutyCycle Encoder", m_dutyCycle.getSourceChannel());
+    SendableRegistry.add(this, "DutyCycle Encoder", m_dutyCycle.getSourceChannel());
   }
 
   private double mapSensorRange(double pos) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -84,7 +84,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
 
     int fpgaIndex = getFPGAIndex();
     HAL.report(tResourceType.kResourceType_Encoder, fpgaIndex + 1, type.value + 1);
-    SendableRegistry.addLW(this, "Encoder", fpgaIndex);
+    SendableRegistry.add(this, "Encoder", fpgaIndex);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java

@@ -5,13 +5,9 @@
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.DriverStationJNI;
-import edu.wpi.first.hal.FRCNetComm.tInstances;
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import java.util.ConcurrentModificationException;
 
 /**
  * IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase
@@ -71,7 +67,6 @@ public abstract class IterativeRobotBase extends RobotBase {
   private final double m_period;
   private final Watchdog m_watchdog;
   private boolean m_ntFlushEnabled = true;
-  private boolean m_lwEnabledInTest;
   private boolean m_calledDsConnected;
 
   /**
@@ -259,34 +254,6 @@ public abstract class IterativeRobotBase extends RobotBase {
     m_ntFlushEnabled = enabled;
   }
 
-  private boolean m_reportedLw;
-
-  /**
-   * Sets whether LiveWindow operation is enabled during test mode. Calling
-   *
-   * @param testLW True to enable, false to disable. Defaults to false.
-   * @throws ConcurrentModificationException if this is called during test mode.
-   */
-  public void enableLiveWindowInTest(boolean testLW) {
-    if (isTestEnabled()) {
-      throw new ConcurrentModificationException("Can't configure test mode while in test mode!");
-    }
-    if (!m_reportedLw && testLW) {
-      HAL.report(tResourceType.kResourceType_SmartDashboard, tInstances.kSmartDashboard_LiveWindow);
-      m_reportedLw = true;
-    }
-    m_lwEnabledInTest = testLW;
-  }
-
-  /**
-   * Whether LiveWindow operation is enabled during test mode.
-   *
-   * @return whether LiveWindow should be enabled in test mode.
-   */
-  public boolean isLiveWindowEnabledInTest() {
-    return m_lwEnabledInTest;
-  }
-
   /**
    * Gets time period between calls to Periodic() functions.
    *
@@ -327,12 +294,7 @@ public abstract class IterativeRobotBase extends RobotBase {
         case kDisabled -> disabledExit();
         case kAutonomous -> autonomousExit();
         case kTeleop -> teleopExit();
-        case kTest -> {
+        case kTest -> testExit();
-          if (m_lwEnabledInTest) {
-            LiveWindow.setEnabled(false);
-          }
-          testExit();
-        }
         default -> {
           // NOP
         }
@@ -353,9 +315,6 @@ public abstract class IterativeRobotBase extends RobotBase {
           m_watchdog.addEpoch("teleopInit()");
         }
         case kTest -> {
-          if (m_lwEnabledInTest) {
-            LiveWindow.setEnabled(true);
-          }
           testInit();
           m_watchdog.addEpoch("testInit()");
         }
@@ -399,8 +358,6 @@ public abstract class IterativeRobotBase extends RobotBase {
 
     SmartDashboard.updateValues();
     m_watchdog.addEpoch("SmartDashboard.updateValues()");
-    LiveWindow.updateValues();
-    m_watchdog.addEpoch("LiveWindow.updateValues()");
 
     if (isSimulation()) {
       HAL.simPeriodicBefore();

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java

@@ -40,7 +40,7 @@ public class PWM implements Sendable, AutoCloseable {
    * <p>Checks channel value range and allocates the appropriate channel. The allocation is only
    * done to help users ensure that they don't double assign channels.
    *
-   * <p>By default, adds itself to SendableRegistry and LiveWindow.
+   * <p>By default, adds itself to SendableRegistry.
    *
    * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
    */
@@ -52,7 +52,7 @@ public class PWM implements Sendable, AutoCloseable {
    * Allocate a PWM given a channel.
    *
    * @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
+   * @param registerSendable If true, adds this instance to SendableRegistry
    */
   @SuppressWarnings("this-escape")
   public PWM(final int channel, final boolean registerSendable) {
@@ -67,7 +67,7 @@ public class PWM implements Sendable, AutoCloseable {
 
     HAL.report(tResourceType.kResourceType_PWM, channel + 1);
     if (registerSendable) {
-      SendableRegistry.addLW(this, "PWM", channel);
+      SendableRegistry.add(this, "PWM", channel);
     }
   }
 
@@ -244,7 +244,6 @@ public class PWM implements Sendable, AutoCloseable {
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("PWM");
     builder.setActuator(true);
-    builder.setSafeState(this::setDisabled);
     builder.addDoubleProperty(
         "Value", this::getPulseTimeMicroseconds, value -> setPulseTimeMicroseconds((int) value));
     builder.addDoubleProperty("Speed", this::getSpeed, this::setSpeed);

wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java

@@ -57,7 +57,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
     } else {
       HAL.report(tResourceType.kResourceType_PDP, tInstances.kPDP_REV);
     }
-    SendableRegistry.addLW(this, "PowerDistribution", m_module);
+    SendableRegistry.add(this, "PowerDistribution", m_module);
   }
 
   /**
@@ -76,7 +76,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
       HAL.report(tResourceType.kResourceType_PDP, tInstances.kPDP_REV);
     }
 
-    SendableRegistry.addLW(this, "PowerDistribution", m_module);
+    SendableRegistry.add(this, "PowerDistribution", m_module);
   }
 
   @Override

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -17,7 +17,6 @@ import edu.wpi.first.networktables.MultiSubscriber;
 import edu.wpi.first.networktables.NetworkTableEvent;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.util.WPIUtilJNI;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.util.WPILibVersion;
 import java.io.File;
 import java.io.IOException;
@@ -224,8 +223,6 @@ public abstract class RobotBase implements AutoCloseable {
                 }
               }
             });
-
-    LiveWindow.setEnabled(false);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/SharpIR.java

@@ -89,7 +89,7 @@ public class SharpIR implements Sendable, AutoCloseable {
     m_minCM = minCM;
     m_maxCM = maxCM;
 
-    SendableRegistry.addLW(this, "SharpIR", channel);
+    SendableRegistry.add(this, "SharpIR", channel);
 
     m_simDevice = SimDevice.create("SharpIR", m_sensor.getChannel());
     if (m_simDevice != null) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java

@@ -57,7 +57,7 @@ public class Solenoid implements Sendable, AutoCloseable {
     }
 
     HAL.report(tResourceType.kResourceType_Solenoid, channel + 1, m_module.getModuleNumber() + 1);
-    SendableRegistry.addLW(this, "Solenoid", m_module.getModuleNumber(), channel);
+    SendableRegistry.add(this, "Solenoid", m_module.getModuleNumber(), channel);
   }
 
   @Override
@@ -148,7 +148,6 @@ public class Solenoid implements Sendable, AutoCloseable {
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Solenoid");
     builder.setActuator(true);
-    builder.setSafeState(() -> set(false));
     builder.addBooleanProperty("Value", this::get, this::set);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java

@@ -107,7 +107,7 @@ public class Ultrasonic implements Sendable, AutoCloseable {
 
     m_instances++;
     HAL.report(tResourceType.kResourceType_Ultrasonic, m_instances);
-    SendableRegistry.addLW(this, "Ultrasonic", m_echoChannel.getChannel());
+    SendableRegistry.add(this, "Ultrasonic", m_echoChannel.getChannel());
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/ExternalDirectionCounter.java

@@ -60,7 +60,7 @@ public class ExternalDirectionCounter implements Sendable, AutoCloseable {
 
     int intIndex = index.getInt();
     HAL.report(tResourceType.kResourceType_Counter, intIndex + 1);
-    SendableRegistry.addLW(this, "External Direction Counter", intIndex);
+    SendableRegistry.add(this, "External Direction Counter", intIndex);
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/Tachometer.java

@@ -49,7 +49,7 @@ public class Tachometer implements Sendable, AutoCloseable {
 
     int intIndex = index.getInt();
     HAL.report(tResourceType.kResourceType_Counter, intIndex + 1);
-    SendableRegistry.addLW(this, "Tachometer", intIndex);
+    SendableRegistry.add(this, "Tachometer", intIndex);
   }
 
   @Override

wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/UpDownCounter.java

@@ -63,7 +63,7 @@ public class UpDownCounter implements Sendable, AutoCloseable {
 
     int intIndex = index.getInt();
     HAL.report(tResourceType.kResourceType_Counter, intIndex + 1);
-    SendableRegistry.addLW(this, "UpDown Counter", intIndex);
+    SendableRegistry.add(this, "UpDown Counter", intIndex);
   }
 
   @Override

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java

@@ -127,7 +127,7 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
     m_leftMotor = leftMotor;
     m_rightMotor = rightMotor;
     instances++;
-    SendableRegistry.addLW(this, "DifferentialDrive", instances);
+    SendableRegistry.add(this, "DifferentialDrive", instances);
   }
 
   @Override
@@ -367,7 +367,6 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("DifferentialDrive");
     builder.setActuator(true);
-    builder.setSafeState(this::stopMotor);
     builder.addDoubleProperty("Left Motor Speed", () -> m_leftOutput, m_leftMotor);
     builder.addDoubleProperty("Right Motor Speed", () -> m_rightOutput, m_rightMotor);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java

@@ -158,7 +158,7 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
     m_frontRightMotor = frontRightMotor;
     m_rearRightMotor = rearRightMotor;
     instances++;
-    SendableRegistry.addLW(this, "MecanumDrive", instances);
+    SendableRegistry.add(this, "MecanumDrive", instances);
   }
 
   @Override
@@ -317,7 +317,6 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("MecanumDrive");
     builder.setActuator(true);
-    builder.setSafeState(this::stopMotor);
     builder.addDoubleProperty("Front Left Motor Speed", () -> m_frontLeftOutput, m_frontLeftMotor);
     builder.addDoubleProperty(
         "Front Right Motor Speed", () -> m_frontRightOutput, m_frontRightMotor);

wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java

@@ -1,247 +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.
-
-package edu.wpi.first.wpilibj.livewindow;
-
-import edu.wpi.first.networktables.BooleanPublisher;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.networktables.StringPublisher;
-import edu.wpi.first.networktables.StringTopic;
-import edu.wpi.first.util.sendable.Sendable;
-import edu.wpi.first.util.sendable.SendableRegistry;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
-
-/**
- * The LiveWindow class is the public interface for putting sensors and actuators on the LiveWindow.
- */
-public final class LiveWindow {
-  private static final class Component implements AutoCloseable {
-    @Override
-    public void close() {
-      if (m_namePub != null) {
-        m_namePub.close();
-        m_namePub = null;
-      }
-      if (m_typePub != null) {
-        m_typePub.close();
-        m_typePub = null;
-      }
-    }
-
-    boolean m_firstTime = true;
-    boolean m_telemetryEnabled;
-    StringPublisher m_namePub;
-    StringPublisher m_typePub;
-  }
-
-  private static final String kSmartDashboardType = "LW Subsystem";
-
-  private static final int dataHandle = SendableRegistry.getDataHandle();
-  private static final NetworkTable liveWindowTable =
-      NetworkTableInstance.getDefault().getTable("LiveWindow");
-  private static final NetworkTable statusTable = liveWindowTable.getSubTable(".status");
-  private static final BooleanPublisher enabledPub =
-      statusTable.getBooleanTopic("LW Enabled").publish();
-  private static boolean startLiveWindow;
-  private static boolean liveWindowEnabled;
-  private static boolean telemetryEnabled;
-
-  private static Runnable enabledListener;
-  private static Runnable disabledListener;
-
-  static {
-    SendableRegistry.setLiveWindowBuilderFactory(SendableBuilderImpl::new);
-    enabledPub.set(false);
-  }
-
-  private static Component getOrAdd(Sendable sendable) {
-    Component data = (Component) SendableRegistry.getData(sendable, dataHandle);
-    if (data == null) {
-      data = new Component();
-      SendableRegistry.setData(sendable, dataHandle, data);
-    }
-    return data;
-  }
-
-  private LiveWindow() {
-    throw new UnsupportedOperationException("This is a utility class!");
-  }
-
-  /**
-   * Sets function to be called when LiveWindow is enabled.
-   *
-   * @param runnable function (or null for none)
-   */
-  public static synchronized void setEnabledListener(Runnable runnable) {
-    enabledListener = runnable;
-  }
-
-  /**
-   * Sets function to be called when LiveWindow is disabled.
-   *
-   * @param runnable function (or null for none)
-   */
-  public static synchronized void setDisabledListener(Runnable runnable) {
-    disabledListener = runnable;
-  }
-
-  /**
-   * Returns true if LiveWindow is enabled.
-   *
-   * @return True if LiveWindow is enabled.
-   */
-  public static synchronized boolean isEnabled() {
-    return liveWindowEnabled;
-  }
-
-  /**
-   * Set the enabled state of LiveWindow.
-   *
-   * <p>If it's being enabled, turn off the scheduler and remove all the commands from the queue and
-   * enable all the components registered for LiveWindow. If it's being disabled, stop all the
-   * registered components and re-enable the scheduler.
-   *
-   * <p>TODO: add code to disable PID loops when enabling LiveWindow. The commands should re-enable
-   * the PID loops themselves when they get rescheduled. This prevents arms from starting to move
-   * around, etc. after a period of adjusting them in LiveWindow mode.
-   *
-   * @param enabled True to enable LiveWindow.
-   */
-  public static synchronized void setEnabled(boolean enabled) {
-    if (liveWindowEnabled != enabled) {
-      startLiveWindow = enabled;
-      liveWindowEnabled = enabled;
-      updateValues(); // Force table generation now to make sure everything is defined
-      if (enabled) {
-        System.out.println("Starting live window mode.");
-        if (enabledListener != null) {
-          enabledListener.run();
-        }
-      } else {
-        System.out.println("stopping live window mode.");
-        SendableRegistry.foreachLiveWindow(
-            dataHandle, cbdata -> ((SendableBuilderImpl) cbdata.builder).stopLiveWindowMode());
-        if (disabledListener != null) {
-          disabledListener.run();
-        }
-      }
-      enabledPub.set(enabled);
-    }
-  }
-
-  /**
-   * Enable telemetry for a single component.
-   *
-   * @param sendable component
-   */
-  public static synchronized void enableTelemetry(Sendable sendable) {
-    // Re-enable global setting in case disableAllTelemetry() was called.
-    telemetryEnabled = true;
-    getOrAdd(sendable).m_telemetryEnabled = true;
-  }
-
-  /**
-   * Disable telemetry for a single component.
-   *
-   * @param sendable component
-   */
-  public static synchronized void disableTelemetry(Sendable sendable) {
-    getOrAdd(sendable).m_telemetryEnabled = false;
-  }
-
-  /** Disable ALL telemetry. */
-  public static synchronized void disableAllTelemetry() {
-    telemetryEnabled = false;
-    SendableRegistry.foreachLiveWindow(
-        dataHandle,
-        cbdata -> {
-          if (cbdata.data == null) {
-            cbdata.data = new Component();
-          }
-          ((Component) cbdata.data).m_telemetryEnabled = false;
-        });
-  }
-
-  /** Enable ALL telemetry. */
-  public static synchronized void enableAllTelemetry() {
-    telemetryEnabled = true;
-    SendableRegistry.foreachLiveWindow(
-        dataHandle,
-        cbdata -> {
-          if (cbdata.data == null) {
-            cbdata.data = new Component();
-          }
-          ((Component) cbdata.data).m_telemetryEnabled = true;
-        });
-  }
-
-  /**
-   * Tell all the sensors to update (send) their values.
-   *
-   * <p>Actuators are handled through callbacks on their value changing from the SmartDashboard
-   * widgets.
-   */
-  public static synchronized void updateValues() {
-    // Only do this if either LiveWindow mode or telemetry is enabled.
-    if (!liveWindowEnabled && !telemetryEnabled) {
-      return;
-    }
-
-    SendableRegistry.foreachLiveWindow(
-        dataHandle,
-        cbdata -> {
-          if (cbdata.sendable == null || cbdata.parent != null) {
-            return;
-          }
-
-          if (cbdata.data == null) {
-            cbdata.data = new Component();
-          }
-
-          Component component = (Component) cbdata.data;
-
-          if (!liveWindowEnabled && !component.m_telemetryEnabled) {
-            return;
-          }
-
-          if (component.m_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.isEmpty()) {
-              return;
-            }
-            NetworkTable ssTable = liveWindowTable.getSubTable(cbdata.subsystem);
-            NetworkTable table;
-            // Treat name==subsystem as top level of subsystem
-            if (cbdata.name.equals(cbdata.subsystem)) {
-              table = ssTable;
-            } else {
-              table = ssTable.getSubTable(cbdata.name);
-            }
-            component.m_namePub = new StringTopic(table.getTopic(".name")).publish();
-            component.m_namePub.set(cbdata.name);
-            ((SendableBuilderImpl) cbdata.builder).setTable(table);
-            cbdata.sendable.initSendable(cbdata.builder);
-            component.m_typePub =
-                new StringTopic(ssTable.getTopic(".type"))
-                    .publishEx(
-                        StringTopic.kTypeString,
-                        "{\"SmartDashboard\":\"" + kSmartDashboardType + "\"}");
-            component.m_typePub.set(kSmartDashboardType);
-
-            component.m_firstTime = false;
-          }
-
-          if (startLiveWindow) {
-            ((SendableBuilderImpl) cbdata.builder).startLiveWindowMode();
-          }
-          cbdata.builder.update();
-        });
-
-    startLiveWindow = false;
-  }
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroup.java

@@ -53,7 +53,7 @@ public class MotorControllerGroup implements MotorController, Sendable, AutoClos
       SendableRegistry.addChild(this, controller);
     }
     instances++;
-    SendableRegistry.addLW(this, "MotorControllerGroup", instances);
+    SendableRegistry.add(this, "MotorControllerGroup", instances);
   }
 
   @Override
@@ -111,7 +111,6 @@ public class MotorControllerGroup implements MotorController, Sendable, AutoClos
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Motor Controller");
     builder.setActuator(true);
-    builder.setSafeState(this::stopMotor);
     builder.addDoubleProperty("Value", this::get, this::set);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java

@@ -46,7 +46,7 @@ public class NidecBrushless extends MotorSafety
     SendableRegistry.addChild(this, m_pwm);
 
     HAL.report(tResourceType.kResourceType_NidecBrushless, pwmChannel + 1);
-    SendableRegistry.addLW(this, "Nidec Brushless", pwmChannel);
+    SendableRegistry.add(this, "Nidec Brushless", pwmChannel);
   }
 
   @Override
@@ -139,7 +139,6 @@ public class NidecBrushless extends MotorSafety
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Nidec Brushless");
     builder.setActuator(true);
-    builder.setSafeState(this::stopMotor);
     builder.addDoubleProperty("Value", this::get, this::set);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java

@@ -32,7 +32,7 @@ public abstract class PWMMotorController extends MotorSafety
   @SuppressWarnings("this-escape")
   protected PWMMotorController(final String name, final int channel) {
     m_pwm = new PWM(channel, false);
-    SendableRegistry.addLW(this, name, channel);
+    SendableRegistry.add(this, name, channel);
   }
 
   /** Free the resource associated with the PWM channel and set the value to 0. */
@@ -161,7 +161,6 @@ public abstract class PWMMotorController extends MotorSafety
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Motor Controller");
     builder.setActuator(true);
-    builder.setSafeState(this::disable);
     builder.addDoubleProperty("Value", this::get, this::set);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java

@@ -98,7 +98,6 @@ public class SendableBuilderImpl implements NTSendableBuilder {
   }
 
   private final List<Property<?, ?>> m_properties = new ArrayList<>();
-  private Runnable m_safeState;
   private final List<Runnable> m_updateTables = new ArrayList<>();
   private NetworkTable m_table;
   private boolean m_controllable;
@@ -205,28 +204,6 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     }
   }
 
-  /**
-   * Start LiveWindow mode by hooking the setters for all properties. Also calls the safeState
-   * function if one was provided.
-   */
-  public void startLiveWindowMode() {
-    if (m_safeState != null) {
-      m_safeState.run();
-    }
-    startListeners();
-  }
-
-  /**
-   * Stop LiveWindow mode by unhooking the setters for all properties. Also calls the safeState
-   * function if one was provided.
-   */
-  public void stopLiveWindowMode() {
-    stopListeners();
-    if (m_safeState != null) {
-      m_safeState.run();
-    }
-  }
-
   /** Clear properties. */
   @Override
   public void clearProperties() {
@@ -274,17 +251,6 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     m_actuator = value;
   }
 
-  /**
-   * Set the function that should be called to set the Sendable into a safe state. This is called
-   * when entering and exiting Live Window mode.
-   *
-   * @param func function
-   */
-  @Override
-  public void setSafeState(Runnable func) {
-    m_safeState = func;
-  }
-
   /**
    * Set the function that should be called to update the network table for things other than
    * properties. Note this function is not passed the network table object; instead it should use

wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java

@@ -5,20 +5,14 @@
 package edu.wpi.first.wpilibj;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertThrows;
 
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
-import java.util.ConcurrentModificationException;
 import java.util.concurrent.atomic.AtomicInteger;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.parallel.ResourceLock;
-import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.ValueSource;
 
 class TimedRobotTest {
   static final double kPeriod = 0.02;
@@ -389,12 +383,10 @@ class TimedRobotTest {
     robot.close();
   }
 
-  @ValueSource(booleans = {true, false})
+  @Test
-  @ParameterizedTest
   @ResourceLock("timing")
-  void testModeTest(boolean isLW) {
+  void testModeTest() {
     MockRobot robot = new MockRobot();
-    robot.enableLiveWindowInTest(isLW);
 
     Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
@@ -411,7 +403,6 @@ class TimedRobotTest {
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
     assertEquals(0, robot.m_testInitCount.get());
-    assertFalse(LiveWindow.isEnabled());
 
     assertEquals(0, robot.m_robotPeriodicCount.get());
     assertEquals(0, robot.m_simulationPeriodicCount.get());
@@ -454,9 +445,6 @@ class TimedRobotTest {
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
     assertEquals(1, robot.m_testInitCount.get());
-    assertEquals(isLW, LiveWindow.isEnabled());
-
-    assertThrows(ConcurrentModificationException.class, () -> robot.enableLiveWindowInTest(isLW));
 
     assertEquals(2, robot.m_robotPeriodicCount.get());
     assertEquals(2, robot.m_simulationPeriodicCount.get());
@@ -483,7 +471,6 @@ class TimedRobotTest {
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
     assertEquals(1, robot.m_testInitCount.get());
-    assertFalse(LiveWindow.isEnabled());
 
     assertEquals(3, robot.m_robotPeriodicCount.get());
     assertEquals(3, robot.m_simulationPeriodicCount.get());

wpilibj/src/test/java/edu/wpi/first/wpilibj/livewindow/LiveWindowTest.java

@@ -1,14 +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.
-
-package edu.wpi.first.wpilibj.livewindow;
-
-import edu.wpi.first.wpilibj.UtilityClassTest;
-
-@SuppressWarnings("PMD.TestClassWithoutTestCases")
-class LiveWindowTest extends UtilityClassTest<LiveWindow> {
-  LiveWindowTest() {
-    super(LiveWindow.class);
-  }
-}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timeslice/Robot.java

@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.templates.timeslice;
 
 import edu.wpi.first.wpilibj.TimesliceRobot;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -25,10 +24,6 @@ public class Robot extends TimesliceRobot {
     // Run robot periodic() functions for 5 ms, and run controllers every 10 ms
     super(0.005, 0.01);
 
-    // LiveWindow causes drastic overruns in robot periodic functions that will
-    // interfere with controllers
-    LiveWindow.disableAllTelemetry();
-
     // Runs for 2 ms after robot periodic functions
     schedule(() -> {}, 0.002);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timesliceskeleton/Robot.java

@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.templates.timesliceskeleton;
 
 import edu.wpi.first.wpilibj.TimesliceRobot;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
  * The methods in this class are called automatically corresponding to each mode, as described in
@@ -18,10 +17,6 @@ public class Robot extends TimesliceRobot {
     // Run robot periodic() functions for 5 ms, and run controllers every 10 ms
     super(0.005, 0.01);
 
-    // LiveWindow causes drastic overruns in robot periodic functions that will
-    // interfere with controllers
-    LiveWindow.disableAllTelemetry();
-
     // Runs for 2 ms after robot periodic functions
     schedule(() -> {}, 0.002);
 

wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java

@@ -43,7 +43,7 @@ public class BangBangController implements Sendable {
 
     setTolerance(tolerance);
 
-    SendableRegistry.addLW(this, "BangBangController", instances);
+    SendableRegistry.add(this, "BangBangController", instances);
 
     MathSharedStore.reportUsage(MathUsageId.kController_BangBangController, instances);
   }

wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java

@@ -109,7 +109,7 @@ public class PIDController implements Sendable, AutoCloseable {
     m_period = period;
 
     instances++;
-    SendableRegistry.addLW(this, "PIDController", instances);
+    SendableRegistry.add(this, "PIDController", instances);
 
     MathSharedStore.reportUsage(MathUsageId.kController_PIDController2, instances);
   }

wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableBuilder.java

@@ -42,14 +42,6 @@ public interface SendableBuilder extends AutoCloseable {
    */
   void setActuator(boolean value);
 
-  /**
-   * Set the function that should be called to set the Sendable into a safe state. This is called
-   * when entering and exiting Live Window mode.
-   *
-   * @param func function
-   */
-  void setSafeState(Runnable func);
-
   /**
    * Add a boolean property.
    *

wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableRegistry.java

@@ -5,17 +5,13 @@
 package edu.wpi.first.util.sendable;
 
 import java.lang.ref.WeakReference;
-import java.util.ArrayList;
 import java.util.Arrays;
-import java.util.List;
 import java.util.Map;
 import java.util.WeakHashMap;
-import java.util.function.Consumer;
-import java.util.function.Supplier;
 
 /**
  * The SendableRegistry class is the public interface for registering sensors and actuators for use
- * on dashboards and LiveWindow.
+ * on dashboards.
  */
 @SuppressWarnings("PMD.AvoidCatchingGenericException")
 public final class SendableRegistry {
@@ -40,8 +36,6 @@ public final class SendableRegistry {
     SendableBuilder m_builder;
     String m_name;
     String m_subsystem = "Ungrouped";
-    WeakReference<Sendable> m_parent;
-    boolean m_liveWindow;
     AutoCloseable[] m_data;
 
     void setName(String moduleType, int channel) {
@@ -53,7 +47,6 @@ public final class SendableRegistry {
     }
   }
 
-  private static Supplier<SendableBuilder> liveWindowFactory;
   private static final Map<Object, Component> components = new WeakHashMap<>();
   private static int nextDataHandle;
 
@@ -74,15 +67,6 @@ public final class SendableRegistry {
     throw new UnsupportedOperationException("This is a utility class!");
   }
 
-  /**
-   * Sets the factory for LiveWindow builders.
-   *
-   * @param factory factory function
-   */
-  public static synchronized void setLiveWindowBuilderFactory(Supplier<SendableBuilder> factory) {
-    liveWindowFactory = factory;
-  }
-
   /**
    * Adds an object to the registry.
    *
@@ -133,100 +117,6 @@ public final class SendableRegistry {
     comp.m_subsystem = subsystem;
   }
 
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param name component name
-   */
-  public static synchronized void addLW(Sendable sendable, String name) {
-    Component comp = getOrAdd(sendable);
-    if (liveWindowFactory != null) {
-      if (comp.m_builder != null) {
-        try {
-          comp.m_builder.close();
-        } catch (Exception e) {
-          // ignore
-        }
-      }
-      comp.m_builder = liveWindowFactory.get();
-    }
-    comp.m_liveWindow = true;
-    comp.m_name = name;
-  }
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param moduleType A string that defines the module name in the label for the value
-   * @param channel The channel number the device is plugged into
-   */
-  public static synchronized void addLW(Sendable sendable, String moduleType, int channel) {
-    Component comp = getOrAdd(sendable);
-    if (liveWindowFactory != null) {
-      if (comp.m_builder != null) {
-        try {
-          comp.m_builder.close();
-        } catch (Exception e) {
-          // ignore
-        }
-      }
-      comp.m_builder = liveWindowFactory.get();
-    }
-    comp.m_liveWindow = true;
-    comp.setName(moduleType, channel);
-  }
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param moduleType A string that defines the module name in the label for the value
-   * @param moduleNumber The number of the particular module type
-   * @param channel The channel number the device is plugged into
-   */
-  public static synchronized void addLW(
-      Sendable sendable, String moduleType, int moduleNumber, int channel) {
-    Component comp = getOrAdd(sendable);
-    if (liveWindowFactory != null) {
-      if (comp.m_builder != null) {
-        try {
-          comp.m_builder.close();
-        } catch (Exception e) {
-          // ignore
-        }
-      }
-      comp.m_builder = liveWindowFactory.get();
-    }
-    comp.m_liveWindow = true;
-    comp.setName(moduleType, moduleNumber, channel);
-  }
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param subsystem subsystem name
-   * @param name component name
-   */
-  public static synchronized void addLW(Sendable sendable, String subsystem, String name) {
-    Component comp = getOrAdd(sendable);
-    if (liveWindowFactory != null) {
-      if (comp.m_builder != null) {
-        try {
-          comp.m_builder.close();
-        } catch (Exception e) {
-          // ignore
-        }
-      }
-      comp.m_builder = liveWindowFactory.get();
-    }
-    comp.m_liveWindow = true;
-    comp.m_name = name;
-    comp.m_subsystem = subsystem;
-  }
-
   /**
    * Adds a child object to an object. Adds the child object to the registry if it's not already
    * present.
@@ -240,7 +130,7 @@ public final class SendableRegistry {
       comp = new Component();
       components.put(child, comp);
     }
-    comp.m_parent = new WeakReference<>(parent);
+    // comp.m_parent = new WeakReference<>(parent);
   }
 
   /**
@@ -430,30 +320,6 @@ public final class SendableRegistry {
     return comp.m_data[handle];
   }
 
-  /**
-   * Enables LiveWindow for an object.
-   *
-   * @param sendable object
-   */
-  public static synchronized void enableLiveWindow(Sendable sendable) {
-    Component comp = components.get(sendable);
-    if (comp != null) {
-      comp.m_liveWindow = true;
-    }
-  }
-
-  /**
-   * Disables LiveWindow for an object.
-   *
-   * @param sendable object
-   */
-  public static synchronized void disableLiveWindow(Sendable sendable) {
-    Component comp = components.get(sendable);
-    if (comp != null) {
-      comp.m_liveWindow = false;
-    }
-  }
-
   /**
    * Publishes an object in the registry to a builder.
    *
@@ -485,98 +351,4 @@ public final class SendableRegistry {
       comp.m_builder.update();
     }
   }
-
-  /** Data passed to foreachLiveWindow() callback function. */
-  @SuppressWarnings("MemberName")
-  public static class CallbackData {
-    /** Sendable object. */
-    public Sendable sendable;
-
-    /** Name. */
-    public String name;
-
-    /** Subsystem. */
-    public String subsystem;
-
-    /** Parent sendable object. */
-    public Sendable parent;
-
-    /** Data stored in object with setData(). Update this to change the data. */
-    public AutoCloseable data;
-
-    /** Sendable builder for the sendable. */
-    public SendableBuilder builder;
-
-    /** Default constructor. */
-    public CallbackData() {}
-  }
-
-  // As foreachLiveWindow is single threaded, cache the components it
-  // iterates over to avoid risk of ConcurrentModificationException
-  private static List<Component> foreachComponents = new ArrayList<>();
-
-  /**
-   * Iterates over LiveWindow-enabled objects in the registry. It is *not* safe to call other
-   * SendableRegistry functions from the callback.
-   *
-   * @param dataHandle data handle to get data object passed to callback
-   * @param callback function to call for each object
-   */
-  @SuppressWarnings("PMD.CompareObjectsWithEquals")
-  public static synchronized void foreachLiveWindow(
-      int dataHandle, Consumer<CallbackData> callback) {
-    CallbackData cbdata = new CallbackData();
-    foreachComponents.clear();
-    foreachComponents.addAll(components.values());
-    for (Component comp : foreachComponents) {
-      if (comp.m_builder == null || comp.m_sendable == null) {
-        continue;
-      }
-      cbdata.sendable = comp.m_sendable.get();
-      if (cbdata.sendable != null && comp.m_liveWindow) {
-        cbdata.name = comp.m_name;
-        cbdata.subsystem = comp.m_subsystem;
-        if (comp.m_parent != null) {
-          cbdata.parent = comp.m_parent.get();
-        } else {
-          cbdata.parent = null;
-        }
-        if (comp.m_data != null && dataHandle < comp.m_data.length) {
-          cbdata.data = comp.m_data[dataHandle];
-        } else {
-          cbdata.data = null;
-        }
-        cbdata.builder = comp.m_builder;
-        try {
-          callback.accept(cbdata);
-        } catch (Throwable throwable) {
-          Throwable cause = throwable.getCause();
-          if (cause != null) {
-            throwable = cause;
-          }
-          System.err.println("Unhandled exception calling LiveWindow for " + comp.m_name + ": ");
-          throwable.printStackTrace();
-          comp.m_liveWindow = false;
-        }
-        if (cbdata.data != null) {
-          if (comp.m_data == null) {
-            comp.m_data = new AutoCloseable[dataHandle + 1];
-          } else if (dataHandle >= comp.m_data.length) {
-            comp.m_data = Arrays.copyOf(comp.m_data, dataHandle + 1);
-          }
-          if (comp.m_data[dataHandle] != cbdata.data) {
-            if (comp.m_data[dataHandle] != null) {
-              try {
-                comp.m_data[dataHandle].close();
-              } catch (Exception e) {
-                // ignore
-              }
-            }
-            comp.m_data[dataHandle] = cbdata.data;
-          }
-        }
-      }
-    }
-    foreachComponents.clear();
-  }
 }

wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp

@@ -26,7 +26,6 @@ struct Component {
   std::string name;
   std::string subsystem = "Ungrouped";
   Sendable* parent = nullptr;
-  bool liveWindow = false;
   wpi::SmallVector<std::shared_ptr<void>, 2> data;
 
   void SetName(std::string_view moduleType, int channel) {
@@ -41,7 +40,6 @@ struct Component {
 struct SendableRegistryInst {
   wpi::recursive_mutex mutex;
 
-  std::function<std::unique_ptr<SendableBuilder>()> liveWindowFactory;
   wpi::UidVector<std::unique_ptr<Component>, 32> components;
   wpi::DenseMap<void*, SendableRegistry::UID> componentMap;
   int nextDataHandle = 0;
@@ -85,11 +83,6 @@ void SendableRegistry::EnsureInitialized() {
   GetInstance();
 }
 
-void SendableRegistry::SetLiveWindowBuilderFactory(
-    std::function<std::unique_ptr<SendableBuilder>()> factory) {
-  GetInstance().liveWindowFactory = std::move(factory);
-}
-
 void SendableRegistry::Add(Sendable* sendable, std::string_view name) {
   auto& inst = GetInstance();
   std::scoped_lock lock(inst.mutex);
@@ -126,58 +119,6 @@ void SendableRegistry::Add(Sendable* sendable, std::string_view subsystem,
   comp.subsystem = subsystem;
 }
 
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view name) {
-  auto& inst = GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  auto& comp = inst.GetOrAdd(sendable);
-  comp.sendable = sendable;
-  if (inst.liveWindowFactory) {
-    comp.builder = inst.liveWindowFactory();
-  }
-  comp.liveWindow = true;
-  comp.name = name;
-}
-
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
-                             int channel) {
-  auto& inst = GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  auto& comp = inst.GetOrAdd(sendable);
-  comp.sendable = sendable;
-  if (inst.liveWindowFactory) {
-    comp.builder = inst.liveWindowFactory();
-  }
-  comp.liveWindow = true;
-  comp.SetName(moduleType, channel);
-}
-
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view moduleType,
-                             int moduleNumber, int channel) {
-  auto& inst = GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  auto& comp = inst.GetOrAdd(sendable);
-  comp.sendable = sendable;
-  if (inst.liveWindowFactory) {
-    comp.builder = inst.liveWindowFactory();
-  }
-  comp.liveWindow = true;
-  comp.SetName(moduleType, moduleNumber, channel);
-}
-
-void SendableRegistry::AddLW(Sendable* sendable, std::string_view subsystem,
-                             std::string_view name) {
-  auto& inst = GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  auto& comp = inst.GetOrAdd(sendable);
-  comp.sendable = sendable;
-  if (inst.liveWindowFactory) {
-    comp.builder = inst.liveWindowFactory();
-  }
-  comp.liveWindow = true;
-  comp.name = name;
-  comp.subsystem = subsystem;
-}
-
 void SendableRegistry::AddChild(Sendable* parent, Sendable* child) {
   auto& inst = GetInstance();
   std::scoped_lock lock(inst.mutex);
@@ -361,26 +302,6 @@ std::shared_ptr<void> SendableRegistry::GetData(Sendable* sendable,
   return comp.data[handle];
 }
 
-void SendableRegistry::EnableLiveWindow(Sendable* sendable) {
-  auto& inst = GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  auto it = inst.componentMap.find(sendable);
-  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
-    return;
-  }
-  inst.components[it->getSecond() - 1]->liveWindow = true;
-}
-
-void SendableRegistry::DisableLiveWindow(Sendable* sendable) {
-  auto& inst = GetInstance();
-  std::scoped_lock lock(inst.mutex);
-  auto it = inst.componentMap.find(sendable);
-  if (it == inst.componentMap.end() || !inst.components[it->getSecond() - 1]) {
-    return;
-  }
-  inst.components[it->getSecond() - 1]->liveWindow = false;
-}
-
 SendableRegistry::UID SendableRegistry::GetUniqueId(Sendable* sendable) {
   auto& inst = GetInstance();
   std::scoped_lock lock(inst.mutex);
@@ -430,25 +351,3 @@ void SendableRegistry::Update(UID sendableUid) {
     inst.components[sendableUid - 1]->builder->Update();
   }
 }
-
-void SendableRegistry::ForeachLiveWindow(
-    int dataHandle, wpi::function_ref<void(CallbackData& data)> callback) {
-  auto& inst = GetInstance();
-  assert(dataHandle >= 0);
-  std::scoped_lock lock(inst.mutex);
-  wpi::SmallVector<Component*, 128> components;
-  for (auto&& comp : inst.components) {
-    components.emplace_back(comp.get());
-  }
-  for (auto comp : components) {
-    if (comp && comp->builder && comp->sendable && comp->liveWindow) {
-      if (static_cast<size_t>(dataHandle) >= comp->data.size()) {
-        comp->data.resize(dataHandle + 1);
-      }
-      CallbackData cbdata{comp->sendable,         comp->name,
-                          comp->subsystem,        comp->parent,
-                          comp->data[dataHandle], *comp->builder};
-      callback(cbdata);
-    }
-  }
-}

wpiutil/src/main/native/include/wpi/sendable/SendableBuilder.h

@@ -48,14 +48,6 @@ class SendableBuilder {
    */
   virtual void SetActuator(bool value) = 0;
 
-  /**
-   * Set the function that should be called to set the Sendable into a safe
-   * state.  This is called when entering and exiting Live Window mode.
-   *
-   * @param func    function
-   */
-  virtual void SetSafeState(std::function<void()> func) = 0;
-
   /**
    * Add a boolean property.
    *

wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h

@@ -4,13 +4,10 @@
 
 #pragma once
 
-#include <functional>
 #include <memory>
 #include <string>
 #include <string_view>
 
-#include "wpi/function_ref.h"
-
 namespace wpi {
 
 class Sendable;
@@ -18,7 +15,7 @@ class SendableBuilder;
 
 /**
  * The SendableRegistry class is the public interface for registering sensors
- * and actuators for use on dashboards and LiveWindow.
+ * and actuators for use on dashboards.
  */
 class SendableRegistry final {
  public:
@@ -32,14 +29,6 @@ class SendableRegistry final {
    */
   static void EnsureInitialized();
 
-  /**
-   * Sets the factory for LiveWindow builders.
-   *
-   * @param factory factory function
-   */
-  static void SetLiveWindowBuilderFactory(
-      std::function<std::unique_ptr<SendableBuilder>()> factory);
-
   /**
    * Adds an object to the registry.
    *
@@ -80,47 +69,6 @@ class SendableRegistry final {
   static void Add(Sendable* sendable, std::string_view subsystem,
                   std::string_view name);
 
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param name component name
-   */
-  static void AddLW(Sendable* sendable, std::string_view name);
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param channel      The channel number the device is plugged into
-   */
-  static void AddLW(Sendable* sendable, std::string_view moduleType,
-                    int channel);
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable     object to add
-   * @param moduleType   A string that defines the module name in the label for
-   *                     the value
-   * @param moduleNumber The number of the particular module type
-   * @param channel      The channel number the device is plugged into
-   */
-  static void AddLW(Sendable* sendable, std::string_view moduleType,
-                    int moduleNumber, int channel);
-
-  /**
-   * Adds an object to the registry and LiveWindow.
-   *
-   * @param sendable object to add
-   * @param subsystem subsystem name
-   * @param name component name
-   */
-  static void AddLW(Sendable* sendable, std::string_view subsystem,
-                    std::string_view name);
-
   /**
    * Adds a child object to an object.  Adds the child object to the registry
    * if it's not already present.
@@ -255,20 +203,6 @@ class SendableRegistry final {
    */
   static std::shared_ptr<void> GetData(Sendable* sendable, int handle);
 
-  /**
-   * Enables LiveWindow for an object.
-   *
-   * @param sendable object
-   */
-  static void EnableLiveWindow(Sendable* sendable);
-
-  /**
-   * Disables LiveWindow for an object.
-   *
-   * @param sendable object
-   */
-  static void DisableLiveWindow(Sendable* sendable);
-
   /**
    * Get unique id for an object.  Since objects can move, use this instead
    * of storing Sendable* directly if ownership is in question.
@@ -301,39 +235,6 @@ class SendableRegistry final {
    * @param sendableUid sendable unique id
    */
   static void Update(UID sendableUid);
-
-  /**
-   * Data passed to ForeachLiveWindow() callback function
-   */
-  struct CallbackData {
-    CallbackData(Sendable* sendable_, std::string_view name_,
-                 std::string_view subsystem_, wpi::Sendable* parent_,
-                 std::shared_ptr<void>& data_, SendableBuilder& builder_)
-        : sendable(sendable_),
-          name(name_),
-          subsystem(subsystem_),
-          parent(parent_),
-          data(data_),
-          builder(builder_) {}
-
-    Sendable* sendable;
-    std::string_view name;
-    std::string_view subsystem;
-    Sendable* parent;
-    std::shared_ptr<void>& data;
-    SendableBuilder& builder;
-  };
-
-  /**
-   * Iterates over LiveWindow-enabled objects in the registry.
-   * It is *not* safe to call other SendableRegistry functions from the
-   * callback (this will likely deadlock).
-   *
-   * @param dataHandle data handle to get data pointer passed to callback
-   * @param callback function to call for each object
-   */
-  static void ForeachLiveWindow(
-      int dataHandle, wpi::function_ref<void(CallbackData& cbdata)> callback);
 };
 
 }  // namespace wpi