Update LiveWindow to provide continuous telemetry. (#771)

LiveWindow.updateValues() is now called from IterativeRobotBase on every
loop iteration.  Telemetry for all WPILib classes is enabled by default;
it can be disabled for specific classes using LiveWindow.disableTelemetry(),
or all telemetry can be disabled using LiveWindow.disableAllTelemetry().

This necessitated changing the hook methodology into other classes to
be more property-based rather than each class providing multiple functions.
This had the benefit of reducing boilerplate and increasing consistency.

- Remove NamedSendable, add name to Sendable.

- Provide SendableBase abstract class.

- Deprecate LiveWindow addSensor/addActuator interfaces.

- Add LiveWindow support to drive classes.

- Add addChild() helper functions to Subsystem.

- Fix inheritance hierarchy.  Now only sensors inherit from SensorBase.
  Other devices inherit from some combination of SendableBase, ErrorBase, or
  nothing.

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

@@ -9,8 +9,7 @@
 
 #include <HAL/HAL.h>
 
-#include "I2C.h"
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -30,7 +29,7 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
 
   HAL_Report(HALUsageReporting::kResourceType_ADXL345,
              HALUsageReporting::kADXL345_I2C, 0);
-  LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this);
+  SetName("ADXL345_I2C", port);
 }
 
 void ADXL345_I2C::SetRange(Range range) {
@@ -75,25 +74,15 @@ ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
   return data;
 }
 
-std::string ADXL345_I2C::GetSmartDashboardType() const {
-  return "3AxisAccelerometer";
-}
-
-void ADXL345_I2C::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_xEntry = subtable->GetEntry("X");
-    m_yEntry = subtable->GetEntry("Y");
-    m_zEntry = subtable->GetEntry("Z");
-    UpdateTable();
-  } else {
-    m_xEntry = nt::NetworkTableEntry();
-    m_yEntry = nt::NetworkTableEntry();
-    m_zEntry = nt::NetworkTableEntry();
-  }
-}
-
-void ADXL345_I2C::UpdateTable() {
-  if (m_xEntry) m_xEntry.SetDouble(GetX());
-  if (m_yEntry) m_yEntry.SetDouble(GetY());
-  if (m_zEntry) m_zEntry.SetDouble(GetZ());
+void ADXL345_I2C::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("3AxisAccelerometer");
+  auto x = builder.GetEntry("X").GetHandle();
+  auto y = builder.GetEntry("Y").GetHandle();
+  auto z = builder.GetEntry("Z").GetHandle();
+  builder.SetUpdateTable([=]() {
+    auto data = GetAccelerations();
+    nt::NetworkTableEntry(x).SetDouble(data.XAxis);
+    nt::NetworkTableEntry(y).SetDouble(data.YAxis);
+    nt::NetworkTableEntry(z).SetDouble(data.ZAxis);
+  });
 }

wpilibc/src/main/native/cpp/ADXL345_SPI.cpp

@@ -9,9 +9,7 @@
 
 #include <HAL/HAL.h>
 
-#include "DigitalInput.h"
-#include "DigitalOutput.h"
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -40,7 +38,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
   HAL_Report(HALUsageReporting::kResourceType_ADXL345,
              HALUsageReporting::kADXL345_SPI);
 
-  LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this);
+  SetName("ADXL345_SPI", port);
 }
 
 void ADXL345_SPI::SetRange(Range range) {
@@ -103,25 +101,15 @@ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
   return data;
 }
 
-std::string ADXL345_SPI::GetSmartDashboardType() const {
-  return "3AxisAccelerometer";
-}
-
-void ADXL345_SPI::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_xEntry = subtable->GetEntry("X");
-    m_yEntry = subtable->GetEntry("Y");
-    m_zEntry = subtable->GetEntry("Z");
-    UpdateTable();
-  } else {
-    m_xEntry = nt::NetworkTableEntry();
-    m_yEntry = nt::NetworkTableEntry();
-    m_zEntry = nt::NetworkTableEntry();
-  }
-}
-
-void ADXL345_SPI::UpdateTable() {
-  if (m_xEntry) m_xEntry.SetDouble(GetX());
-  if (m_yEntry) m_yEntry.SetDouble(GetY());
-  if (m_zEntry) m_zEntry.SetDouble(GetZ());
+void ADXL345_SPI::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("3AxisAccelerometer");
+  auto x = builder.GetEntry("X").GetHandle();
+  auto y = builder.GetEntry("Y").GetHandle();
+  auto z = builder.GetEntry("Z").GetHandle();
+  builder.SetUpdateTable([=]() {
+    auto data = GetAccelerations();
+    nt::NetworkTableEntry(x).SetDouble(data.XAxis);
+    nt::NetworkTableEntry(y).SetDouble(data.YAxis);
+    nt::NetworkTableEntry(z).SetDouble(data.ZAxis);
+  });
 }

wpilibc/src/main/native/cpp/ADXL362.cpp

@@ -9,29 +9,27 @@
 
 #include <HAL/HAL.h>
 
-#include "DigitalInput.h"
-#include "DigitalOutput.h"
 #include "DriverStation.h"
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 
 using namespace frc;
 
-static int kRegWrite = 0x0A;
-static int kRegRead = 0x0B;
+static constexpr int kRegWrite = 0x0A;
+static constexpr int kRegRead = 0x0B;
 
-static int kPartIdRegister = 0x02;
-static int kDataRegister = 0x0E;
-static int kFilterCtlRegister = 0x2C;
-static int kPowerCtlRegister = 0x2D;
+static constexpr int kPartIdRegister = 0x02;
+static constexpr int kDataRegister = 0x0E;
+static constexpr int kFilterCtlRegister = 0x2C;
+static constexpr int kPowerCtlRegister = 0x2D;
 
-// static int kFilterCtl_Range2G = 0x00;
-// static int kFilterCtl_Range4G = 0x40;
-// static int kFilterCtl_Range8G = 0x80;
-static int kFilterCtl_ODR_100Hz = 0x03;
+// static constexpr int kFilterCtl_Range2G = 0x00;
+// static constexpr int kFilterCtl_Range4G = 0x40;
+// static constexpr int kFilterCtl_Range8G = 0x80;
+static constexpr int kFilterCtl_ODR_100Hz = 0x03;
 
-static int kPowerCtl_UltraLowNoise = 0x20;
-// static int kPowerCtl_AutoSleep = 0x04;
-static int kPowerCtl_Measure = 0x02;
+static constexpr int kPowerCtl_UltraLowNoise = 0x20;
+// static constexpr int kPowerCtl_AutoSleep = 0x04;
+static constexpr int kPowerCtl_Measure = 0x02;
 
 /**
  * Constructor.  Uses the onboard CS1.
@@ -75,7 +73,7 @@ ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) {
 
   HAL_Report(HALUsageReporting::kResourceType_ADXL362, port);
 
-  LiveWindow::GetInstance()->AddSensor("ADXL362", port, this);
+  SetName("ADXL362", port);
 }
 
 void ADXL362::SetRange(Range range) {
@@ -163,25 +161,15 @@ ADXL362::AllAxes ADXL362::GetAccelerations() {
   return data;
 }
 
-std::string ADXL362::GetSmartDashboardType() const {
-  return "3AxisAccelerometer";
-}
-
-void ADXL362::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_xEntry = subtable->GetEntry("X");
-    m_yEntry = subtable->GetEntry("Y");
-    m_zEntry = subtable->GetEntry("Z");
-    UpdateTable();
-  } else {
-    m_xEntry = nt::NetworkTableEntry();
-    m_yEntry = nt::NetworkTableEntry();
-    m_zEntry = nt::NetworkTableEntry();
-  }
-}
-
-void ADXL362::UpdateTable() {
-  if (m_xEntry) m_xEntry.SetDouble(GetX());
-  if (m_yEntry) m_yEntry.SetDouble(GetY());
-  if (m_zEntry) m_zEntry.SetDouble(GetZ());
+void ADXL362::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("3AxisAccelerometer");
+  auto x = builder.GetEntry("X").GetHandle();
+  auto y = builder.GetEntry("Y").GetHandle();
+  auto z = builder.GetEntry("Z").GetHandle();
+  builder.SetUpdateTable([=]() {
+    auto data = GetAccelerations();
+    nt::NetworkTableEntry(x).SetDouble(data.XAxis);
+    nt::NetworkTableEntry(y).SetDouble(data.YAxis);
+    nt::NetworkTableEntry(z).SetDouble(data.ZAxis);
+  });
 }

wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp

@@ -10,7 +10,6 @@
 #include <HAL/HAL.h>
 
 #include "DriverStation.h"
-#include "LiveWindow/LiveWindow.h"
 #include "Timer.h"
 
 using namespace frc;
@@ -81,7 +80,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) {
   Calibrate();
 
   HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port);
-  LiveWindow::GetInstance()->AddSensor("ADXRS450_Gyro", port, this);
+  SetName("ADXRS450_Gyro", port);
 }
 
 static bool CalcParity(int v) {

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

@@ -9,7 +9,7 @@
 
 #include <HAL/HAL.h>
 
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -20,8 +20,7 @@ using namespace frc;
 void AnalogAccelerometer::InitAccelerometer() {
   HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
              m_analogInput->GetChannel());
-  LiveWindow::GetInstance()->AddSensor("Accelerometer",
-                                       m_analogInput->GetChannel(), this);
+  SetName("Accelerometer", m_analogInput->GetChannel());
 }
 
 /**
@@ -32,9 +31,9 @@ void AnalogAccelerometer::InitAccelerometer() {
  * @param channel The channel number for the analog input the accelerometer is
  *                connected to
  */
-AnalogAccelerometer::AnalogAccelerometer(int channel) {
-  m_analogInput = std::make_shared<AnalogInput>(channel);
-  InitAccelerometer();
+AnalogAccelerometer::AnalogAccelerometer(int channel)
+    : AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
+  AddChild(m_analogInput);
 }
 
 /**
@@ -116,24 +115,8 @@ void AnalogAccelerometer::SetZero(double zero) { m_zeroGVoltage = zero; }
  */
 double AnalogAccelerometer::PIDGet() { return GetAcceleration(); }
 
-void AnalogAccelerometer::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(GetAcceleration());
-}
-
-void AnalogAccelerometer::StartLiveWindowMode() {}
-
-void AnalogAccelerometer::StopLiveWindowMode() {}
-
-std::string AnalogAccelerometer::GetSmartDashboardType() const {
-  return "Accelerometer";
-}
-
-void AnalogAccelerometer::InitTable(
-    std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void AnalogAccelerometer::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Accelerometer");
+  builder.AddDoubleProperty("Value", [=]() { return GetAcceleration(); },
+                            nullptr);
 }

wpilibc/src/main/native/cpp/AnalogGyro.cpp

@@ -14,7 +14,6 @@
 #include <HAL/HAL.h>
 
 #include "AnalogInput.h"
-#include "LiveWindow/LiveWindow.h"
 #include "Timer.h"
 #include "WPIErrors.h"
 
@@ -27,7 +26,9 @@ using namespace frc;
  *                be used on on-board Analog Inputs 0-1.
  */
 AnalogGyro::AnalogGyro(int channel)
-    : AnalogGyro(std::make_shared<AnalogInput>(channel)) {}
+    : AnalogGyro(std::make_shared<AnalogInput>(channel)) {
+  AddChild(m_analog);
+}
 
 /**
  * Gyro constructor with a precreated AnalogInput object.
@@ -75,18 +76,9 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
  *                value.
  * @param offset  Preset uncalibrated value to use as the gyro offset.
  */
-AnalogGyro::AnalogGyro(int channel, int center, double offset) {
-  m_analog = std::make_shared<AnalogInput>(channel);
-  InitGyro();
-  int32_t status = 0;
-  HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
-                              offset, center, &status);
-  if (status != 0) {
-    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-    m_gyroHandle = HAL_kInvalidHandle;
-    return;
-  }
-  Reset();
+AnalogGyro::AnalogGyro(int channel, int center, double offset)
+    : AnalogGyro(std::make_shared<AnalogInput>(channel), center, offset) {
+  AddChild(m_analog);
 }
 
 /**
@@ -172,8 +164,7 @@ void AnalogGyro::InitGyro() {
   }
 
   HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
-  LiveWindow::GetInstance()->AddSensor("AnalogGyro", m_analog->GetChannel(),
-                                       this);
+  SetName("AnalogGyro", m_analog->GetChannel());
 }
 
 void AnalogGyro::Calibrate() {

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

@@ -14,7 +14,7 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>
 
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "Timer.h"
 #include "WPIErrors.h"
 
@@ -49,8 +49,8 @@ AnalogInput::AnalogInput(int channel) {
     return;
   }
 
-  LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this);
   HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel);
+  SetName("AnalogInput", channel);
 }
 
 /**
@@ -414,23 +414,8 @@ double AnalogInput::PIDGet() {
   return GetAverageVoltage();
 }
 
-void AnalogInput::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(GetAverageVoltage());
-}
-
-void AnalogInput::StartLiveWindowMode() {}
-
-void AnalogInput::StopLiveWindowMode() {}
-
-std::string AnalogInput::GetSmartDashboardType() const {
-  return "Analog Input";
-}
-
-void AnalogInput::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void AnalogInput::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Analog Input");
+  builder.AddDoubleProperty("Value", [=]() { return GetAverageVoltage(); },
+                            nullptr);
 }

wpilibc/src/main/native/cpp/AnalogOutput.cpp

@@ -14,7 +14,8 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>
 
-#include "LiveWindow/LiveWindow.h"
+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -51,8 +52,8 @@ AnalogOutput::AnalogOutput(int channel) {
     return;
   }
 
-  LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
   HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
+  SetName("AnalogOutput", m_channel);
 }
 
 /**
@@ -93,23 +94,8 @@ double AnalogOutput::GetVoltage() const {
   return voltage;
 }
 
-void AnalogOutput::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(GetVoltage());
-}
-
-void AnalogOutput::StartLiveWindowMode() {}
-
-void AnalogOutput::StopLiveWindowMode() {}
-
-std::string AnalogOutput::GetSmartDashboardType() const {
-  return "Analog Output";
-}
-
-void AnalogOutput::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void AnalogOutput::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Analog Output");
+  builder.AddDoubleProperty("Value", [=]() { return GetVoltage(); },
+                            [=](double value) { SetVoltage(value); });
 }

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

@@ -8,6 +8,7 @@
 #include "AnalogPotentiometer.h"
 
 #include "ControllerPower.h"
+#include "SmartDashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -23,9 +24,11 @@ using namespace frc;
  */
 AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
                                          double offset)
-    : m_analog_input(std::make_unique<AnalogInput>(channel)),
+    : m_analog_input(std::make_shared<AnalogInput>(channel)),
       m_fullRange(fullRange),
-      m_offset(offset) {}
+      m_offset(offset) {
+  AddChild(m_analog_input);
+}
 
 /**
  * Construct an Analog Potentiometer object from an existing Analog Input
@@ -76,26 +79,9 @@ double AnalogPotentiometer::Get() const {
  */
 double AnalogPotentiometer::PIDGet() { return Get(); }
 
-/**
- * @return the Smart Dashboard Type
- */
-std::string AnalogPotentiometer::GetSmartDashboardType() const {
-  return "Analog Input";
-}
-
 /**
  * Live Window code, only does anything if live window is activated.
  */
-void AnalogPotentiometer::InitTable(
-    std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_valueEntry = subtable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
-}
-
-void AnalogPotentiometer::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(Get());
+void AnalogPotentiometer::InitSendable(SendableBuilder& builder) {
+  m_analog_input->InitSendable(builder);
 }

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

@@ -25,6 +25,7 @@ using namespace frc;
 AnalogTrigger::AnalogTrigger(int channel)
     : AnalogTrigger(new AnalogInput(channel)) {
   m_ownsAnalog = true;
+  AddChild(m_analogInput);
 }
 
 /**
@@ -49,6 +50,7 @@ AnalogTrigger::AnalogTrigger(AnalogInput* input) {
   m_index = index;
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, input->m_channel);
+  SetName("AnalogTrigger", input->GetChannel());
 }
 
 AnalogTrigger::~AnalogTrigger() {
@@ -184,3 +186,7 @@ std::shared_ptr<AnalogTriggerOutput> AnalogTrigger::CreateOutput(
   return std::shared_ptr<AnalogTriggerOutput>(
       new AnalogTriggerOutput(*this, type), NullDeleter<AnalogTriggerOutput>());
 }
+
+void AnalogTrigger::InitSendable(SendableBuilder& builder) {
+  if (m_ownsAnalog) m_analogInput->InitSendable(builder);
+}

wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp

@@ -78,3 +78,5 @@ AnalogTriggerType AnalogTriggerOutput::GetAnalogTriggerTypeForRouting() const {
  * @return The channel of the source.
  */
 int AnalogTriggerOutput::GetChannel() const { return m_trigger.m_index; }
+
+void AnalogTriggerOutput::InitSendable(SendableBuilder&) {}

wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp

@@ -10,7 +10,7 @@
 #include <HAL/Accelerometer.h>
 #include <HAL/HAL.h>
 
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -25,7 +25,7 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
 
   HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
              "Built-in accelerometer");
-  LiveWindow::GetInstance()->AddSensor((std::string) "BuiltInAccel", 0, this);
+  SetName("BuiltInAccel", 0);
 }
 
 void BuiltInAccelerometer::SetRange(Range range) {
@@ -54,26 +54,9 @@ double BuiltInAccelerometer::GetY() { return HAL_GetAccelerometerY(); }
  */
 double BuiltInAccelerometer::GetZ() { return HAL_GetAccelerometerZ(); }
 
-std::string BuiltInAccelerometer::GetSmartDashboardType() const {
-  return "3AxisAccelerometer";
-}
-
-void BuiltInAccelerometer::InitTable(
-    std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable != nullptr) {
-    m_xEntry = subtable->GetEntry("X");
-    m_yEntry = subtable->GetEntry("Y");
-    m_zEntry = subtable->GetEntry("Z");
-    UpdateTable();
-  } else {
-    m_xEntry = nt::NetworkTableEntry();
-    m_yEntry = nt::NetworkTableEntry();
-    m_zEntry = nt::NetworkTableEntry();
-  }
-}
-
-void BuiltInAccelerometer::UpdateTable() {
-  if (m_xEntry) m_xEntry.SetDouble(GetX());
-  if (m_yEntry) m_yEntry.SetDouble(GetY());
-  if (m_zEntry) m_zEntry.SetDouble(GetZ());
+void BuiltInAccelerometer::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("3AxisAccelerometer");
+  builder.AddDoubleProperty("X", [=]() { return GetX(); }, nullptr);
+  builder.AddDoubleProperty("Y", [=]() { return GetY(); }, nullptr);
+  builder.AddDoubleProperty("Z", [=]() { return GetZ(); }, nullptr);
 }

wpilibc/src/main/native/cpp/Buttons/Trigger.cpp

@@ -11,12 +11,11 @@
 #include "Buttons/PressedButtonScheduler.h"
 #include "Buttons/ReleasedButtonScheduler.h"
 #include "Buttons/ToggleButtonScheduler.h"
+#include "SmartDashboard/SendableBuilder.h"
 
 using namespace frc;
 
-bool Trigger::Grab() {
-  return Get() || (m_pressedEntry && m_pressedEntry.GetBoolean(false));
-}
+bool Trigger::Grab() { return Get() || m_sendablePressed; }
 
 void Trigger::WhenActive(Command* command) {
   auto pbs = new PressedButtonScheduler(Grab(), this, command);
@@ -43,13 +42,9 @@ void Trigger::ToggleWhenActive(Command* command) {
   tbs->Start();
 }
 
-std::string Trigger::GetSmartDashboardType() const { return "Button"; }
-
-void Trigger::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_pressedEntry = subtable->GetEntry("pressed");
-    m_pressedEntry.SetBoolean(Get());
-  } else {
-    m_pressedEntry = nt::NetworkTableEntry();
-  }
+void Trigger::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Button");
+  builder.SetSafeState([=]() { m_sendablePressed = false; });
+  builder.AddBooleanProperty("pressed", [=]() { return Grab(); },
+                             [=](bool value) { m_sendablePressed = value; });
 }

wpilibc/src/main/native/cpp/Commands/Command.cpp

@@ -11,16 +11,14 @@
 
 #include "Commands/CommandGroup.h"
 #include "Commands/Scheduler.h"
+#include "LiveWindow/LiveWindow.h"
 #include "RobotState.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "Timer.h"
 #include "WPIErrors.h"
 
 using namespace frc;
 
-static const std::string kName = ".name";
-static const std::string kRunning = "running";
-static const std::string kIsParented = ".isParented";
-
 int Command::m_commandCounter = 0;
 
 /**
@@ -35,7 +33,7 @@ Command::Command() : Command("", -1.0) {}
  *
  * @param name the name for this command
  */
-Command::Command(const std::string& name) : Command(name, -1.0) {}
+Command::Command(const llvm::Twine& name) : Command(name, -1.0) {}
 
 /**
  * Creates a new command with the given timeout and a default name.
@@ -52,7 +50,8 @@ Command::Command(double timeout) : Command("", timeout) {}
  * @param timeout the time (in seconds) before this command "times out"
  * @see IsTimedOut()
  */
-Command::Command(const std::string& name, double timeout) {
+Command::Command(const llvm::Twine& name, double timeout)
+    : SendableBase(false) {
   // We use -1.0 to indicate no timeout.
   if (timeout < 0.0 && timeout != -1.0)
     wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
@@ -60,17 +59,14 @@ Command::Command(const std::string& name, double timeout) {
   m_timeout = timeout;
 
   // If name contains an empty string
-  if (name.length() == 0) {
-    m_name = std::string("Command_") + std::string(typeid(*this).name());
+  if (name.isTriviallyEmpty() ||
+      (name.isSingleStringRef() && name.getSingleStringRef().empty())) {
+    SetName("Command_" + llvm::Twine(typeid(*this).name()));
   } else {
-    m_name = name;
+    SetName(name);
   }
 }
 
-Command::~Command() {
-  if (m_runningListener != 0) m_runningEntry.RemoveListener(m_runningListener);
-}
-
 /**
  * Get the ID (sequence number) for this command.
  *
@@ -144,7 +140,6 @@ void Command::Removed() {
   m_initialized = false;
   m_canceled = false;
   m_running = false;
-  if (m_runningEntry) m_runningEntry.SetBoolean(false);
 }
 
 /**
@@ -291,10 +286,16 @@ void Command::SetParent(CommandGroup* parent) {
   } else {
     LockChanges();
     m_parent = parent;
-    if (m_isParentedEntry) m_isParentedEntry.SetBoolean(true);
   }
 }
 
+/**
+ * Returns whether the command has a parent.
+ *
+ * @param True if the command has a parent.
+ */
+bool Command::IsParented() const { return m_parent != nullptr; }
+
 /**
  * Clears list of subsystem requirements.
  *
@@ -317,7 +318,6 @@ void Command::ClearRequirements() { m_requirements.clear(); }
 void Command::StartRunning() {
   m_running = true;
   m_startTime = -1;
-  if (m_runningEntry) m_runningEntry.SetBoolean(true);
 }
 
 /**
@@ -422,28 +422,17 @@ void Command::SetRunWhenDisabled(bool run) { m_runWhenDisabled = run; }
  */
 bool Command::WillRunWhenDisabled() const { return m_runWhenDisabled; }
 
-std::string Command::GetName() const { return m_name; }
-
-std::string Command::GetSmartDashboardType() const { return "Command"; }
-
-void Command::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (m_runningListener != 0) m_runningEntry.RemoveListener(m_runningListener);
-  if (subtable) {
-    subtable->GetEntry(kName).SetString(GetName());
-    m_runningEntry = subtable->GetEntry(kRunning);
-    m_runningEntry.SetBoolean(IsRunning());
-    m_isParentedEntry = subtable->GetEntry(kIsParented);
-    m_isParentedEntry.SetBoolean(m_parent != nullptr);
-
-    m_runningListener = m_runningEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsBoolean()) return;
-          if (event.value->GetBoolean()) {
-            if (!IsRunning()) Start();
-          } else {
-            if (IsRunning()) Cancel();
-          }
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
+void Command::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Command");
+  builder.AddStringProperty(".name", [=]() { return GetName(); }, nullptr);
+  builder.AddBooleanProperty("running", [=]() { return IsRunning(); },
+                             [=](bool value) {
+                               if (value) {
+                                 if (!IsRunning()) Start();
+                               } else {
+                                 if (IsRunning()) Cancel();
+                               }
+                             });
+  builder.AddBooleanProperty(".isParented", [=]() { return IsParented(); },
+                             nullptr);
 }

wpilibc/src/main/native/cpp/Commands/PIDCommand.cpp

@@ -7,6 +7,8 @@
 
 #include "Commands/PIDCommand.h"
 
+#include "SmartDashboard/SendableBuilder.h"
+
 using namespace frc;
 
 PIDCommand::PIDCommand(const std::string& name, double p, double i, double d,
@@ -65,9 +67,8 @@ double PIDCommand::GetSetpoint() const { return m_controller->GetSetpoint(); }
 
 double PIDCommand::GetPosition() { return ReturnPIDInput(); }
 
-std::string PIDCommand::GetSmartDashboardType() const { return "PIDCommand"; }
-
-void PIDCommand::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  m_controller->InitTable(subtable);
-  Command::InitTable(subtable);
+void PIDCommand::InitSendable(SendableBuilder& builder) {
+  m_controller->InitSendable(builder);
+  Command::InitSendable(builder);
+  builder.SetSmartDashboardType("PIDCommand");
 }

wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp

@@ -23,6 +23,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
                            double d)
     : Subsystem(name) {
   m_controller = std::make_shared<PIDController>(p, i, d, this, this);
+  AddChild("PIDController", m_controller);
 }
 
 /**
@@ -38,6 +39,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
                            double d, double f)
     : Subsystem(name) {
   m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
+  AddChild("PIDController", m_controller);
 }
 
 /**
@@ -58,6 +60,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
     : Subsystem(name) {
   m_controller =
       std::make_shared<PIDController>(p, i, d, f, this, this, period);
+  AddChild("PIDController", m_controller);
 }
 
 /**
@@ -72,6 +75,7 @@ PIDSubsystem::PIDSubsystem(const std::string& name, double p, double i,
 PIDSubsystem::PIDSubsystem(double p, double i, double d)
     : Subsystem("PIDSubsystem") {
   m_controller = std::make_shared<PIDController>(p, i, d, this, this);
+  AddChild("PIDController", m_controller);
 }
 
 /**
@@ -87,6 +91,7 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d)
 PIDSubsystem::PIDSubsystem(double p, double i, double d, double f)
     : Subsystem("PIDSubsystem") {
   m_controller = std::make_shared<PIDController>(p, i, d, f, this, this);
+  AddChild("PIDController", m_controller);
 }
 
 /**
@@ -106,6 +111,7 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d, double f,
     : Subsystem("PIDSubsystem") {
   m_controller =
       std::make_shared<PIDController>(p, i, d, f, this, this, period);
+  AddChild("PIDController", m_controller);
 }
 
 /**
@@ -233,10 +239,3 @@ double PIDSubsystem::GetRate() { return ReturnPIDInput(); }
 void PIDSubsystem::PIDWrite(double output) { UsePIDOutput(output); }
 
 double PIDSubsystem::PIDGet() { return ReturnPIDInput(); }
-
-std::string PIDSubsystem::GetSmartDashboardType() const { return "PIDCommand"; }
-
-void PIDSubsystem::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  m_controller->InitTable(subtable);
-  Subsystem::InitTable(subtable);
-}

wpilibc/src/main/native/cpp/Commands/Scheduler.cpp

@@ -13,11 +13,15 @@
 #include "Buttons/ButtonScheduler.h"
 #include "Commands/Subsystem.h"
 #include "HLUsageReporting.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
 
-Scheduler::Scheduler() { HLUsageReporting::ReportScheduler(); }
+Scheduler::Scheduler() {
+  HLUsageReporting::ReportScheduler();
+  SetName("Scheduler");
+}
 
 /**
  * Returns the Scheduler, creating it if one does not exist.
@@ -161,8 +165,6 @@ void Scheduler::Run() {
     }
     lock->ConfirmCommand();
   }
-
-  UpdateTable();
 }
 
 /**
@@ -223,12 +225,12 @@ void Scheduler::ResetAll() {
   m_cancelEntry = nt::NetworkTableEntry();
 }
 
-/**
- * Update the network tables associated with the Scheduler object on the
- * SmartDashboard.
- */
-void Scheduler::UpdateTable() {
-  if (m_cancelEntry && m_namesEntry && m_idsEntry) {
+void Scheduler::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Scheduler");
+  m_namesEntry = builder.GetEntry("Names");
+  m_idsEntry = builder.GetEntry("Ids");
+  m_cancelEntry = builder.GetEntry("Cancel");
+  builder.SetUpdateTable([=]() {
     // Get the list of possible commands to cancel
     auto new_toCancel = m_cancelEntry.GetValue();
     if (new_toCancel)
@@ -264,26 +266,5 @@ void Scheduler::UpdateTable() {
       m_namesEntry.SetStringArray(commands);
       m_idsEntry.SetDoubleArray(ids);
     }
-  }
-}
-
-std::string Scheduler::GetName() const { return "Scheduler"; }
-
-std::string Scheduler::GetType() const { return "Scheduler"; }
-
-std::string Scheduler::GetSmartDashboardType() const { return "Scheduler"; }
-
-void Scheduler::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_namesEntry = subTable->GetEntry("Names");
-    m_idsEntry = subTable->GetEntry("Ids");
-    m_cancelEntry = subTable->GetEntry("Cancel");
-    m_namesEntry.SetStringArray(commands);
-    m_idsEntry.SetDoubleArray(ids);
-    m_cancelEntry.SetDoubleArray(toCancel);
-  } else {
-    m_namesEntry = nt::NetworkTableEntry();
-    m_idsEntry = nt::NetworkTableEntry();
-    m_cancelEntry = nt::NetworkTableEntry();
-  }
+  });
 }

wpilibc/src/main/native/cpp/Commands/Subsystem.cpp

@@ -9,6 +9,8 @@
 
 #include "Commands/Command.h"
 #include "Commands/Scheduler.h"
+#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -18,10 +20,11 @@ using namespace frc;
  *
  * @param name the name of the subsystem
  */
-Subsystem::Subsystem(const std::string& name) {
-  m_name = name;
+Subsystem::Subsystem(const llvm::Twine& name) {
+  SetName(name, name);
   Scheduler::GetInstance()->RegisterSubsystem(this);
 }
+
 /**
  * Initialize the default command for this subsystem.
  *
@@ -64,14 +67,6 @@ void Subsystem::SetDefaultCommand(Command* command) {
 
     m_defaultCommand = command;
   }
-  if (m_hasDefaultEntry && m_defaultEntry) {
-    if (m_defaultCommand != nullptr) {
-      m_hasDefaultEntry.SetBoolean(true);
-      m_defaultEntry.SetString(m_defaultCommand->GetName());
-    } else {
-      m_hasDefaultEntry.SetBoolean(false);
-    }
-  }
 }
 
 /**
@@ -87,6 +82,20 @@ Command* Subsystem::GetDefaultCommand() {
   return m_defaultCommand;
 }
 
+/**
+ * Returns the default command name, or empty string is there is none.
+ *
+ * @return the default command name
+ */
+llvm::StringRef Subsystem::GetDefaultCommandName() {
+  Command* defaultCommand = GetDefaultCommand();
+  if (defaultCommand) {
+    return defaultCommand->GetName();
+  } else {
+    return llvm::StringRef();
+  }
+}
+
 /**
  * Sets the current command.
  *
@@ -104,6 +113,20 @@ void Subsystem::SetCurrentCommand(Command* command) {
  */
 Command* Subsystem::GetCurrentCommand() const { return m_currentCommand; }
 
+/**
+ * Returns the current command name, or empty string if no current command.
+ *
+ * @return the current command name
+ */
+llvm::StringRef Subsystem::GetCurrentCommandName() const {
+  Command* currentCommand = GetCurrentCommand();
+  if (currentCommand) {
+    return currentCommand->GetName();
+  } else {
+    return llvm::StringRef();
+  }
+}
+
 /**
  * When the run method of the scheduler is called this method will be called.
  */
@@ -118,41 +141,78 @@ void Subsystem::Periodic() {}
  * avoid that situation.
  */
 void Subsystem::ConfirmCommand() {
-  if (m_currentCommandChanged) {
-    if (m_hasCommandEntry && m_commandEntry) {
-      if (m_currentCommand != nullptr) {
-        m_hasCommandEntry.SetBoolean(true);
-        m_commandEntry.SetString(m_currentCommand->GetName());
-      } else {
-        m_hasCommandEntry.SetBoolean(false);
-      }
-    }
-    m_currentCommandChanged = false;
-  }
+  if (m_currentCommandChanged) m_currentCommandChanged = false;
 }
 
-std::string Subsystem::GetName() const { return m_name; }
-
-std::string Subsystem::GetSmartDashboardType() const { return "Subsystem"; }
-
-void Subsystem::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable != nullptr) {
-    m_hasDefaultEntry = subtable->GetEntry("hasDefault");
-    m_defaultEntry = subtable->GetEntry("default");
-    m_hasCommandEntry = subtable->GetEntry("hasCommand");
-    m_commandEntry = subtable->GetEntry("command");
-
-    if (m_defaultCommand != nullptr) {
-      m_hasDefaultEntry.SetBoolean(true);
-      m_defaultEntry.SetString(m_defaultCommand->GetName());
-    } else {
-      m_hasDefaultEntry.SetBoolean(false);
-    }
-    if (m_currentCommand != nullptr) {
-      m_hasCommandEntry.SetBoolean(true);
-      m_commandEntry.SetString(m_currentCommand->GetName());
-    } else {
-      m_hasCommandEntry.SetBoolean(false);
-    }
-  }
+/**
+ * Associate a Sendable with this Subsystem.
+ * Also update the child's name.
+ *
+ * @param name name to give child
+ * @param child sendable
+ */
+void Subsystem::AddChild(const llvm::Twine& name,
+                         std::shared_ptr<Sendable> child) {
+  AddChild(name, *child);
+}
+
+/**
+ * Associate a Sendable with this Subsystem.
+ * Also update the child's name.
+ *
+ * @param name name to give child
+ * @param child sendable
+ */
+void Subsystem::AddChild(const llvm::Twine& name, Sendable* child) {
+  AddChild(name, *child);
+}
+
+/**
+ * Associate a Sendable with this Subsystem.
+ * Also update the child's name.
+ *
+ * @param name name to give child
+ * @param child sendable
+ */
+void Subsystem::AddChild(const llvm::Twine& name, Sendable& child) {
+  child.SetName(GetSubsystem(), name);
+  LiveWindow::GetInstance()->Add(&child);
+}
+
+/**
+ * Associate a {@link Sendable} with this Subsystem.
+ *
+ * @param child sendable
+ */
+void Subsystem::AddChild(std::shared_ptr<Sendable> child) { AddChild(*child); }
+
+/**
+ * Associate a {@link Sendable} with this Subsystem.
+ *
+ * @param child sendable
+ */
+void Subsystem::AddChild(Sendable* child) { AddChild(*child); }
+
+/**
+ * Associate a {@link Sendable} with this Subsystem.
+ *
+ * @param child sendable
+ */
+void Subsystem::AddChild(Sendable& child) {
+  child.SetSubsystem(GetSubsystem());
+  LiveWindow::GetInstance()->Add(&child);
+}
+
+void Subsystem::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Subsystem");
+
+  builder.AddBooleanProperty(
+      "hasDefault", [=]() { return m_defaultCommand != nullptr; }, nullptr);
+  builder.AddStringProperty("default",
+                            [=]() { return GetDefaultCommandName(); }, nullptr);
+
+  builder.AddBooleanProperty(
+      "hasCommand", [=]() { return m_currentCommand != nullptr; }, nullptr);
+  builder.AddStringProperty("command",
+                            [=]() { return GetCurrentCommandName(); }, nullptr);
 }

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

@@ -12,6 +12,7 @@
 #include <HAL/Ports.h>
 #include <HAL/Solenoid.h>
 
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -32,13 +33,7 @@ Compressor::Compressor(int pcmID) : m_module(pcmID) {
   SetClosedLoopControl(true);
 
   HAL_Report(HALUsageReporting::kResourceType_Compressor, pcmID);
-}
-
-/**
- * Destructor.
- */
-Compressor::~Compressor() {
-  if (m_enabledListener != 0) m_enabledEntry.RemoveListener(m_enabledListener);
+  SetName("Compressor", pcmID);
 }
 
 /**
@@ -308,42 +303,15 @@ void Compressor::ClearAllPCMStickyFaults() {
   }
 }
 
-void Compressor::UpdateTable() {
-  if (m_enabledEntry) m_enabledEntry.SetBoolean(Enabled());
-  if (m_pressureSwitchEntry)
-    m_pressureSwitchEntry.SetBoolean(GetPressureSwitchValue());
-}
-
-void Compressor::StartLiveWindowMode() {
-  if (m_enabledEntry) {
-    m_enabledListener = m_enabledEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsBoolean()) return;
-          if (event.value->GetBoolean())
-            Start();
-          else
-            Stop();
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void Compressor::StopLiveWindowMode() {
-  if (m_enabledListener != 0) {
-    m_enabledEntry.RemoveListener(m_enabledListener);
-    m_enabledListener = 0;
-  }
-}
-
-std::string Compressor::GetSmartDashboardType() const { return "Compressor"; }
-
-void Compressor::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_enabledEntry = subTable->GetEntry("Enabled");
-    m_pressureSwitchEntry = subTable->GetEntry("Pressure switch");
-    UpdateTable();
-  } else {
-    m_enabledEntry = nt::NetworkTableEntry();
-    m_pressureSwitchEntry = nt::NetworkTableEntry();
-  }
+void Compressor::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Compressor");
+  builder.AddBooleanProperty("Enabled", [=]() { return Enabled(); },
+                             [=](bool value) {
+                               if (value)
+                                 Start();
+                               else
+                                 Stop();
+                             });
+  builder.AddBooleanProperty(
+      "Pressure switch", [=]() { return GetPressureSwitchValue(); }, nullptr);
 }

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

@@ -11,6 +11,7 @@
 
 #include "AnalogTrigger.h"
 #include "DigitalInput.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -36,6 +37,7 @@ Counter::Counter(Mode mode) {
   SetMaxPeriod(.5);
 
   HAL_Report(HALUsageReporting::kResourceType_Counter, m_index, mode);
+  SetName("Counter", m_index);
 }
 
 /**
@@ -181,6 +183,7 @@ Counter::~Counter() {
 void Counter::SetUpSource(int channel) {
   if (StatusIsFatal()) return;
   SetUpSource(std::make_shared<DigitalInput>(channel));
+  AddChild(m_upSource);
 }
 
 /**
@@ -287,6 +290,7 @@ void Counter::ClearUpSource() {
 void Counter::SetDownSource(int channel) {
   if (StatusIsFatal()) return;
   SetDownSource(std::make_shared<DigitalInput>(channel));
+  AddChild(m_downSource);
 }
 
 /**
@@ -603,21 +607,7 @@ void Counter::SetReverseDirection(bool reverseDirection) {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
-void Counter::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(Get());
-}
-
-void Counter::StartLiveWindowMode() {}
-
-void Counter::StopLiveWindowMode() {}
-
-std::string Counter::GetSmartDashboardType() const { return "Counter"; }
-
-void Counter::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void Counter::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Counter");
+  builder.AddDoubleProperty("Value", [=]() { return Get(); }, nullptr);
 }

wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp

@@ -35,6 +35,7 @@ DigitalGlitchFilter::DigitalGlitchFilter() {
   *index = true;
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalFilter, m_channelIndex);
+  SetName("DigitalGlitchFilter", m_channelIndex);
 }
 
 DigitalGlitchFilter::~DigitalGlitchFilter() {
@@ -199,3 +200,5 @@ uint64_t DigitalGlitchFilter::GetPeriodNanoSeconds() {
   return static_cast<uint64_t>(fpgaCycles) * 1000L /
          static_cast<uint64_t>(HAL_GetSystemClockTicksPerMicrosecond() / 4);
 }
+
+void DigitalGlitchFilter::InitSendable(SendableBuilder&) {}

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

@@ -15,7 +15,7 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>
 
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -49,8 +49,8 @@ DigitalInput::DigitalInput(int channel) {
     return;
   }
 
-  LiveWindow::GetInstance()->AddSensor("DigitalInput", channel, this);
   HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel);
+  SetName("DigitalInput", channel);
 }
 
 /**
@@ -103,23 +103,7 @@ AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const {
   return (AnalogTriggerType)0;
 }
 
-void DigitalInput::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetBoolean(Get());
-}
-
-void DigitalInput::StartLiveWindowMode() {}
-
-void DigitalInput::StopLiveWindowMode() {}
-
-std::string DigitalInput::GetSmartDashboardType() const {
-  return "DigitalInput";
-}
-
-void DigitalInput::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void DigitalInput::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Digital Input");
+  builder.AddBooleanProperty("Value", [=]() { return Get(); }, nullptr);
 }

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

@@ -15,6 +15,8 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>
 
+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -32,7 +34,7 @@ DigitalOutput::DigitalOutput(int channel) {
   llvm::raw_svector_ostream buf(str);
 
   m_pwmGenerator = HAL_kInvalidHandle;
-  if (!CheckDigitalChannel(channel)) {
+  if (!SensorBase::CheckDigitalChannel(channel)) {
     buf << "Digital Channel " << channel;
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
     m_channel = std::numeric_limits<int>::max();
@@ -51,13 +53,13 @@ DigitalOutput::DigitalOutput(int channel) {
   }
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel);
+  SetName("DigitalOutput", channel);
 }
 
 /**
  * Free the resources associated with a digital output.
  */
 DigitalOutput::~DigitalOutput() {
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
   if (StatusIsFatal()) return;
   // Disable the PWM in case it was running.
   DisablePWM();
@@ -190,7 +192,8 @@ void DigitalOutput::DisablePWM() {
   int32_t status = 0;
 
   // Disable the output by routing to a dead bit.
-  HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, kDigitalChannels, &status);
+  HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, SensorBase::kDigitalChannels,
+                                 &status);
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 
   HAL_FreeDigitalPWM(m_pwmGenerator, &status);
@@ -215,52 +218,8 @@ void DigitalOutput::UpdateDutyCycle(double dutyCycle) {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
-/**
- * @return The HAL Handle to the specified source.
- */
-HAL_Handle DigitalOutput::GetPortHandleForRouting() const { return m_handle; }
-
-/**
- * Is source an AnalogTrigger
- */
-bool DigitalOutput::IsAnalogTrigger() const { return false; }
-
-/**
- * @return The type of analog trigger output to be used. 0 for Digitals
- */
-AnalogTriggerType DigitalOutput::GetAnalogTriggerTypeForRouting() const {
-  return (AnalogTriggerType)0;
-}
-
-void DigitalOutput::UpdateTable() {}
-
-void DigitalOutput::StartLiveWindowMode() {
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsBoolean()) return;
-          Set(event.value->GetBoolean());
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void DigitalOutput::StopLiveWindowMode() {
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
-}
-
-std::string DigitalOutput::GetSmartDashboardType() const {
-  return "Digital Output";
-}
-
-void DigitalOutput::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void DigitalOutput::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Digital Output");
+  builder.AddBooleanProperty("Value", [=]() { return Get(); },
+                             [=](bool value) { Set(value); });
 }

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

@@ -13,7 +13,8 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>
 
-#include "LiveWindow/LiveWindow.h"
+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -27,7 +28,7 @@ using namespace frc;
  * @param reverseChannel The reverse channel number on the PCM (0..7).
  */
 DoubleSolenoid::DoubleSolenoid(int forwardChannel, int reverseChannel)
-    : DoubleSolenoid(GetDefaultSolenoidModule(), forwardChannel,
+    : DoubleSolenoid(SensorBase::GetDefaultSolenoidModule(), forwardChannel,
                      reverseChannel) {}
 
 /**
@@ -44,17 +45,17 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
       m_reverseChannel(reverseChannel) {
   llvm::SmallString<32> str;
   llvm::raw_svector_ostream buf(str);
-  if (!CheckSolenoidModule(m_moduleNumber)) {
+  if (!SensorBase::CheckSolenoidModule(m_moduleNumber)) {
     buf << "Solenoid Module " << m_moduleNumber;
     wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
     return;
   }
-  if (!CheckSolenoidChannel(m_forwardChannel)) {
+  if (!SensorBase::CheckSolenoidChannel(m_forwardChannel)) {
     buf << "Solenoid Module " << m_forwardChannel;
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
     return;
   }
-  if (!CheckSolenoidChannel(m_reverseChannel)) {
+  if (!SensorBase::CheckSolenoidChannel(m_reverseChannel)) {
     buf << "Solenoid Module " << m_reverseChannel;
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
     return;
@@ -89,8 +90,7 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
              m_moduleNumber);
   HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel,
              m_moduleNumber);
-  LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber,
-                                         m_forwardChannel, this);
+  SetName("DoubleSolenoid", m_moduleNumber, m_forwardChannel);
 }
 
 /**
@@ -99,7 +99,6 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
 DoubleSolenoid::~DoubleSolenoid() {
   HAL_FreeSolenoidPort(m_forwardHandle);
   HAL_FreeSolenoidPort(m_reverseHandle);
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
 }
 
 /**
@@ -183,56 +182,27 @@ bool DoubleSolenoid::IsRevSolenoidBlackListed() const {
   return (blackList & m_reverseMask) != 0;
 }
 
-void DoubleSolenoid::UpdateTable() {
-  if (m_valueEntry) {
-    switch (Get()) {
-      case kForward:
-        m_valueEntry.SetString("Forward");
-        break;
-      case kReverse:
-        m_valueEntry.SetString("Reverse");
-        break;
-      default:
-        m_valueEntry.SetString("Off");
-        break;
-    }
-  }
-}
-
-void DoubleSolenoid::StartLiveWindowMode() {
-  Set(kOff);
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsString()) return;
-          Value lvalue = kOff;
-          if (event.value->GetString() == "Forward")
-            lvalue = kForward;
-          else if (event.value->GetString() == "Reverse")
-            lvalue = kReverse;
-          Set(lvalue);
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void DoubleSolenoid::StopLiveWindowMode() {
-  Set(kOff);
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
-}
-
-std::string DoubleSolenoid::GetSmartDashboardType() const {
-  return "Double Solenoid";
-}
-
-void DoubleSolenoid::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void DoubleSolenoid::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Double Solenoid");
+  builder.SetSafeState([=]() { Set(kOff); });
+  builder.AddSmallStringProperty(
+      "Value",
+      [=](llvm::SmallVectorImpl<char>& buf) -> llvm::StringRef {
+        switch (Get()) {
+          case kForward:
+            return "Forward";
+          case kReverse:
+            return "Reverse";
+          default:
+            return "Off";
+        }
+      },
+      [=](llvm::StringRef value) {
+        Value lvalue = kOff;
+        if (value == "Forward")
+          lvalue = kForward;
+        else if (value == "Reverse")
+          lvalue = kReverse;
+        Set(lvalue);
+      });
 }

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

@@ -11,6 +11,7 @@
 
 #include <HAL/HAL.h>
 
+#include "SmartDashboard/SendableBuilder.h"
 #include "SpeedController.h"
 
 using namespace frc;
@@ -23,7 +24,13 @@ using namespace frc;
  */
 DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
                                      SpeedController& rightMotor)
-    : m_leftMotor(leftMotor), m_rightMotor(rightMotor) {}
+    : m_leftMotor(leftMotor), m_rightMotor(rightMotor) {
+  AddChild(&m_leftMotor);
+  AddChild(&m_rightMotor);
+  static int instances = 0;
+  ++instances;
+  SetName("DifferentialDrive", instances);
+}
 
 /**
  * Arcade drive method for differential drive platform.
@@ -249,3 +256,13 @@ void DifferentialDrive::StopMotor() {
 void DifferentialDrive::GetDescription(llvm::raw_ostream& desc) const {
   desc << "DifferentialDrive";
 }
+
+void DifferentialDrive::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("DifferentialDrive");
+  builder.AddDoubleProperty("Left Motor Speed",
+                            [=]() { return m_leftMotor.Get(); },
+                            [=](double value) { m_leftMotor.Set(value); });
+  builder.AddDoubleProperty("Right Motor Speed",
+                            [=]() { return m_rightMotor.Get(); },
+                            [=](double value) { m_rightMotor.Set(value); });
+}

wpilibc/src/main/native/cpp/Drive/KilloughDrive.cpp

@@ -12,6 +12,7 @@
 
 #include <HAL/HAL.h>
 
+#include "SmartDashboard/SendableBuilder.h"
 #include "SpeedController.h"
 
 using namespace frc;
@@ -62,6 +63,12 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
                 std::sin(rightMotorAngle * (kPi / 180.0))};
   m_backVec = {std::cos(backMotorAngle * (kPi / 180.0)),
                std::sin(backMotorAngle * (kPi / 180.0))};
+  AddChild(&m_leftMotor);
+  AddChild(&m_rightMotor);
+  AddChild(&m_backMotor);
+  static int instances = 0;
+  ++instances;
+  SetName("KilloughDrive", instances);
 }
 
 /**
@@ -146,3 +153,16 @@ void KilloughDrive::StopMotor() {
 void KilloughDrive::GetDescription(llvm::raw_ostream& desc) const {
   desc << "KilloughDrive";
 }
+
+void KilloughDrive::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("KilloughDrive");
+  builder.AddDoubleProperty("Left Motor Speed",
+                            [=]() { return m_leftMotor.Get(); },
+                            [=](double value) { m_leftMotor.Set(value); });
+  builder.AddDoubleProperty("Right Motor Speed",
+                            [=]() { return m_rightMotor.Get(); },
+                            [=](double value) { m_rightMotor.Set(value); });
+  builder.AddDoubleProperty("Back Motor Speed",
+                            [=]() { return m_backMotor.Get(); },
+                            [=](double value) { m_backMotor.Set(value); });
+}

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

@@ -13,6 +13,7 @@
 #include <HAL/HAL.h>
 
 #include "Drive/Vector2d.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "SpeedController.h"
 
 using namespace frc;
@@ -31,7 +32,15 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
     : m_frontLeftMotor(frontLeftMotor),
       m_rearLeftMotor(rearLeftMotor),
       m_frontRightMotor(frontRightMotor),
-      m_rearRightMotor(rearRightMotor) {}
+      m_rearRightMotor(rearRightMotor) {
+  AddChild(&m_frontLeftMotor);
+  AddChild(&m_rearLeftMotor);
+  AddChild(&m_frontRightMotor);
+  AddChild(&m_rearRightMotor);
+  static int instances = 0;
+  ++instances;
+  SetName("MecanumDrive", instances);
+}
 
 /**
  * Drive method for Mecanum platform.
@@ -118,3 +127,19 @@ void MecanumDrive::StopMotor() {
 void MecanumDrive::GetDescription(llvm::raw_ostream& desc) const {
   desc << "MecanumDrive";
 }
+
+void MecanumDrive::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("MecanumDrive");
+  builder.AddDoubleProperty("Front Left Motor Speed",
+                            [=]() { return m_frontLeftMotor.Get(); },
+                            [=](double value) { m_frontLeftMotor.Set(value); });
+  builder.AddDoubleProperty(
+      "Front Right Motor Speed", [=]() { return m_frontRightMotor.Get(); },
+      [=](double value) { m_frontRightMotor.Set(value); });
+  builder.AddDoubleProperty("Rear Left Motor Speed",
+                            [=]() { return m_rearLeftMotor.Get(); },
+                            [=](double value) { m_rearLeftMotor.Set(value); });
+  builder.AddDoubleProperty("Rear Right Motor Speed",
+                            [=]() { return m_rearRightMotor.Get(); },
+                            [=](double value) { m_rearRightMotor.Set(value); });
+}

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

@@ -10,7 +10,7 @@
 #include <HAL/HAL.h>
 
 #include "DigitalInput.h"
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -45,8 +45,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
 
   HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
              encodingType);
-  LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannel(),
-                                       this);
+  SetName("Encoder", m_aSource->GetChannel());
 }
 
 /**
@@ -77,6 +76,8 @@ Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
   m_aSource = std::make_shared<DigitalInput>(aChannel);
   m_bSource = std::make_shared<DigitalInput>(bChannel);
   InitEncoder(reverseDirection, encodingType);
+  AddChild(m_aSource);
+  AddChild(m_bSource);
 }
 
 /**
@@ -371,6 +372,19 @@ void Encoder::SetDistancePerPulse(double distancePerPulse) {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
+/**
+ * Get the distance per pulse for this encoder.
+ *
+ * @return The scale factor that will be used to convert pulses to useful units.
+ */
+double Encoder::GetDistancePerPulse() const {
+  if (StatusIsFatal()) return 0.0;
+  int32_t status = 0;
+  double distancePerPulse = HAL_GetEncoderDistancePerPulse(m_encoder, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return distancePerPulse;
+}
+
 /**
  * Set the direction sensing for this encoder.
  *
@@ -479,41 +493,18 @@ int Encoder::GetFPGAIndex() const {
   return val;
 }
 
-void Encoder::UpdateTable() {
-  if (m_speedEntry) m_speedEntry.SetDouble(GetRate());
-  if (m_distanceEntry) m_distanceEntry.SetDouble(GetDistance());
-  if (m_distancePerTickEntry) {
-    int32_t status = 0;
-    double distancePerPulse =
-        HAL_GetEncoderDistancePerPulse(m_encoder, &status);
-    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-    m_distancePerTickEntry.SetDouble(distancePerPulse);
-  }
-}
-
-void Encoder::StartLiveWindowMode() {}
-
-void Encoder::StopLiveWindowMode() {}
-
-std::string Encoder::GetSmartDashboardType() const {
+void Encoder::InitSendable(SendableBuilder& builder) {
   int32_t status = 0;
   HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
   if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X)
-    return "Quadrature Encoder";
+    builder.SetSmartDashboardType("Quadrature Encoder");
   else
-    return "Encoder";
-}
+    builder.SetSmartDashboardType("Encoder");
 
-void Encoder::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_speedEntry = subTable->GetEntry("Speed");
-    m_distanceEntry = subTable->GetEntry("Distance");
-    m_distancePerTickEntry = subTable->GetEntry("Distance per Tick");
-    UpdateTable();
-  } else {
-    m_speedEntry = nt::NetworkTableEntry();
-    m_distanceEntry = nt::NetworkTableEntry();
-    m_distancePerTickEntry = nt::NetworkTableEntry();
-  }
+  builder.AddDoubleProperty("Speed", [=]() { return GetRate(); }, nullptr);
+  builder.AddDoubleProperty("Distance", [=]() { return GetDistance(); },
+                            nullptr);
+  builder.AddDoubleProperty("Distance per Tick",
+                            [=]() { return GetDistancePerPulse(); }, nullptr);
 }

wpilibc/src/main/native/cpp/GearTooth.cpp

@@ -7,7 +7,7 @@
 
 #include "GearTooth.h"
 
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -32,7 +32,7 @@ void GearTooth::EnableDirectionSensing(bool directionSensitive) {
  */
 GearTooth::GearTooth(int channel, bool directionSensitive) : Counter(channel) {
   EnableDirectionSensing(directionSensitive);
-  LiveWindow::GetInstance()->AddSensor("GearTooth", channel, this);
+  SetName("GearTooth", channel);
 }
 
 /**
@@ -48,6 +48,7 @@ GearTooth::GearTooth(int channel, bool directionSensitive) : Counter(channel) {
 GearTooth::GearTooth(DigitalSource* source, bool directionSensitive)
     : Counter(source) {
   EnableDirectionSensing(directionSensitive);
+  SetName("GearTooth", source->GetChannel());
 }
 
 /**
@@ -64,6 +65,10 @@ GearTooth::GearTooth(std::shared_ptr<DigitalSource> source,
                      bool directionSensitive)
     : Counter(source) {
   EnableDirectionSensing(directionSensitive);
+  SetName("GearTooth", source->GetChannel());
 }
 
-std::string GearTooth::GetSmartDashboardType() const { return "GearTooth"; }
+void GearTooth::InitSendable(SendableBuilder& builder) {
+  Counter::InitSendable(builder);
+  builder.SetSmartDashboardType("Gear Tooth");
+}

wpilibc/src/main/native/cpp/GyroBase.cpp

@@ -7,7 +7,7 @@
 
 #include "GyroBase.h"
 
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -29,21 +29,7 @@ double GyroBase::PIDGet() {
   }
 }
 
-void GyroBase::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(GetAngle());
-}
-
-void GyroBase::StartLiveWindowMode() {}
-
-void GyroBase::StopLiveWindowMode() {}
-
-std::string GyroBase::GetSmartDashboardType() const { return "Gyro"; }
-
-void GyroBase::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void GyroBase::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Gyro");
+  builder.AddDoubleProperty("Value", [=]() { return GetAngle(); }, nullptr);
 }

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

@@ -12,6 +12,7 @@
 #include <HAL/HAL.h>
 #include <llvm/raw_ostream.h>
 
+#include "Commands/Scheduler.h"
 #include "LiveWindow/LiveWindow.h"
 
 using namespace frc;
@@ -191,4 +192,5 @@ void IterativeRobotBase::LoopFunc() {
     TestPeriodic();
   }
   RobotPeriodic();
+  LiveWindow::GetInstance()->UpdateValues();
 }

wpilibc/src/main/native/cpp/Jaguar.cpp

@@ -9,8 +9,6 @@
 
 #include <HAL/HAL.h>
 
-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;
 
 /**
@@ -35,5 +33,5 @@ Jaguar::Jaguar(int channel) : PWMSpeedController(channel) {
   SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
+  SetName("Jaguar", GetChannel());
 }

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

@@ -9,14 +9,52 @@
 
 #include <algorithm>
 
+#include <llvm/DenseMap.h>
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>
+#include <support/mutex.h>
 
+#include "Commands/Scheduler.h"
+#include "SmartDashboard/SendableBuilderImpl.h"
 #include "networktables/NetworkTable.h"
+#include "networktables/NetworkTableEntry.h"
 #include "networktables/NetworkTableInstance.h"
 
 using namespace frc;
 
+using llvm::Twine;
+
+struct LiveWindow::Impl {
+  Impl();
+
+  struct Component {
+    std::shared_ptr<Sendable> sendable;
+    Sendable* parent = nullptr;
+    SendableBuilderImpl builder;
+    bool firstTime = true;
+    bool telemetryEnabled = true;
+  };
+
+  wpi::mutex mutex;
+
+  llvm::DenseMap<void*, Component> components;
+
+  std::shared_ptr<nt::NetworkTable> liveWindowTable;
+  std::shared_ptr<nt::NetworkTable> statusTable;
+  nt::NetworkTableEntry enabledEntry;
+
+  bool startLiveWindow = false;
+  bool liveWindowEnabled = false;
+  bool telemetryEnabled = true;
+};
+
+LiveWindow::Impl::Impl()
+    : liveWindowTable(
+          nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow")) {
+  statusTable = liveWindowTable->GetSubTable(".status");
+  enabledEntry = statusTable->GetEntry("LW Enabled");
+}
+
 /**
  * Get an instance of the LiveWindow main class.
  *
@@ -33,11 +71,11 @@ LiveWindow* LiveWindow::GetInstance() {
  *
  * Allocate the necessary tables.
  */
-LiveWindow::LiveWindow() : m_scheduler(Scheduler::GetInstance()) {
-  m_liveWindowTable =
-      nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow");
-  m_statusTable = m_liveWindowTable->GetSubTable(".status");
-  m_enabledEntry = m_statusTable->GetEntry("LW Enabled");
+LiveWindow::LiveWindow() : m_impl(new Impl) {}
+
+bool LiveWindow::IsEnabled() const {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  return m_impl->liveWindowEnabled;
 }
 
 /**
@@ -46,25 +84,21 @@ LiveWindow::LiveWindow() : m_scheduler(Scheduler::GetInstance()) {
  * If it changes to enabled, start livewindow running otherwise stop it
  */
 void LiveWindow::SetEnabled(bool enabled) {
-  if (m_enabled == enabled) return;
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  if (m_impl->liveWindowEnabled == enabled) return;
+  Scheduler* scheduler = Scheduler::GetInstance();
   if (enabled) {
-    if (m_firstTime) {
-      InitializeLiveWindowComponents();
-      m_firstTime = false;
-    }
-    m_scheduler->SetEnabled(false);
-    m_scheduler->RemoveAll();
-    for (auto& elem : m_components) {
-      elem.first->StartLiveWindowMode();
-    }
+    scheduler->SetEnabled(false);
+    scheduler->RemoveAll();
   } else {
-    for (auto& elem : m_components) {
-      elem.first->StopLiveWindowMode();
+    for (auto& i : m_impl->components) {
+      i.getSecond().builder.StopLiveWindowMode();
     }
-    m_scheduler->SetEnabled(true);
+    scheduler->SetEnabled(true);
   }
-  m_enabled = enabled;
-  m_enabledEntry.SetBoolean(m_enabled);
+  m_impl->startLiveWindow = enabled;
+  m_impl->liveWindowEnabled = enabled;
+  m_impl->enabledEntry.SetBoolean(enabled);
 }
 
 /**
@@ -74,41 +108,38 @@ void LiveWindow::SetEnabled(bool enabled) {
  *
  * @param subsystem The subsystem this component is part of.
  * @param name      The name of this component.
- * @param component A LiveWindowSendable component that represents a sensor.
+ * @param component A Sendable component that represents a sensor.
  */
 //@{
 /**
  * @brief Use a STL smart pointer to share ownership of component.
+ * @deprecated Use Sendable::SetName() instead.
  */
-void LiveWindow::AddSensor(const std::string& subsystem,
-                           const std::string& name,
-                           std::shared_ptr<LiveWindowSendable> component) {
-  m_components[component].subsystem = subsystem;
-  m_components[component].name = name;
-  m_components[component].isSensor = true;
+void LiveWindow::AddSensor(const llvm::Twine& subsystem,
+                           const llvm::Twine& name,
+                           std::shared_ptr<Sendable> component) {
+  Add(component);
+  component->SetName(subsystem, name);
 }
 
 /**
  * @brief Pass a reference to LiveWindow and retain ownership of the component.
+ * @deprecated Use Sendable::SetName() instead.
  */
-void LiveWindow::AddSensor(const std::string& subsystem,
-                           const std::string& name,
-                           LiveWindowSendable& component) {
-  AddSensor(subsystem, name,
-            std::shared_ptr<LiveWindowSendable>(&component,
-                                                [](LiveWindowSendable*) {}));
+void LiveWindow::AddSensor(const llvm::Twine& subsystem,
+                           const llvm::Twine& name, Sendable& component) {
+  Add(&component);
+  component.SetName(subsystem, name);
 }
 
 /**
  * @brief Use a raw pointer to the LiveWindow.
- * @deprecated Prefer smart pointers or references.
+ * @deprecated Use Sendable::SetName() instead.
  */
-void LiveWindow::AddSensor(const std::string& subsystem,
-                           const std::string& name,
-                           LiveWindowSendable* component) {
-  AddSensor(subsystem, name,
-            std::shared_ptr<LiveWindowSendable>(
-                component, NullDeleter<LiveWindowSendable>()));
+void LiveWindow::AddSensor(const llvm::Twine& subsystem,
+                           const llvm::Twine& name, Sendable* component) {
+  Add(component);
+  component->SetName(subsystem, name);
 }
 //@}
 
@@ -116,87 +147,161 @@ void LiveWindow::AddSensor(const std::string& subsystem,
  * @name AddActuator(subsystem, name, component)
  *
  * Add an Actuator associated with the subsystem and call it by the given name.
+ * @deprecated Use Sendable::SetName() instead.
  *
  * @param subsystem The subsystem this component is part of.
  * @param name      The name of this component.
- * @param component A LiveWindowSendable component that represents a actuator.
+ * @param component A Sendable component that represents a actuator.
  */
 //@{
 /**
  * @brief Use a STL smart pointer to share ownership of component.
  */
-void LiveWindow::AddActuator(const std::string& subsystem,
-                             const std::string& name,
-                             std::shared_ptr<LiveWindowSendable> component) {
-  m_components[component].subsystem = subsystem;
-  m_components[component].name = name;
-  m_components[component].isSensor = false;
+void LiveWindow::AddActuator(const llvm::Twine& subsystem,
+                             const llvm::Twine& name,
+                             std::shared_ptr<Sendable> component) {
+  Add(component);
+  component->SetName(subsystem, name);
 }
 
 /**
  * @brief Pass a reference to LiveWindow and retain ownership of the component.
+ * @deprecated Use Sendable::SetName() instead.
  */
-void LiveWindow::AddActuator(const std::string& subsystem,
-                             const std::string& name,
-                             LiveWindowSendable& component) {
-  AddActuator(subsystem, name,
-              std::shared_ptr<LiveWindowSendable>(&component,
-                                                  [](LiveWindowSendable*) {}));
+void LiveWindow::AddActuator(const llvm::Twine& subsystem,
+                             const llvm::Twine& name, Sendable& component) {
+  Add(&component);
+  component.SetName(subsystem, name);
 }
 
 /**
  * @brief Use a raw pointer to the LiveWindow.
- * @deprecated Prefer smart pointers or references.
+ * @deprecated Use Sendable::SetName() instead.
  */
-void LiveWindow::AddActuator(const std::string& subsystem,
-                             const std::string& name,
-                             LiveWindowSendable* component) {
-  AddActuator(subsystem, name,
-              std::shared_ptr<LiveWindowSendable>(
-                  component, NullDeleter<LiveWindowSendable>()));
+void LiveWindow::AddActuator(const llvm::Twine& subsystem,
+                             const llvm::Twine& name, Sendable* component) {
+  Add(component);
+  component->SetName(subsystem, name);
 }
 //@}
 
 /**
  * Meant for internal use in other WPILib classes.
+ * @deprecated Use SensorBase::SetName() instead.
  */
-void LiveWindow::AddSensor(std::string type, int channel,
-                           LiveWindowSendable* component) {
-  llvm::SmallString<128> buf;
-  llvm::raw_svector_ostream oss(buf);
-  oss << type << "[" << channel << "]";
-  AddSensor("Ungrouped", oss.str(), component);
-  std::shared_ptr<LiveWindowSendable> component_stl(
-      component, NullDeleter<LiveWindowSendable>());
-  if (std::find(m_sensors.begin(), m_sensors.end(), component_stl) ==
-      m_sensors.end())
-    m_sensors.push_back(component_stl);
+void LiveWindow::AddSensor(const llvm::Twine& type, int channel,
+                           Sendable* component) {
+  Add(component);
+  component->SetName("Ungrouped",
+                     type + Twine('[') + Twine(channel) + Twine(']'));
 }
 
 /**
  * Meant for internal use in other WPILib classes.
+ * @deprecated Use SensorBase::SetName() instead.
  */
-void LiveWindow::AddActuator(std::string type, int channel,
-                             LiveWindowSendable* component) {
-  llvm::SmallString<128> buf;
-  llvm::raw_svector_ostream oss(buf);
-  oss << type << "[" << channel << "]";
-  AddActuator("Ungrouped", oss.str(),
-              std::shared_ptr<LiveWindowSendable>(component,
-                                                  [](LiveWindowSendable*) {}));
+void LiveWindow::AddActuator(const llvm::Twine& type, int channel,
+                             Sendable* component) {
+  Add(component);
+  component->SetName("Ungrouped",
+                     type + Twine('[') + Twine(channel) + Twine(']'));
 }
 
 /**
  * Meant for internal use in other WPILib classes.
+ * @deprecated Use SensorBase::SetName() instead.
  */
-void LiveWindow::AddActuator(std::string type, int module, int channel,
-                             LiveWindowSendable* component) {
-  llvm::SmallString<128> buf;
-  llvm::raw_svector_ostream oss(buf);
-  oss << type << "[" << module << "," << channel << "]";
-  AddActuator("Ungrouped", oss.str(),
-              std::shared_ptr<LiveWindowSendable>(component,
-                                                  [](LiveWindowSendable*) {}));
+void LiveWindow::AddActuator(const llvm::Twine& type, int module, int channel,
+                             Sendable* component) {
+  Add(component);
+  component->SetName("Ungrouped", type + Twine('[') + Twine(module) +
+                                      Twine(',') + Twine(channel) + Twine(']'));
+}
+
+/**
+ * Add a component to the LiveWindow.
+ *
+ * @param sendable component to add
+ */
+void LiveWindow::Add(std::shared_ptr<Sendable> sendable) {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  auto& comp = m_impl->components[sendable.get()];
+  comp.sendable = sendable;
+}
+
+/**
+ * Add a component to the LiveWindow.
+ *
+ * @param sendable component to add
+ */
+void LiveWindow::Add(Sendable* sendable) {
+  Add(std::shared_ptr<Sendable>(sendable, NullDeleter<Sendable>()));
+}
+
+/**
+ * Add a child component to a component.
+ *
+ * @param parent parent component
+ * @param child child component
+ */
+void LiveWindow::AddChild(Sendable* parent, std::shared_ptr<Sendable> child) {
+  AddChild(parent, child.get());
+}
+
+/**
+ * Add a child component to a component.
+ *
+ * @param parent parent component
+ * @param child child component
+ */
+void LiveWindow::AddChild(Sendable* parent, void* child) {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  auto& comp = m_impl->components[child];
+  comp.parent = parent;
+  comp.telemetryEnabled = false;
+}
+
+/**
+ * Remove the component from the LiveWindow.
+ *
+ * @param sendable component to remove
+ */
+void LiveWindow::Remove(Sendable* sendable) {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  m_impl->components.erase(sendable);
+}
+
+/**
+ * Enable telemetry for a single component.
+ *
+ * @param sendable component
+ */
+void LiveWindow::EnableTelemetry(Sendable* sendable) {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  // Re-enable global setting in case DisableAllTelemetry() was called.
+  m_impl->telemetryEnabled = true;
+  auto i = m_impl->components.find(sendable);
+  if (i != m_impl->components.end()) i->getSecond().telemetryEnabled = true;
+}
+
+/**
+ * Disable telemetry for a single component.
+ *
+ * @param sendable component
+ */
+void LiveWindow::DisableTelemetry(Sendable* sendable) {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  auto i = m_impl->components.find(sendable);
+  if (i != m_impl->components.end()) i->getSecond().telemetryEnabled = false;
+}
+
+/**
+ * Disable ALL telemetry.
+ */
+void LiveWindow::DisableAllTelemetry() {
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  m_impl->telemetryEnabled = false;
+  for (auto& i : m_impl->components) i.getSecond().telemetryEnabled = false;
 }
 
 /**
@@ -206,44 +311,41 @@ void LiveWindow::AddActuator(std::string type, int module, int channel,
  * SmartDashboard widgets.
  */
 void LiveWindow::UpdateValues() {
-  for (auto& elem : m_sensors) {
-    elem->UpdateTable();
-  }
-}
+  std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+  // Only do this if either LiveWindow mode or telemetry is enabled.
+  if (!m_impl->liveWindowEnabled && !m_impl->telemetryEnabled) return;
 
-/**
- * This method is called periodically to cause the sensors to send new values
- * to the SmartDashboard.
- */
-void LiveWindow::Run() {
-  if (m_enabled) {
-    UpdateValues();
-  }
-}
+  for (auto& i : m_impl->components) {
+    auto& comp = i.getSecond();
+    if (comp.sendable && !comp.parent &&
+        (m_impl->liveWindowEnabled || comp.telemetryEnabled)) {
+      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.
+        auto name = comp.sendable->GetName();
+        if (name.empty()) continue;
+        auto subsystem = comp.sendable->GetSubsystem();
+        auto ssTable = m_impl->liveWindowTable->GetSubTable(subsystem);
+        std::shared_ptr<NetworkTable> table;
+        // Treat name==subsystem as top level of subsystem
+        if (name == subsystem)
+          table = ssTable;
+        else
+          table = ssTable->GetSubTable(name);
+        table->GetEntry(".name").SetString(name);
+        comp.builder.SetTable(table);
+        comp.sendable->InitSendable(comp.builder);
+        ssTable->GetEntry(".type").SetString("LW Subsystem");
 
-/**
- * Initialize all the LiveWindow elements the first time we enter LiveWindow
- * mode. By holding off creating the NetworkTable entries, it allows them to be
- * redefined before the first time in LiveWindow mode. This allows default
- * sensor and actuator values to be created that are replaced with the custom
- * names from users calling addActuator and addSensor.
- */
-void LiveWindow::InitializeLiveWindowComponents() {
-  for (auto& elem : m_components) {
-    std::shared_ptr<LiveWindowSendable> component = elem.first;
-    LiveWindowComponent c = elem.second;
-    std::string subsystem = c.subsystem;
-    std::string name = c.name;
-    m_liveWindowTable->GetSubTable(subsystem)->GetEntry(".type").SetString(
-        "LW Subsystem");
-    std::shared_ptr<NetworkTable> table(
-        m_liveWindowTable->GetSubTable(subsystem)->GetSubTable(name));
-    table->GetEntry(".type").SetString(component->GetSmartDashboardType());
-    table->GetEntry(".name").SetString(name);
-    table->GetEntry("Subsystem").SetString(subsystem);
-    component->InitTable(table);
-    if (c.isSensor) {
-      m_sensors.push_back(component);
+        comp.firstTime = false;
+      }
+
+      if (m_impl->startLiveWindow) comp.builder.StartLiveWindowMode();
+      comp.builder.UpdateTable();
     }
   }
+
+  m_impl->startLiveWindow = false;
 }

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

@@ -9,7 +9,7 @@
 
 #include <HAL/HAL.h>
 
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -23,6 +23,8 @@ using namespace frc;
  */
 NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
     : m_safetyHelper(this), m_dio(dioChannel), m_pwm(pwmChannel) {
+  AddChild(&m_dio);
+  AddChild(&m_pwm);
   m_safetyHelper.SetExpiration(0.0);
   m_safetyHelper.SetSafetyEnabled(false);
 
@@ -30,8 +32,8 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
   m_dio.SetPWMRate(15625);
   m_dio.EnablePWM(0.5);
 
-  LiveWindow::GetInstance()->AddActuator("Nidec Brushless", pwmChannel, this);
   HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel);
+  SetName("Nidec Brushless", pwmChannel);
 }
 
 /**
@@ -145,44 +147,9 @@ void NidecBrushless::Enable() { m_disabled = false; }
  */
 int NidecBrushless::GetChannel() const { return m_pwm.GetChannel(); }
 
-/*
- * Live Window code, only does anything if live window is activated.
- */
-std::string NidecBrushless::GetSmartDashboardType() const {
-  return "Nidec Brushless";
-}
-
-void NidecBrushless::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  if (subtable) {
-    m_valueEntry = subtable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
-}
-
-void NidecBrushless::UpdateTable() {
-  if (m_valueEntry) {
-    m_valueEntry.SetDouble(Get());
-  }
-}
-
-void NidecBrushless::StartLiveWindowMode() {
-  Set(0);  // Stop for safety
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          Set(event.value->GetDouble());
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void NidecBrushless::StopLiveWindowMode() {
-  Set(0);  // Stop for safety
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
+void NidecBrushless::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Nidec Brushless");
+  builder.SetSafeState([=]() { StopMotor(); });
+  builder.AddDoubleProperty("Value", [=]() { return Get(); },
+                            [=](double value) { Set(value); });
 }

wpilibc/src/main/native/cpp/PIDController.cpp

@@ -16,16 +16,10 @@
 #include "Notifier.h"
 #include "PIDOutput.h"
 #include "PIDSource.h"
+#include "SmartDashboard/SendableBuilder.h"
 
 using namespace frc;
 
-static const std::string kP = "p";
-static const std::string kI = "i";
-static const std::string kD = "d";
-static const std::string kF = "f";
-static const std::string kSetpoint = "setpoint";
-static const std::string kEnabled = "enabled";
-
 template <class T>
 constexpr const T& clamp(const T& value, const T& low, const T& high) {
   return std::max(low, std::min(value, high));
@@ -61,7 +55,8 @@ PIDController::PIDController(double Kp, double Ki, double Kd, PIDSource* source,
  */
 PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
                              PIDSource* source, PIDOutput* output,
-                             double period) {
+                             double period)
+    : SendableBase(false) {
   m_controlLoop = std::make_unique<Notifier>(&PIDController::Calculate, this);
 
   m_P = Kp;
@@ -85,6 +80,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
   static int instances = 0;
   instances++;
   HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
+  SetName("PIDController", instances);
 }
 
 /**
@@ -123,7 +119,6 @@ PIDController::PIDController(double Kp, double Ki, double Kd, double Kf,
 PIDController::~PIDController() {
   // forcefully stopping the notifier so the callback can successfully run.
   m_controlLoop->Stop();
-  RemoveListeners();
 }
 
 /**
@@ -257,10 +252,6 @@ void PIDController::SetPID(double p, double i, double d) {
     m_I = i;
     m_D = d;
   }
-
-  if (m_pEntry) m_pEntry.SetDouble(m_P);
-  if (m_iEntry) m_iEntry.SetDouble(m_I);
-  if (m_dEntry) m_dEntry.SetDouble(m_D);
 }
 
 /**
@@ -274,18 +265,51 @@ void PIDController::SetPID(double p, double i, double d) {
  * @param f Feed forward coefficient
  */
 void PIDController::SetPID(double p, double i, double d, double f) {
-  {
-    std::lock_guard<wpi::mutex> lock(m_thisMutex);
-    m_P = p;
-    m_I = i;
-    m_D = d;
-    m_F = f;
-  }
+  std::lock_guard<wpi::mutex> lock(m_thisMutex);
+  m_P = p;
+  m_I = i;
+  m_D = d;
+  m_F = f;
+}
 
-  if (m_pEntry) m_pEntry.SetDouble(m_P);
-  if (m_iEntry) m_iEntry.SetDouble(m_I);
-  if (m_dEntry) m_dEntry.SetDouble(m_D);
-  if (m_fEntry) m_fEntry.SetDouble(m_F);
+/**
+ * Set the Proportional coefficient of the PID controller gain.
+ *
+ * @param p proportional coefficient
+ */
+void PIDController::SetP(double p) {
+  std::lock_guard<wpi::mutex> lock(m_thisMutex);
+  m_P = p;
+}
+
+/**
+ * Set the Integral coefficient of the PID controller gain.
+ *
+ * @param i integral coefficient
+ */
+void PIDController::SetI(double i) {
+  std::lock_guard<wpi::mutex> lock(m_thisMutex);
+  m_I = i;
+}
+
+/**
+ * Set the Differential coefficient of the PID controller gain.
+ *
+ * @param d differential coefficient
+ */
+void PIDController::SetD(double d) {
+  std::lock_guard<wpi::mutex> lock(m_thisMutex);
+  m_D = d;
+}
+
+/**
+ * Get the Feed forward coefficient of the PID controller gain.
+ *
+ * @param f Feed forward coefficient
+ */
+void PIDController::SetF(double f) {
+  std::lock_guard<wpi::mutex> lock(m_thisMutex);
+  m_F = f;
 }
 
 /**
@@ -403,8 +427,6 @@ void PIDController::SetSetpoint(double setpoint) {
       m_setpoint = setpoint;
     }
   }
-
-  if (m_setpointEntry) m_setpointEntry.SetDouble(m_setpoint);
 }
 
 /**
@@ -556,8 +578,6 @@ void PIDController::Enable() {
     std::lock_guard<wpi::mutex> lock(m_thisMutex);
     m_enabled = true;
   }
-
-  if (m_enabledEntry) m_enabledEntry.SetBoolean(true);
 }
 
 /**
@@ -574,8 +594,17 @@ void PIDController::Disable() {
 
     m_pidOutput->PIDWrite(0);
   }
+}
 
-  if (m_enabledEntry) m_enabledEntry.SetBoolean(false);
+/**
+ * Set the enabled state of the PIDController.
+ */
+void PIDController::SetEnabled(bool enable) {
+  if (enable) {
+    Enable();
+  } else {
+    Disable();
+  }
 }
 
 /**
@@ -598,76 +627,21 @@ void PIDController::Reset() {
   m_result = 0;
 }
 
-std::string PIDController::GetSmartDashboardType() const {
-  return "PIDController";
-}
-
-void PIDController::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
-  RemoveListeners();
-  if (subtable) {
-    m_pEntry = subtable->GetEntry(kP);
-    m_pEntry.SetDouble(GetP());
-    m_iEntry = subtable->GetEntry(kI);
-    m_iEntry.SetDouble(GetI());
-    m_dEntry = subtable->GetEntry(kD);
-    m_dEntry.SetDouble(GetD());
-    m_fEntry = subtable->GetEntry(kF);
-    m_fEntry.SetDouble(GetF());
-    m_setpointEntry = subtable->GetEntry(kSetpoint);
-    m_setpointEntry.SetDouble(GetSetpoint());
-    m_enabledEntry = subtable->GetEntry(kEnabled);
-    m_enabledEntry.SetBoolean(IsEnabled());
-
-    m_pListener = m_pEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          std::lock_guard<wpi::mutex> lock(m_thisMutex);
-          m_P = event.value->GetDouble();
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-
-    m_iListener = m_iEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          std::lock_guard<wpi::mutex> lock(m_thisMutex);
-          m_I = event.value->GetDouble();
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-
-    m_dListener = m_dEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          std::lock_guard<wpi::mutex> lock(m_thisMutex);
-          m_D = event.value->GetDouble();
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-
-    m_fListener = m_fEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          std::lock_guard<wpi::mutex> lock(m_thisMutex);
-          m_F = event.value->GetDouble();
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-
-    m_setpointListener = m_setpointEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          SetSetpoint(event.value->GetDouble());
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-
-    m_enabledListener = m_enabledEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsBoolean()) return;
-          if (event.value->GetBoolean()) {
-            Enable();
-          } else {
-            Disable();
-          }
-        },
-        NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
+void PIDController::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("PIDController");
+  builder.SetSafeState([=]() { Reset(); });
+  builder.AddDoubleProperty("p", [=]() { return GetP(); },
+                            [=](bool value) { SetP(value); });
+  builder.AddDoubleProperty("i", [=]() { return GetI(); },
+                            [=](bool value) { SetI(value); });
+  builder.AddDoubleProperty("d", [=]() { return GetD(); },
+                            [=](bool value) { SetD(value); });
+  builder.AddDoubleProperty("f", [=]() { return GetF(); },
+                            [=](bool value) { SetF(value); });
+  builder.AddDoubleProperty("setpoint", [=]() { return GetSetpoint(); },
+                            [=](bool value) { SetSetpoint(value); });
+  builder.AddBooleanProperty("enabled", [=]() { return IsEnabled(); },
+                             [=](bool value) { SetEnabled(value); });
 }
 
 /**
@@ -691,36 +665,3 @@ double PIDController::GetContinuousError(double error) const {
 
   return error;
 }
-
-void PIDController::UpdateTable() {}
-
-void PIDController::StartLiveWindowMode() { Disable(); }
-
-void PIDController::StopLiveWindowMode() {}
-
-void PIDController::RemoveListeners() {
-  if (m_pListener != 0) {
-    m_pEntry.RemoveListener(m_pListener);
-    m_pListener = 0;
-  }
-  if (m_iListener != 0) {
-    m_iEntry.RemoveListener(m_iListener);
-    m_iListener = 0;
-  }
-  if (m_dListener != 0) {
-    m_dEntry.RemoveListener(m_dListener);
-    m_dListener = 0;
-  }
-  if (m_fListener != 0) {
-    m_fEntry.RemoveListener(m_fListener);
-    m_fListener = 0;
-  }
-  if (m_setpointListener != 0) {
-    m_setpointEntry.RemoveListener(m_setpointListener);
-    m_setpointListener = 0;
-  }
-  if (m_enabledListener != 0) {
-    m_enabledEntry.RemoveListener(m_enabledListener);
-    m_enabledListener = 0;
-  }
-}

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

@@ -13,6 +13,8 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>
 
+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "Utility.h"
 #include "WPIErrors.h"
 
@@ -32,7 +34,7 @@ PWM::PWM(int channel) {
   llvm::SmallString<32> str;
   llvm::raw_svector_ostream buf(str);
 
-  if (!CheckPWMChannel(channel)) {
+  if (!SensorBase::CheckPWMChannel(channel)) {
     buf << "PWM Channel " << channel;
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
     return;
@@ -57,6 +59,7 @@ PWM::PWM(int channel) {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 
   HAL_Report(HALUsageReporting::kResourceType_PWM, channel);
+  SetName("PWM", channel);
 }
 
 /**
@@ -72,8 +75,6 @@ PWM::~PWM() {
 
   HAL_FreePWMPort(m_handle, &status);
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
 }
 
 /**
@@ -314,37 +315,9 @@ void PWM::SetZeroLatch() {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
-void PWM::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(GetSpeed());
-}
-
-void PWM::StartLiveWindowMode() {
-  SetSpeed(0);
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          SetSpeed(event.value->GetDouble());
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void PWM::StopLiveWindowMode() {
-  SetSpeed(0);
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
-}
-
-std::string PWM::GetSmartDashboardType() const { return "Speed Controller"; }
-
-void PWM::InitTable(std::shared_ptr<NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void PWM::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Speed Controller");
+  builder.SetSafeState([=]() { SetDisabled(); });
+  builder.AddDoubleProperty("Value", [=]() { return GetSpeed(); },
+                            [=](double value) { SetSpeed(value); });
 }

wpilibc/src/main/native/cpp/PWMTalonSRX.cpp

@@ -9,8 +9,6 @@
 
 #include <HAL/HAL.h>
 
-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;
 
 /**
@@ -38,5 +36,5 @@ PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) {
   SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_PWMTalonSRX, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("PWMTalonSRX", GetChannel(), this);
+  SetName("PWMTalonSRX", GetChannel());
 }

wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp

@@ -13,7 +13,7 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>
 
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -32,6 +32,7 @@ PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
     m_module = -1;
     return;
   }
+  SetName("PowerDistributionPanel", module);
 }
 
 /**
@@ -171,39 +172,13 @@ void PowerDistributionPanel::ClearStickyFaults() {
   }
 }
 
-void PowerDistributionPanel::UpdateTable() {
-  for (size_t i = 0; i < sizeof(m_chanEntry) / sizeof(m_chanEntry[0]); ++i) {
-    if (m_chanEntry[i]) m_chanEntry[i].SetDouble(GetCurrent(i));
-  }
-  if (m_voltageEntry) m_voltageEntry.SetDouble(GetVoltage());
-  if (m_totalCurrentEntry) m_totalCurrentEntry.SetDouble(GetTotalCurrent());
-}
-
-void PowerDistributionPanel::StartLiveWindowMode() {}
-
-void PowerDistributionPanel::StopLiveWindowMode() {}
-
-std::string PowerDistributionPanel::GetSmartDashboardType() const {
-  return "PowerDistributionPanel";
-}
-
-void PowerDistributionPanel::InitTable(
-    std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable != nullptr) {
-    for (size_t i = 0; i < sizeof(m_chanEntry) / sizeof(m_chanEntry[0]); ++i) {
-      llvm::SmallString<32> buf;
-      llvm::raw_svector_ostream oss(buf);
-      oss << "Chan" << i;
-      m_chanEntry[i] = subTable->GetEntry(oss.str());
-    }
-    m_voltageEntry = subTable->GetEntry("Voltage");
-    m_totalCurrentEntry = subTable->GetEntry("TotalCurrent");
-    UpdateTable();
-  } else {
-    for (size_t i = 0; i < sizeof(m_chanEntry) / sizeof(m_chanEntry[0]); ++i) {
-      m_chanEntry[i] = nt::NetworkTableEntry();
-    }
-    m_voltageEntry = nt::NetworkTableEntry();
-    m_totalCurrentEntry = nt::NetworkTableEntry();
+void PowerDistributionPanel::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("PowerDistributionPanel");
+  for (int i = 0; i < kPDPChannels; ++i) {
+    builder.AddDoubleProperty("Chan" + llvm::Twine(i),
+                              [=]() { return GetCurrent(i); }, nullptr);
   }
+  builder.AddDoubleProperty("Voltage", [=]() { return GetVoltage(); }, nullptr);
+  builder.AddDoubleProperty("TotalCurrent", [=]() { return GetTotalCurrent(); },
+                            nullptr);
 }

wpilibc/src/main/native/cpp/Relay.cpp

@@ -12,8 +12,9 @@
 #include <HAL/Relay.h>
 #include <llvm/SmallString.h>
 
-#include "LiveWindow/LiveWindow.h"
 #include "MotorSafetyHelper.h"
+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -88,7 +89,7 @@ Relay::Relay(int channel, Relay::Direction direction)
   m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
   m_safetyHelper->SetSafetyEnabled(false);
 
-  LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
+  SetName("Relay", m_channel);
 }
 
 /**
@@ -103,8 +104,6 @@ Relay::~Relay() {
   // ignore errors, as we want to make sure a free happens.
   if (m_forwardHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_forwardHandle);
   if (m_reverseHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_reverseHandle);
-
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
 }
 
 /**
@@ -275,52 +274,31 @@ void Relay::GetDescription(llvm::raw_ostream& desc) const {
   desc << "Relay " << GetChannel();
 }
 
-void Relay::UpdateTable() {
-  if (m_valueEntry) {
-    if (Get() == kOn) {
-      m_valueEntry.SetString("On");
-    } else if (Get() == kForward) {
-      m_valueEntry.SetString("Forward");
-    } else if (Get() == kReverse) {
-      m_valueEntry.SetString("Reverse");
-    } else {
-      m_valueEntry.SetString("Off");
-    }
-  }
-}
-
-void Relay::StartLiveWindowMode() {
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsString()) return;
-          if (event.value->GetString() == "Off")
-            Set(kOff);
-          else if (event.value->GetString() == "Forward")
-            Set(kForward);
-          else if (event.value->GetString() == "Reverse")
-            Set(kReverse);
-          else if (event.value->GetString() == "On")
-            Set(kOn);
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void Relay::StopLiveWindowMode() {
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
-}
-
-std::string Relay::GetSmartDashboardType() const { return "Relay"; }
-
-void Relay::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void Relay::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Relay");
+  builder.SetSafeState([=]() { Set(kOff); });
+  builder.AddSmallStringProperty(
+      "Value",
+      [=](llvm::SmallVectorImpl<char>& buf) -> llvm::StringRef {
+        switch (Get()) {
+          case kOn:
+            return "On";
+          case kForward:
+            return "Forward";
+          case kReverse:
+            return "Reverse";
+          default:
+            return "Off";
+        }
+      },
+      [=](llvm::StringRef value) {
+        if (value == "Off")
+          Set(kOff);
+        else if (value == "Forward")
+          Set(kForward);
+        else if (value == "Reverse")
+          Set(kReverse);
+        else if (value == "On")
+          Set(kOn);
+      });
 }

wpilibc/src/main/native/cpp/SD540.cpp

@@ -9,8 +9,6 @@
 
 #include <HAL/HAL.h>
 
-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;
 
 /**
@@ -41,5 +39,5 @@ SD540::SD540(int channel) : PWMSpeedController(channel) {
   SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("SD540", GetChannel(), this);
+  SetName("SD540", GetChannel());
 }

wpilibc/src/main/native/cpp/Servo.cpp

@@ -9,7 +9,7 @@
 
 #include <HAL/HAL.h>
 
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 
 using namespace frc;
 
@@ -31,10 +31,7 @@ Servo::Servo(int channel) : SafePWM(channel) {
   SetPeriodMultiplier(kPeriodMultiplier_4X);
 
   HAL_Report(HALUsageReporting::kResourceType_Servo, channel);
-}
-
-Servo::~Servo() {
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
+  SetName("Servo", channel);
 }
 
 /**
@@ -100,35 +97,8 @@ double Servo::GetAngle() const {
   return GetPosition() * GetServoAngleRange() + kMinServoAngle;
 }
 
-void Servo::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetDouble(Get());
-}
-
-void Servo::StartLiveWindowMode() {
-  if (m_valueEntry) {
-    m_valueListener = m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsDouble()) return;
-          Set(event.value->GetDouble());
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void Servo::StopLiveWindowMode() {
-  if (m_valueListener != 0) {
-    m_valueEntry.RemoveListener(m_valueListener);
-    m_valueListener = 0;
-  }
-}
-
-std::string Servo::GetSmartDashboardType() const { return "Servo"; }
-
-void Servo::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void Servo::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Servo");
+  builder.AddDoubleProperty("Value", [=]() { return Get(); },
+                            [=](double value) { Set(value); });
 }

wpilibc/src/main/native/cpp/SmartDashboard/SendableBase.cpp

@@ -0,0 +1,91 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "SmartDashboard/SendableBase.h"
+
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Creates an instance of the sensor base.
+ *
+ * @param addLiveWindow if true, add this Sendable to LiveWindow
+ */
+SendableBase::SendableBase(bool addLiveWindow) {
+  if (addLiveWindow) LiveWindow::GetInstance()->Add(this);
+}
+
+/**
+ * Free the resources used by this object.
+ */
+SendableBase::~SendableBase() { LiveWindow::GetInstance()->Remove(this); }
+
+std::string SendableBase::GetName() const {
+  std::lock_guard<wpi::mutex> lock(m_mutex);
+  return m_name;
+}
+
+void SendableBase::SetName(const llvm::Twine& name) {
+  std::lock_guard<wpi::mutex> lock(m_mutex);
+  m_name = name.str();
+}
+
+std::string SendableBase::GetSubsystem() const {
+  std::lock_guard<wpi::mutex> lock(m_mutex);
+  return m_subsystem;
+}
+
+void SendableBase::SetSubsystem(const llvm::Twine& subsystem) {
+  std::lock_guard<wpi::mutex> lock(m_mutex);
+  m_subsystem = subsystem.str();
+}
+
+/**
+ * Add a child component.
+ *
+ * @param child child component
+ */
+void SendableBase::AddChild(std::shared_ptr<Sendable> child) {
+  LiveWindow::GetInstance()->AddChild(this, child);
+}
+
+/**
+ * Add a child component.
+ *
+ * @param child child component
+ */
+void SendableBase::AddChild(void* child) {
+  LiveWindow::GetInstance()->AddChild(this, child);
+}
+
+/**
+ * Sets the name of the sensor with a channel number.
+ *
+ * @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
+ */
+void SendableBase::SetName(const llvm::Twine& moduleType, int channel) {
+  SetName(moduleType + llvm::Twine('[') + llvm::Twine(channel) +
+          llvm::Twine(']'));
+}
+
+/**
+ * Sets the name of the sensor with a module and channel number.
+ *
+ * @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 (usually
+ * PWM)
+ */
+void SendableBase::SetName(const llvm::Twine& moduleType, int moduleNumber,
+                           int channel) {
+  SetName(moduleType + llvm::Twine('[') + llvm::Twine(moduleNumber) +
+          llvm::Twine(',') + llvm::Twine(channel) + llvm::Twine(']'));
+}

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

@@ -0,0 +1,365 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "SmartDashboard/SendableBuilderImpl.h"
+
+#include <llvm/SmallString.h>
+
+#include "ntcore_cpp.h"
+
+using namespace frc;
+
+void SendableBuilderImpl::SetTable(std::shared_ptr<nt::NetworkTable> table) {
+  m_table = table;
+}
+
+std::shared_ptr<nt::NetworkTable> SendableBuilderImpl::GetTable() {
+  return m_table;
+}
+
+void SendableBuilderImpl::UpdateTable() {
+  uint64_t time = nt::Now();
+  for (auto& property : m_properties) {
+    if (property.update) property.update(property.entry, time);
+  }
+  if (m_updateTable) m_updateTable();
+}
+
+void SendableBuilderImpl::StartLiveWindowMode() {
+  if (m_safeState) m_safeState();
+  for (auto& property : m_properties) property.StartListener();
+}
+
+void SendableBuilderImpl::StopLiveWindowMode() {
+  if (m_safeState) m_safeState();
+  for (auto& property : m_properties) property.StopListener();
+}
+
+void SendableBuilderImpl::SetSmartDashboardType(const llvm::Twine& type) {
+  m_table->GetEntry(".type").SetString(type);
+}
+
+void SendableBuilderImpl::SetSafeState(std::function<void()> func) {
+  m_safeState = func;
+}
+
+void SendableBuilderImpl::SetUpdateTable(std::function<void()> func) {
+  m_updateTable = func;
+}
+
+nt::NetworkTableEntry SendableBuilderImpl::GetEntry(const llvm::Twine& key) {
+  return m_table->GetEntry(key);
+}
+
+void SendableBuilderImpl::AddBooleanProperty(const llvm::Twine& key,
+                                             std::function<bool()> getter,
+                                             std::function<void(bool)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeBoolean(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsBoolean()) return;
+            setter(event.value->GetBoolean());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddDoubleProperty(
+    const llvm::Twine& key, std::function<double()> getter,
+    std::function<void(double)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeDouble(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsDouble()) return;
+            setter(event.value->GetDouble());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddStringProperty(
+    const llvm::Twine& key, std::function<std::string()> getter,
+    std::function<void(llvm::StringRef)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeString(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsString()) return;
+            setter(event.value->GetString());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddBooleanArrayProperty(
+    const llvm::Twine& key, std::function<std::vector<int>()> getter,
+    std::function<void(llvm::ArrayRef<int>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeBooleanArray(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsBooleanArray()) return;
+            setter(event.value->GetBooleanArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddDoubleArrayProperty(
+    const llvm::Twine& key, std::function<std::vector<double>()> getter,
+    std::function<void(llvm::ArrayRef<double>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeDoubleArray(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsDoubleArray()) return;
+            setter(event.value->GetDoubleArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddStringArrayProperty(
+    const llvm::Twine& key, std::function<std::vector<std::string>()> getter,
+    std::function<void(llvm::ArrayRef<std::string>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeStringArray(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsStringArray()) return;
+            setter(event.value->GetStringArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddRawProperty(
+    const llvm::Twine& key, std::function<std::string()> getter,
+    std::function<void(llvm::StringRef)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(nt::Value::MakeRaw(getter(), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsRaw()) return;
+            setter(event.value->GetRaw());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddValueProperty(
+    const llvm::Twine& key, std::function<std::shared_ptr<nt::Value>()> getter,
+    std::function<void(std::shared_ptr<nt::Value>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      entry.SetValue(getter());
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) { setter(event.value); },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddSmallStringProperty(
+    const llvm::Twine& key,
+    std::function<llvm::StringRef(llvm::SmallVectorImpl<char>& buf)> getter,
+    std::function<void(llvm::StringRef)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      llvm::SmallString<128> buf;
+      entry.SetValue(nt::Value::MakeString(getter(buf), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsString()) return;
+            setter(event.value->GetString());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddSmallBooleanArrayProperty(
+    const llvm::Twine& key,
+    std::function<llvm::ArrayRef<int>(llvm::SmallVectorImpl<int>& buf)> getter,
+    std::function<void(llvm::ArrayRef<int>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      llvm::SmallVector<int, 16> buf;
+      entry.SetValue(nt::Value::MakeBooleanArray(getter(buf), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsBooleanArray()) return;
+            setter(event.value->GetBooleanArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddSmallDoubleArrayProperty(
+    const llvm::Twine& key,
+    std::function<llvm::ArrayRef<double>(llvm::SmallVectorImpl<double>& buf)>
+        getter,
+    std::function<void(llvm::ArrayRef<double>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      llvm::SmallVector<double, 16> buf;
+      entry.SetValue(nt::Value::MakeDoubleArray(getter(buf), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsDoubleArray()) return;
+            setter(event.value->GetDoubleArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddSmallStringArrayProperty(
+    const llvm::Twine& key,
+    std::function<
+        llvm::ArrayRef<std::string>(llvm::SmallVectorImpl<std::string>& buf)>
+        getter,
+    std::function<void(llvm::ArrayRef<std::string>)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      llvm::SmallVector<std::string, 16> buf;
+      entry.SetValue(nt::Value::MakeStringArray(getter(buf), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsStringArray()) return;
+            setter(event.value->GetStringArray());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}
+
+void SendableBuilderImpl::AddSmallRawProperty(
+    const llvm::Twine& key,
+    std::function<llvm::StringRef(llvm::SmallVectorImpl<char>& buf)> getter,
+    std::function<void(llvm::StringRef)> setter) {
+  m_properties.emplace_back(*m_table, key);
+  if (getter) {
+    m_properties.back().update = [=](nt::NetworkTableEntry entry,
+                                     uint64_t time) {
+      llvm::SmallVector<char, 128> buf;
+      entry.SetValue(nt::Value::MakeRaw(getter(buf), time));
+    };
+  }
+  if (setter) {
+    m_properties.back().createListener =
+        [=](nt::NetworkTableEntry entry) -> NT_EntryListener {
+      return entry.AddListener(
+          [=](const nt::EntryNotification& event) {
+            if (!event.value->IsRaw()) return;
+            setter(event.value->GetRaw());
+          },
+          NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+    };
+  }
+}

wpilibc/src/main/native/cpp/SmartDashboard/SendableChooserBase.cpp

@@ -12,7 +12,3 @@ using namespace frc;
 const char* SendableChooserBase::kDefault = "default";
 const char* SendableChooserBase::kOptions = "options";
 const char* SendableChooserBase::kSelected = "selected";
-
-std::string SendableChooserBase::GetSmartDashboardType() const {
-  return "String Chooser";
-}

wpilibc/src/main/native/cpp/SmartDashboard/SmartDashboard.cpp

@@ -7,18 +7,28 @@
 
 #include "SmartDashboard/SmartDashboard.h"
 
-#include <map>
+#include <llvm/StringMap.h>
+#include <support/mutex.h>
 
 #include "HLUsageReporting.h"
-#include "SmartDashboard/NamedSendable.h"
+#include "SmartDashboard/Sendable.h"
+#include "SmartDashboard/SendableBuilderImpl.h"
 #include "WPIErrors.h"
 #include "networktables/NetworkTable.h"
 #include "networktables/NetworkTableInstance.h"
 
 using namespace frc;
 
+namespace {
+struct SmartDashboardData {
+  Sendable* sendable = nullptr;
+  SendableBuilderImpl builder;
+};
+}  // namespace
+
 static std::shared_ptr<nt::NetworkTable> s_table;
-static std::map<std::shared_ptr<nt::NetworkTable>, Sendable*> s_tablesToData;
+static llvm::StringMap<SmartDashboardData> s_tablesToData;
+static wpi::mutex s_tablesToDataMutex;
 
 void SmartDashboard::init() {
   s_table = nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard");
@@ -126,22 +136,26 @@ void SmartDashboard::PutData(llvm::StringRef key, Sendable* data) {
     wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
     return;
   }
-  std::shared_ptr<nt::NetworkTable> dataTable(s_table->GetSubTable(key));
-  dataTable->GetEntry(".type").SetString(data->GetSmartDashboardType());
-  data->InitTable(dataTable);
-  s_tablesToData[dataTable] = data;
+  std::lock_guard<wpi::mutex> lock(s_tablesToDataMutex);
+  auto& sddata = s_tablesToData[key];
+  if (!sddata.sendable || sddata.sendable != data) {
+    sddata.sendable = data;
+    sddata.builder.SetTable(s_table->GetSubTable(key));
+    data->InitSendable(sddata.builder);
+  }
+  sddata.builder.UpdateTable();
 }
 
 /**
- * Maps the specified key (where the key is the name of the
- * {@link SmartDashboardNamedData} to the specified value in this table.
+ * Maps the specified key (where the key is the name of the Sendable)
+ * to the specified value in this table.
  *
  * The value can be retrieved by calling the get method with a key that is equal
  * to the original key.
  *
  * @param value the value
  */
-void SmartDashboard::PutData(NamedSendable* value) {
+void SmartDashboard::PutData(Sendable* value) {
   if (value == nullptr) {
     wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
     return;
@@ -156,13 +170,13 @@ void SmartDashboard::PutData(NamedSendable* value) {
  * @return the value
  */
 Sendable* SmartDashboard::GetData(llvm::StringRef key) {
-  std::shared_ptr<nt::NetworkTable> subtable(s_table->GetSubTable(key));
-  Sendable* data = s_tablesToData[subtable];
-  if (data == nullptr) {
+  std::lock_guard<wpi::mutex> lock(s_tablesToDataMutex);
+  auto data = s_tablesToData.find(key);
+  if (data == s_tablesToData.end()) {
     wpi_setGlobalWPIErrorWithContext(SmartDashboardMissingKey, key);
     return nullptr;
   }
-  return data;
+  return data->getValue().sendable;
 }
 
 /**

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

@@ -13,7 +13,8 @@
 #include <llvm/SmallString.h>
 #include <llvm/raw_ostream.h>
 
-#include "LiveWindow/LiveWindow.h"
+#include "SensorBase.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
 using namespace frc;
@@ -24,7 +25,7 @@ using namespace frc;
  * @param channel The channel on the PCM to control (0..7).
  */
 Solenoid::Solenoid(int channel)
-    : Solenoid(GetDefaultSolenoidModule(), channel) {}
+    : Solenoid(SensorBase::GetDefaultSolenoidModule(), channel) {}
 
 /**
  * Constructor.
@@ -36,12 +37,12 @@ Solenoid::Solenoid(int moduleNumber, int channel)
     : SolenoidBase(moduleNumber), m_channel(channel) {
   llvm::SmallString<32> str;
   llvm::raw_svector_ostream buf(str);
-  if (!CheckSolenoidModule(m_moduleNumber)) {
+  if (!SensorBase::CheckSolenoidModule(m_moduleNumber)) {
     buf << "Solenoid Module " << m_moduleNumber;
     wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
     return;
   }
-  if (!CheckSolenoidChannel(m_channel)) {
+  if (!SensorBase::CheckSolenoidChannel(m_channel)) {
     buf << "Solenoid Module " << m_channel;
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
     return;
@@ -57,19 +58,15 @@ Solenoid::Solenoid(int moduleNumber, int channel)
     return;
   }
 
-  LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel,
-                                         this);
   HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel,
              m_moduleNumber);
+  SetName("Solenoid", m_moduleNumber, m_channel);
 }
 
 /**
  * Destructor.
  */
-Solenoid::~Solenoid() {
-  HAL_FreeSolenoidPort(m_solenoidHandle);
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
-}
+Solenoid::~Solenoid() { HAL_FreeSolenoidPort(m_solenoidHandle); }
 
 /**
  * Set the value of a solenoid.
@@ -141,34 +138,9 @@ void Solenoid::StartPulse() {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
-void Solenoid::UpdateTable() {
-  if (m_valueEntry) m_valueEntry.SetBoolean(Get());
-}
-
-void Solenoid::StartLiveWindowMode() {
-  Set(false);
-  if (m_valueEntry) {
-    m_valueEntry.AddListener(
-        [=](const nt::EntryNotification& event) {
-          if (!event.value->IsBoolean()) return;
-          Set(event.value->GetBoolean());
-        },
-        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
-  }
-}
-
-void Solenoid::StopLiveWindowMode() {
-  Set(false);
-  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
-}
-
-std::string Solenoid::GetSmartDashboardType() const { return "Solenoid"; }
-
-void Solenoid::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void Solenoid::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Solenoid");
+  builder.SetSafeState([=]() { Set(false); });
+  builder.AddBooleanProperty("Value", [=]() { return Get(); },
+                             [=](bool value) { Set(value); });
 }

wpilibc/src/main/native/cpp/Spark.cpp

@@ -9,8 +9,6 @@
 
 #include <HAL/HAL.h>
 
-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;
 
 /**
@@ -41,5 +39,5 @@ Spark::Spark(int channel) : PWMSpeedController(channel) {
   SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("Spark", GetChannel(), this);
+  SetName("Spark", GetChannel());
 }

wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp

@@ -7,6 +7,8 @@
 
 #include "SpeedControllerGroup.h"
 
+#include "SmartDashboard/SendableBuilder.h"
+
 using namespace frc;
 
 void SpeedControllerGroup::Set(double speed) {
@@ -45,3 +47,10 @@ void SpeedControllerGroup::PIDWrite(double output) {
     speedController.get().PIDWrite(output);
   }
 }
+
+void SpeedControllerGroup::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Speed Controller");
+  builder.SetSafeState([=]() { StopMotor(); });
+  builder.AddDoubleProperty("Value", [=]() { return Get(); },
+                            [=](double value) { Set(value); });
+}

wpilibc/src/main/native/cpp/Talon.cpp

@@ -9,8 +9,6 @@
 
 #include <HAL/HAL.h>
 
-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;
 
 /**
@@ -39,5 +37,5 @@ Talon::Talon(int channel) : PWMSpeedController(channel) {
   SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
+  SetName("Talon", GetChannel());
 }

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

@@ -12,7 +12,7 @@
 #include "Counter.h"
 #include "DigitalInput.h"
 #include "DigitalOutput.h"
-#include "LiveWindow/LiveWindow.h"
+#include "SmartDashboard/SendableBuilder.h"
 #include "Timer.h"
 #include "Utility.h"
 #include "WPIErrors.h"
@@ -72,8 +72,7 @@ void Ultrasonic::Initialize() {
   static int instances = 0;
   instances++;
   HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
-  LiveWindow::GetInstance()->AddSensor("Ultrasonic",
-                                       m_echoChannel->GetChannel(), this);
+  SetName("Ultrasonic", m_echoChannel->GetChannel());
 }
 
 /**
@@ -94,6 +93,8 @@ Ultrasonic::Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units)
       m_counter(m_echoChannel) {
   m_units = units;
   Initialize();
+  AddChild(m_pingChannel);
+  AddChild(m_echoChannel);
 }
 
 /**
@@ -314,23 +315,8 @@ Ultrasonic::DistanceUnit Ultrasonic::GetDistanceUnits() const {
   return m_units;
 }
 
-void Ultrasonic::UpdateTable() {
-  if (m_valueEntry) {
-    m_valueEntry.SetDouble(GetRangeInches());
-  }
-}
-
-void Ultrasonic::StartLiveWindowMode() {}
-
-void Ultrasonic::StopLiveWindowMode() {}
-
-std::string Ultrasonic::GetSmartDashboardType() const { return "Ultrasonic"; }
-
-void Ultrasonic::InitTable(std::shared_ptr<NetworkTable> subTable) {
-  if (subTable) {
-    m_valueEntry = subTable->GetEntry("Value");
-    UpdateTable();
-  } else {
-    m_valueEntry = nt::NetworkTableEntry();
-  }
+void Ultrasonic::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Ultrasonic");
+  builder.AddDoubleProperty("Value", [=]() { return GetRangeInches(); },
+                            nullptr);
 }

wpilibc/src/main/native/cpp/Victor.cpp

@@ -9,8 +9,6 @@
 
 #include <HAL/HAL.h>
 
-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;
 
 /**
@@ -39,6 +37,6 @@ Victor::Victor(int channel) : PWMSpeedController(channel) {
   SetSpeed(0.0);
   SetZeroLatch();
 
-  LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
   HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel());
+  SetName("Victor", GetChannel());
 }

wpilibc/src/main/native/cpp/VictorSP.cpp

@@ -9,8 +9,6 @@
 
 #include <HAL/HAL.h>
 
-#include "LiveWindow/LiveWindow.h"
-
 using namespace frc;
 
 /**
@@ -40,5 +38,5 @@ VictorSP::VictorSP(int channel) : PWMSpeedController(channel) {
   SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel());
-  LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this);
+  SetName("VictorSP", GetChannel());
 }

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

@@ -7,13 +7,9 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
 #include "I2C.h"
-#include "LiveWindow/LiveWindowSendable.h"
+#include "SensorBase.h"
 #include "interfaces/Accelerometer.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -24,7 +20,7 @@ namespace frc {
  * an I2C bus. This class assumes the default (not alternate) sensor address of
  * 0x1D (7-bit address).
  */
-class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
+class ADXL345_I2C : public SensorBase, public Accelerometer {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 
@@ -36,7 +32,7 @@ class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
 
   explicit ADXL345_I2C(I2C::Port port, Range range = kRange_2G,
                        int deviceAddress = kAddress);
-  virtual ~ADXL345_I2C() = default;
+  ~ADXL345_I2C() override = default;
 
   ADXL345_I2C(const ADXL345_I2C&) = delete;
   ADXL345_I2C& operator=(const ADXL345_I2C&) = delete;
@@ -50,11 +46,7 @@ class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
   virtual double GetAcceleration(Axes axis);
   virtual AllAxes GetAccelerations();
 
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
-  void UpdateTable() override;
-  void StartLiveWindowMode() override {}
-  void StopLiveWindowMode() override {}
+  void InitSendable(SendableBuilder& builder) override;
 
  protected:
   I2C m_i2c;
@@ -79,11 +71,6 @@ class ADXL345_I2C : public Accelerometer, public LiveWindowSendable {
     kDataFormat_FullRes = 0x08,
     kDataFormat_Justify = 0x04
   };
-
- private:
-  nt::NetworkTableEntry m_xEntry;
-  nt::NetworkTableEntry m_yEntry;
-  nt::NetworkTableEntry m_zEntry;
 };
 
 }  // namespace frc

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

@@ -7,27 +7,19 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
-#include "LiveWindow/LiveWindowSendable.h"
 #include "SPI.h"
 #include "SensorBase.h"
 #include "interfaces/Accelerometer.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
-class DigitalInput;
-class DigitalOutput;
-
 /**
  * ADXL345 Accelerometer on SPI.
  *
  * This class allows access to an Analog Devices ADXL345 3-axis accelerometer
  * via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
  */
-class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
+class ADXL345_SPI : public SensorBase, public Accelerometer {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 
@@ -38,7 +30,7 @@ class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
   };
 
   explicit ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
-  virtual ~ADXL345_SPI() = default;
+  ~ADXL345_SPI() override = default;
 
   ADXL345_SPI(const ADXL345_SPI&) = delete;
   ADXL345_SPI& operator=(const ADXL345_SPI&) = delete;
@@ -52,11 +44,7 @@ class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
   virtual double GetAcceleration(Axes axis);
   virtual AllAxes GetAccelerations();
 
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
-  void UpdateTable() override;
-  void StartLiveWindowMode() override {}
-  void StopLiveWindowMode() override {}
+  void InitSendable(SendableBuilder& builder) override;
 
  protected:
   SPI m_spi;
@@ -82,11 +70,6 @@ class ADXL345_SPI : public Accelerometer, public LiveWindowSendable {
     kDataFormat_FullRes = 0x08,
     kDataFormat_Justify = 0x04
   };
-
- private:
-  nt::NetworkTableEntry m_xEntry;
-  nt::NetworkTableEntry m_yEntry;
-  nt::NetworkTableEntry m_zEntry;
 };
 
 }  // namespace frc

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

@@ -7,26 +7,18 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
-#include "LiveWindow/LiveWindowSendable.h"
 #include "SPI.h"
 #include "SensorBase.h"
 #include "interfaces/Accelerometer.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
-class DigitalInput;
-class DigitalOutput;
-
 /**
  * ADXL362 SPI Accelerometer.
  *
  * This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
  */
-class ADXL362 : public Accelerometer, public LiveWindowSendable {
+class ADXL362 : public SensorBase, public Accelerometer {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
   struct AllAxes {
@@ -52,19 +44,11 @@ class ADXL362 : public Accelerometer, public LiveWindowSendable {
   virtual double GetAcceleration(Axes axis);
   virtual AllAxes GetAccelerations();
 
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
-  void UpdateTable() override;
-  void StartLiveWindowMode() override {}
-  void StopLiveWindowMode() override {}
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   SPI m_spi;
   double m_gsPerLSB = 0.001;
-
-  nt::NetworkTableEntry m_xEntry;
-  nt::NetworkTableEntry m_yEntry;
-  nt::NetworkTableEntry m_zEntry;
 };
 
 }  // namespace frc

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

@@ -8,13 +8,10 @@
 #pragma once
 
 #include <memory>
-#include <string>
 
 #include "AnalogInput.h"
-#include "LiveWindow/LiveWindowSendable.h"
 #include "PIDSource.h"
 #include "SensorBase.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -25,25 +22,19 @@ namespace frc {
  * sensors have multiple axis and can be treated as multiple devices. Each is
  * calibrated by finding the center value over a period of time.
  */
-class AnalogAccelerometer : public SensorBase,
-                            public PIDSource,
-                            public LiveWindowSendable {
+class AnalogAccelerometer : public SensorBase, public PIDSource {
  public:
   explicit AnalogAccelerometer(int channel);
   explicit AnalogAccelerometer(AnalogInput* channel);
   explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
-  virtual ~AnalogAccelerometer() = default;
+  ~AnalogAccelerometer() override = default;
 
   double GetAcceleration() const;
   void SetSensitivity(double sensitivity);
   void SetZero(double zero);
   double PIDGet() override;
 
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   void InitAccelerometer();
@@ -51,8 +42,6 @@ class AnalogAccelerometer : public SensorBase,
   std::shared_ptr<AnalogInput> m_analogInput;
   double m_voltsPerG = 1.0;
   double m_zeroGVoltage = 2.5;
-
-  nt::NetworkTableEntry m_valueEntry;
 };
 
 }  // namespace frc

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

@@ -9,15 +9,10 @@
 
 #include <stdint.h>
 
-#include <memory>
-#include <string>
-
 #include <HAL/Types.h>
 
-#include "LiveWindow/LiveWindowSendable.h"
 #include "PIDSource.h"
 #include "SensorBase.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -33,9 +28,7 @@ namespace frc {
  * are divided by the number of samples to retain the resolution, but get more
  * stable values.
  */
-class AnalogInput : public SensorBase,
-                    public PIDSource,
-                    public LiveWindowSendable {
+class AnalogInput : public SensorBase, public PIDSource {
   friend class AnalogTrigger;
   friend class AnalogGyro;
 
@@ -45,7 +38,7 @@ class AnalogInput : public SensorBase,
   static constexpr int kAccumulatorChannels[kAccumulatorNumChannels] = {0, 1};
 
   explicit AnalogInput(int channel);
-  virtual ~AnalogInput();
+  ~AnalogInput() override;
 
   int GetValue() const;
   int GetAverageValue() const;
@@ -78,19 +71,13 @@ class AnalogInput : public SensorBase,
 
   double PIDGet() override;
 
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   int m_channel;
   // TODO: Adjust HAL to avoid use of raw pointers.
   HAL_AnalogInputHandle m_port;
   int64_t m_accumulatorOffset;
-
-  nt::NetworkTableEntry m_valueEntry;
 };
 
 }  // namespace frc

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

@@ -7,40 +7,30 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
 #include <HAL/AnalogOutput.h>
 
-#include "LiveWindow/LiveWindowSendable.h"
-#include "SensorBase.h"
-#include "networktables/NetworkTableEntry.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
 /**
  * MXP analog output class.
  */
-class AnalogOutput : public SensorBase, public LiveWindowSendable {
+class AnalogOutput : public ErrorBase, public SendableBase {
  public:
   explicit AnalogOutput(int channel);
-  virtual ~AnalogOutput();
+  ~AnalogOutput() override;
 
   void SetVoltage(double voltage);
   double GetVoltage() const;
   int GetChannel();
 
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
+  void InitSendable(SendableBuilder& builder) override;
 
  protected:
   int m_channel;
   HAL_AnalogOutputHandle m_port;
-
-  nt::NetworkTableEntry m_valueEntry;
 };
 
 }  // namespace frc

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

@@ -8,12 +8,10 @@
 #pragma once
 
 #include <memory>
-#include <string>
 
 #include "AnalogInput.h"
-#include "LiveWindow/LiveWindowSendable.h"
+#include "SensorBase.h"
 #include "interfaces/Potentiometer.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -23,7 +21,7 @@ namespace frc {
  * units you choose, by way of the scaling and offset constants passed to the
  * constructor.
  */
-class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
+class AnalogPotentiometer : public SensorBase, public Potentiometer {
  public:
   /**
    * AnalogPotentiometer constructor.
@@ -52,7 +50,7 @@ class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
   explicit AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
                                double fullRange = 1.0, double offset = 0.0);
 
-  virtual ~AnalogPotentiometer() = default;
+  ~AnalogPotentiometer() override = default;
 
   /**
    * Get the current reading of the potentiomer.
@@ -68,29 +66,11 @@ class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
    */
   double PIDGet() override;
 
-  /*
-   * Live Window code, only does anything if live window is activated.
-   */
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
-  void UpdateTable() override;
-
-  /**
-   * AnalogPotentiometers don't have to do anything special when entering the
-   * LiveWindow.
-   */
-  void StartLiveWindowMode() override {}
-
-  /**
-   * AnalogPotentiometers don't have to do anything special when exiting the
-   * LiveWindow.
-   */
-  void StopLiveWindowMode() override {}
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   std::shared_ptr<AnalogInput> m_analog_input;
   double m_fullRange, m_offset;
-  nt::NetworkTableEntry m_valueEntry;
 };
 
 }  // namespace frc

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

@@ -24,7 +24,7 @@ class AnalogTrigger : public SensorBase {
  public:
   explicit AnalogTrigger(int channel);
   explicit AnalogTrigger(AnalogInput* channel);
-  virtual ~AnalogTrigger();
+  ~AnalogTrigger() override;
 
   void SetLimitsVoltage(double lower, double upper);
   void SetLimitsRaw(int lower, int upper);
@@ -36,6 +36,8 @@ class AnalogTrigger : public SensorBase {
   std::shared_ptr<AnalogTriggerOutput> CreateOutput(
       AnalogTriggerType type) const;
 
+  void InitSendable(SendableBuilder& builder) override;
+
  private:
   int m_index;
   HAL_AnalogTriggerHandle m_trigger;

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

@@ -50,7 +50,7 @@ class AnalogTriggerOutput : public DigitalSource {
   friend class AnalogTrigger;
 
  public:
-  virtual ~AnalogTriggerOutput();
+  ~AnalogTriggerOutput() override;
   bool Get() const;
 
   // DigitalSource interface
@@ -59,6 +59,8 @@ class AnalogTriggerOutput : public DigitalSource {
   bool IsAnalogTrigger() const override;
   int GetChannel() const override;
 
+  void InitSendable(SendableBuilder& builder) override;
+
  protected:
   AnalogTriggerOutput(const AnalogTrigger& trigger,
                       AnalogTriggerType outputType);

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

@@ -7,13 +7,8 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
-#include "LiveWindow/LiveWindowSendable.h"
 #include "SensorBase.h"
 #include "interfaces/Accelerometer.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -22,12 +17,9 @@ namespace frc {
  *
  * This class allows access to the roboRIO's internal accelerometer.
  */
-class BuiltInAccelerometer : public Accelerometer,
-                             public SensorBase,
-                             public LiveWindowSendable {
+class BuiltInAccelerometer : public SensorBase, public Accelerometer {
  public:
   explicit BuiltInAccelerometer(Range range = kRange_8G);
-  virtual ~BuiltInAccelerometer() = default;
 
   // Accelerometer interface
   void SetRange(Range range) override;
@@ -35,16 +27,7 @@ class BuiltInAccelerometer : public Accelerometer,
   double GetY() override;
   double GetZ() override;
 
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<NetworkTable> subtable) override;
-  void UpdateTable() override;
-  void StartLiveWindowMode() override {}
-  void StopLiveWindowMode() override {}
-
- private:
-  nt::NetworkTableEntry m_xEntry;
-  nt::NetworkTableEntry m_yEntry;
-  nt::NetworkTableEntry m_zEntry;
+  void InitSendable(SendableBuilder& builder) override;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/Buttons/Trigger.h

@@ -7,11 +7,9 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
+#include <atomic>
 
-#include "SmartDashboard/Sendable.h"
-#include "networktables/NetworkTableEntry.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -30,10 +28,10 @@ class Command;
  * only have to write the {@link Trigger#Get()} method to get the full
  * functionality of the Trigger class.
  */
-class Trigger : public Sendable {
+class Trigger : public SendableBase {
  public:
   Trigger() = default;
-  virtual ~Trigger() = default;
+  ~Trigger() override = default;
   bool Grab();
   virtual bool Get() = 0;
   void WhenActive(Command* command);
@@ -42,11 +40,10 @@ class Trigger : public Sendable {
   void CancelWhenActive(Command* command);
   void ToggleWhenActive(Command* command);
 
-  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
-  std::string GetSmartDashboardType() const override;
+  void InitSendable(SendableBuilder& builder) override;
 
- protected:
-  nt::NetworkTableEntry m_pressedEntry;
+ private:
+  std::atomic_bool m_sendablePressed{false};
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/Commands/Command.h

@@ -11,9 +11,10 @@
 #include <set>
 #include <string>
 
+#include <llvm/Twine.h>
+
 #include "ErrorBase.h"
-#include "SmartDashboard/NamedSendable.h"
-#include "networktables/NetworkTableEntry.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -44,16 +45,16 @@ class Subsystem;
  * @see CommandGroup
  * @see Subsystem
  */
-class Command : public ErrorBase, public NamedSendable {
+class Command : public ErrorBase, public SendableBase {
   friend class CommandGroup;
   friend class Scheduler;
 
  public:
   Command();
-  explicit Command(const std::string& name);
+  explicit Command(const llvm::Twine& name);
   explicit Command(double timeout);
-  Command(const std::string& name, double timeout);
-  virtual ~Command();
+  Command(const llvm::Twine& name, double timeout);
+  ~Command() override = default;
   double TimeSinceInitialized() const;
   void Requires(Subsystem* s);
   bool IsCanceled() const;
@@ -76,6 +77,7 @@ class Command : public ErrorBase, public NamedSendable {
   bool IsTimedOut() const;
   bool AssertUnlocked(const std::string& message);
   void SetParent(CommandGroup* parent);
+  bool IsParented() const;
   void ClearRequirements();
 
   virtual void Initialize();
@@ -116,9 +118,6 @@ class Command : public ErrorBase, public NamedSendable {
   void StartRunning();
   void StartTiming();
 
-  // The name of this command
-  std::string m_name;
-
   // The time since this command was initialized
   double m_startTime = -1;
 
@@ -153,14 +152,7 @@ class Command : public ErrorBase, public NamedSendable {
   static int m_commandCounter;
 
  public:
-  std::string GetName() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
-  std::string GetSmartDashboardType() const override;
-
- private:
-  nt::NetworkTableEntry m_runningEntry;
-  nt::NetworkTableEntry m_isParentedEntry;
-  NT_EntryListener m_runningListener = 0;
+  void InitSendable(SendableBuilder& builder) override;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/Commands/PIDCommand.h

@@ -54,8 +54,7 @@ class PIDCommand : public Command, public PIDOutput, public PIDSource {
   std::shared_ptr<PIDController> m_controller;
 
  public:
-  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
-  std::string GetSmartDashboardType() const override;
+  void InitSendable(SendableBuilder& builder) override;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/Commands/PIDSubsystem.h

@@ -35,7 +35,7 @@ class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
   PIDSubsystem(double p, double i, double d);
   PIDSubsystem(double p, double i, double d, double f);
   PIDSubsystem(double p, double i, double d, double f, double period);
-  virtual ~PIDSubsystem() = default;
+  ~PIDSubsystem() override = default;
 
   void Enable();
   void Disable();
@@ -66,10 +66,6 @@ class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
  private:
   // The internal PIDController
   std::shared_ptr<PIDController> m_controller;
-
- public:
-  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
-  std::string GetSmartDashboardType() const override;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/Commands/Scheduler.h

@@ -16,9 +16,7 @@
 
 #include "Commands/Command.h"
 #include "ErrorBase.h"
-#include "SmartDashboard/NamedSendable.h"
-#include "SmartDashboard/SmartDashboard.h"
-#include "networktables/NetworkTable.h"
+#include "SmartDashboard/SendableBase.h"
 #include "networktables/NetworkTableEntry.h"
 
 namespace frc {
@@ -26,7 +24,7 @@ namespace frc {
 class ButtonScheduler;
 class Subsystem;
 
-class Scheduler : public ErrorBase, public NamedSendable {
+class Scheduler : public ErrorBase, public SendableBase {
  public:
   static Scheduler* GetInstance();
 
@@ -39,15 +37,11 @@ class Scheduler : public ErrorBase, public NamedSendable {
   void ResetAll();
   void SetEnabled(bool enabled);
 
-  void UpdateTable();
-  std::string GetSmartDashboardType() const;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable);
-  std::string GetName() const;
-  std::string GetType() const;
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   Scheduler();
-  virtual ~Scheduler() = default;
+  ~Scheduler() override = default;
 
   void ProcessCommandAddition(Command* command);
 

wpilibc/src/main/native/include/Commands/Subsystem.h

@@ -8,49 +8,50 @@
 #pragma once
 
 #include <memory>
-#include <string>
+
+#include <llvm/StringRef.h>
+#include <llvm/Twine.h>
 
 #include "ErrorBase.h"
-#include "SmartDashboard/NamedSendable.h"
-#include "networktables/NetworkTableEntry.h"
+#include "SmartDashboard/Sendable.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
 class Command;
 
-class Subsystem : public ErrorBase, public NamedSendable {
+class Subsystem : public ErrorBase, public SendableBase {
   friend class Scheduler;
 
  public:
-  explicit Subsystem(const std::string& name);
-  virtual ~Subsystem() = default;
+  explicit Subsystem(const llvm::Twine& name);
 
   void SetDefaultCommand(Command* command);
   Command* GetDefaultCommand();
+  llvm::StringRef GetDefaultCommandName();
   void SetCurrentCommand(Command* command);
   Command* GetCurrentCommand() const;
+  llvm::StringRef GetCurrentCommandName() const;
   virtual void Periodic();
   virtual void InitDefaultCommand();
 
+  void AddChild(const llvm::Twine& name, std::shared_ptr<Sendable> child);
+  void AddChild(const llvm::Twine& name, Sendable* child);
+  void AddChild(const llvm::Twine& name, Sendable& child);
+  void AddChild(std::shared_ptr<Sendable> child);
+  void AddChild(Sendable* child);
+  void AddChild(Sendable& child);
+
  private:
   void ConfirmCommand();
 
   Command* m_currentCommand = nullptr;
   bool m_currentCommandChanged = true;
   Command* m_defaultCommand = nullptr;
-  std::string m_name;
   bool m_initializedDefaultCommand = false;
 
  public:
-  std::string GetName() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
-  std::string GetSmartDashboardType() const override;
-
- protected:
-  nt::NetworkTableEntry m_hasDefaultEntry;
-  nt::NetworkTableEntry m_defaultEntry;
-  nt::NetworkTableEntry m_hasCommandEntry;
-  nt::NetworkTableEntry m_commandEntry;
+  void InitSendable(SendableBuilder& builder) override;
 };
 
 }  // namespace frc

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

@@ -7,14 +7,11 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
 #include <HAL/Types.h>
 
-#include "LiveWindow/LiveWindowSendable.h"
+#include "ErrorBase.h"
 #include "SensorBase.h"
-#include "networktables/NetworkTableEntry.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -33,11 +30,11 @@ namespace frc {
  * loop control. You can only turn off closed loop control, thereby stopping
  * the compressor from operating.
  */
-class Compressor : public SensorBase, public LiveWindowSendable {
+class Compressor : public ErrorBase, public SendableBase {
  public:
   // Default PCM ID is 0
-  explicit Compressor(int pcmID = GetDefaultSolenoidModule());
-  virtual ~Compressor();
+  explicit Compressor(int pcmID = SensorBase::GetDefaultSolenoidModule());
+  ~Compressor() override = default;
 
   void Start();
   void Stop();
@@ -58,11 +55,7 @@ class Compressor : public SensorBase, public LiveWindowSendable {
   bool GetCompressorNotConnectedFault() const;
   void ClearAllPCMStickyFaults();
 
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
+  void InitSendable(SendableBuilder& builder) override;
 
  protected:
   HAL_CompressorHandle m_compressorHandle;
@@ -70,10 +63,6 @@ class Compressor : public SensorBase, public LiveWindowSendable {
  private:
   void SetCompressor(bool on);
   int m_module;
-
-  nt::NetworkTableEntry m_enabledEntry;
-  nt::NetworkTableEntry m_pressureSwitchEntry;
-  NT_EntryListener m_enabledListener = 0;
 };
 
 }  // namespace frc

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

@@ -8,16 +8,13 @@
 #pragma once
 
 #include <memory>
-#include <string>
 
 #include <HAL/Counter.h>
 #include <HAL/Types.h>
 
 #include "AnalogTrigger.h"
 #include "CounterBase.h"
-#include "LiveWindow/LiveWindowSendable.h"
 #include "SensorBase.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -33,9 +30,7 @@ class DigitalGlitchFilter;
  * All counters will immediately start counting - Reset() them if you need them
  * to be zeroed before use.
  */
-class Counter : public SensorBase,
-                public CounterBase,
-                public LiveWindowSendable {
+class Counter : public SensorBase, public CounterBase {
  public:
   enum Mode {
     kTwoPulse = 0,
@@ -53,7 +48,7 @@ class Counter : public SensorBase,
           DigitalSource* downSource, bool inverted);
   Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
           std::shared_ptr<DigitalSource> downSource, bool inverted);
-  virtual ~Counter();
+  ~Counter() override;
 
   void SetUpSource(int channel);
   void SetUpSource(AnalogTrigger* analogTrigger, AnalogTriggerType triggerType);
@@ -96,11 +91,7 @@ class Counter : public SensorBase,
   int GetSamplesToAverage() const;
   int GetFPGAIndex() const { return m_index; }
 
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
+  void InitSendable(SendableBuilder& builder) override;
 
  protected:
   // Makes the counter count up.
@@ -115,7 +106,6 @@ class Counter : public SensorBase,
  private:
   int m_index = 0;  // The index of this counter.
 
-  nt::NetworkTableEntry m_valueEntry;
   friend class DigitalGlitchFilter;
 };
 

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

@@ -14,6 +14,7 @@
 #include <support/mutex.h>
 
 #include "DigitalSource.h"
+#include "SensorBase.h"
 
 namespace frc {
 
@@ -30,7 +31,7 @@ class Counter;
 class DigitalGlitchFilter : public SensorBase {
  public:
   DigitalGlitchFilter();
-  ~DigitalGlitchFilter();
+  ~DigitalGlitchFilter() override;
 
   void Add(DigitalSource* input);
   void Add(Encoder* input);
@@ -46,6 +47,8 @@ class DigitalGlitchFilter : public SensorBase {
   int GetPeriodCycles();
   uint64_t GetPeriodNanoSeconds();
 
+  void InitSendable(SendableBuilder& builder) override;
+
  private:
   // Sets the filter for the input to be the requested index. A value of 0
   // disables the filter, and the filter value must be between 1 and 3,

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

@@ -7,12 +7,7 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
 #include "DigitalSource.h"
-#include "LiveWindow/LiveWindowSendable.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -27,10 +22,10 @@ class DigitalGlitchFilter;
  * as required. This class is only for devices like switches etc. that aren't
  * implemented anywhere else.
  */
-class DigitalInput : public DigitalSource, public LiveWindowSendable {
+class DigitalInput : public DigitalSource {
  public:
   explicit DigitalInput(int channel);
-  virtual ~DigitalInput();
+  ~DigitalInput() override;
   bool Get() const;
   int GetChannel() const override;
 
@@ -39,17 +34,12 @@ class DigitalInput : public DigitalSource, public LiveWindowSendable {
   AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
   bool IsAnalogTrigger() const override;
 
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   int m_channel;
   HAL_DigitalHandle m_handle;
 
-  nt::NetworkTableEntry m_valueEntry;
   friend class DigitalGlitchFilter;
 };
 

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

@@ -7,14 +7,10 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
 #include <HAL/Types.h>
 
-#include "DigitalSource.h"
-#include "LiveWindow/LiveWindowSendable.h"
-#include "networktables/NetworkTableEntry.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -25,13 +21,13 @@ namespace frc {
  * elsewhere will allocate channels automatically so for those devices it
  * shouldn't be done here.
  */
-class DigitalOutput : public DigitalSource, public LiveWindowSendable {
+class DigitalOutput : public ErrorBase, public SendableBase {
  public:
   explicit DigitalOutput(int channel);
-  virtual ~DigitalOutput();
+  ~DigitalOutput() override;
   void Set(bool value);
   bool Get() const;
-  int GetChannel() const override;
+  int GetChannel() const;
   void Pulse(double length);
   bool IsPulsing() const;
   void SetPWMRate(double rate);
@@ -39,24 +35,12 @@ class DigitalOutput : public DigitalSource, public LiveWindowSendable {
   void DisablePWM();
   void UpdateDutyCycle(double dutyCycle);
 
-  // Digital Source Interface
-  HAL_Handle GetPortHandleForRouting() const override;
-  AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
-  bool IsAnalogTrigger() const override;
-
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   int m_channel;
   HAL_DigitalHandle m_handle;
   HAL_DigitalPWMHandle m_pwmGenerator;
-
-  nt::NetworkTableEntry m_valueEntry;
-  NT_EntryListener m_valueListener = 0;
 };
 
 }  // namespace frc

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

@@ -24,7 +24,6 @@ namespace frc {
  */
 class DigitalSource : public InterruptableSensorBase {
  public:
-  virtual ~DigitalSource() = default;
   virtual HAL_Handle GetPortHandleForRouting() const = 0;
   virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
   virtual bool IsAnalogTrigger() const = 0;

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

@@ -7,14 +7,9 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
 #include <HAL/Types.h>
 
-#include "LiveWindow/LiveWindowSendable.h"
 #include "SolenoidBase.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -25,23 +20,19 @@ namespace frc {
  * The DoubleSolenoid class is typically used for pneumatics solenoids that
  * have two positions controlled by two separate channels.
  */
-class DoubleSolenoid : public SolenoidBase, public LiveWindowSendable {
+class DoubleSolenoid : public SolenoidBase {
  public:
   enum Value { kOff, kForward, kReverse };
 
   explicit DoubleSolenoid(int forwardChannel, int reverseChannel);
   DoubleSolenoid(int moduleNumber, int forwardChannel, int reverseChannel);
-  virtual ~DoubleSolenoid();
+  ~DoubleSolenoid() override;
   virtual void Set(Value value);
   virtual Value Get() const;
   bool IsFwdSolenoidBlackListed() const;
   bool IsRevSolenoidBlackListed() const;
 
-  void UpdateTable();
-  void StartLiveWindowMode();
-  void StopLiveWindowMode();
-  std::string GetSmartDashboardType() const;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable);
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   int m_forwardChannel;  // The forward channel on the module to control.
@@ -50,9 +41,6 @@ class DoubleSolenoid : public SolenoidBase, public LiveWindowSendable {
   int m_reverseMask;     // The mask for the reverse channel.
   HAL_SolenoidHandle m_forwardHandle = HAL_kInvalidHandle;
   HAL_SolenoidHandle m_reverseHandle = HAL_kInvalidHandle;
-
-  nt::NetworkTableEntry m_valueEntry;
-  NT_EntryListener m_valueListener = 0;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/Drive/DifferentialDrive.h

@@ -102,7 +102,7 @@ class DifferentialDrive : public RobotDriveBase {
   static constexpr double kDefaultQuickStopAlpha = 0.1;
 
   DifferentialDrive(SpeedController& leftMotor, SpeedController& rightMotor);
-  virtual ~DifferentialDrive() = default;
+  ~DifferentialDrive() override = default;
 
   DifferentialDrive(const DifferentialDrive&) = delete;
   DifferentialDrive& operator=(const DifferentialDrive&) = delete;
@@ -118,6 +118,8 @@ class DifferentialDrive : public RobotDriveBase {
   void StopMotor() override;
   void GetDescription(llvm::raw_ostream& desc) const override;
 
+  void InitSendable(SendableBuilder& builder) override;
+
  private:
   SpeedController& m_leftMotor;
   SpeedController& m_rightMotor;

wpilibc/src/main/native/include/Drive/KilloughDrive.h

@@ -55,7 +55,7 @@ class KilloughDrive : public RobotDriveBase {
   KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor,
                 SpeedController& backMotor, double leftMotorAngle,
                 double rightMotorAngle, double backMotorAngle);
-  virtual ~KilloughDrive() = default;
+  ~KilloughDrive() override = default;
 
   KilloughDrive(const KilloughDrive&) = delete;
   KilloughDrive& operator=(const KilloughDrive&) = delete;
@@ -67,6 +67,8 @@ class KilloughDrive : public RobotDriveBase {
   void StopMotor() override;
   void GetDescription(llvm::raw_ostream& desc) const override;
 
+  void InitSendable(SendableBuilder& builder) override;
+
  private:
   SpeedController& m_leftMotor;
   SpeedController& m_rightMotor;

wpilibc/src/main/native/include/Drive/MecanumDrive.h

@@ -67,7 +67,7 @@ class MecanumDrive : public RobotDriveBase {
   MecanumDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor,
                SpeedController& frontRightMotor,
                SpeedController& rearRightMotor);
-  virtual ~MecanumDrive() = default;
+  ~MecanumDrive() override = default;
 
   MecanumDrive(const MecanumDrive&) = delete;
   MecanumDrive& operator=(const MecanumDrive&) = delete;
@@ -79,6 +79,8 @@ class MecanumDrive : public RobotDriveBase {
   void StopMotor() override;
   void GetDescription(llvm::raw_ostream& desc) const override;
 
+  void InitSendable(SendableBuilder& builder) override;
+
  private:
   SpeedController& m_frontLeftMotor;
   SpeedController& m_rearLeftMotor;

wpilibc/src/main/native/include/Drive/RobotDriveBase.h

@@ -12,9 +12,9 @@
 #include <llvm/ArrayRef.h>
 #include <llvm/raw_ostream.h>
 
-#include "ErrorBase.h"
 #include "MotorSafety.h"
 #include "MotorSafetyHelper.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -23,7 +23,7 @@ class SpeedController;
 /**
  * Common base class for drive platforms.
  */
-class RobotDriveBase : public MotorSafety, public ErrorBase {
+class RobotDriveBase : public MotorSafety, public SendableBase {
  public:
   /**
    * The location of a motor on the robot for the purpose of driving.
@@ -39,7 +39,7 @@ class RobotDriveBase : public MotorSafety, public ErrorBase {
   };
 
   RobotDriveBase();
-  virtual ~RobotDriveBase() = default;
+  ~RobotDriveBase() override = default;
 
   RobotDriveBase(const RobotDriveBase&) = delete;
   RobotDriveBase& operator=(const RobotDriveBase&) = delete;

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

@@ -17,8 +17,8 @@
 #include <llvm/StringRef.h>
 #include <support/mutex.h>
 
+#include "ErrorBase.h"
 #include "RobotState.h"
-#include "SensorBase.h"
 
 namespace frc {
 
@@ -28,12 +28,12 @@ struct MatchInfoData;
  * Provide access to the network communication data to / from the Driver
  * Station.
  */
-class DriverStation : public SensorBase, public RobotStateInterface {
+class DriverStation : public ErrorBase, public RobotStateInterface {
  public:
   enum Alliance { kRed, kBlue, kInvalid };
   enum MatchType { kNone, kPractice, kQualification, kElimination };
 
-  virtual ~DriverStation();
+  ~DriverStation() override;
   static DriverStation& GetInstance();
   static void ReportError(llvm::StringRef error);
   static void ReportWarning(llvm::StringRef error);

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

@@ -8,16 +8,13 @@
 #pragma once
 
 #include <memory>
-#include <string>
 
 #include <HAL/Encoder.h>
 
 #include "Counter.h"
 #include "CounterBase.h"
-#include "LiveWindow/LiveWindowSendable.h"
 #include "PIDSource.h"
 #include "SensorBase.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -39,10 +36,7 @@ class DigitalGlitchFilter;
  * All encoders will immediately start counting - Reset() them if you need them
  * to be zeroed before use.
  */
-class Encoder : public SensorBase,
-                public CounterBase,
-                public PIDSource,
-                public LiveWindowSendable {
+class Encoder : public SensorBase, public CounterBase, public PIDSource {
  public:
   enum IndexingType {
     kResetWhileHigh,
@@ -60,7 +54,7 @@ class Encoder : public SensorBase,
           bool reverseDirection = false, EncodingType encodingType = k4X);
   Encoder(DigitalSource& aSource, DigitalSource& bSource,
           bool reverseDirection = false, EncodingType encodingType = k4X);
-  virtual ~Encoder();
+  ~Encoder() override;
 
   // CounterBase interface
   int Get() const override;
@@ -76,6 +70,7 @@ class Encoder : public SensorBase,
   double GetRate() const;
   void SetMinRate(double minRate);
   void SetDistancePerPulse(double distancePerPulse);
+  double GetDistancePerPulse() const;
   void SetReverseDirection(bool reverseDirection);
   void SetSamplesToAverage(int samplesToAverage);
   int GetSamplesToAverage() const;
@@ -85,11 +80,7 @@ class Encoder : public SensorBase,
   void SetIndexSource(const DigitalSource& source,
                       IndexingType type = kResetOnRisingEdge);
 
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
+  void InitSendable(SendableBuilder& builder) override;
 
   int GetFPGAIndex() const;
 
@@ -103,9 +94,6 @@ class Encoder : public SensorBase,
   std::unique_ptr<DigitalSource> m_indexSource = nullptr;
   HAL_EncoderHandle m_encoder = HAL_kInvalidHandle;
 
-  nt::NetworkTableEntry m_speedEntry;
-  nt::NetworkTableEntry m_distanceEntry;
-  nt::NetworkTableEntry m_distancePerTickEntry;
   friend class DigitalGlitchFilter;
 };
 

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

@@ -30,11 +30,10 @@ class GearTooth : public Counter {
   explicit GearTooth(DigitalSource* source, bool directionSensitive = false);
   explicit GearTooth(std::shared_ptr<DigitalSource> source,
                      bool directionSensitive = false);
-  virtual ~GearTooth() = default;
 
   void EnableDirectionSensing(bool directionSensitive);
 
-  std::string GetSmartDashboardType() const override;
+  void InitSendable(SendableBuilder& builder) override;
 };
 
 }  // namespace frc

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

@@ -7,14 +7,9 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
-#include "LiveWindow/LiveWindowSendable.h"
 #include "PIDSource.h"
 #include "SensorBase.h"
 #include "interfaces/Gyro.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -22,24 +17,12 @@ namespace frc {
  * GyroBase is the common base class for Gyro implementations such as
  * AnalogGyro.
  */
-class GyroBase : public Gyro,
-                 public SensorBase,
-                 public PIDSource,
-                 public LiveWindowSendable {
+class GyroBase : public Gyro, public SensorBase, public PIDSource {
  public:
-  virtual ~GyroBase() = default;
-
   // PIDSource interface
   double PIDGet() override;
 
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
-
- private:
-  nt::NetworkTableEntry m_valueEntry;
+  void InitSendable(SendableBuilder& builder) override;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/I2C.h

@@ -9,7 +9,7 @@
 
 #include <stdint.h>
 
-#include "SensorBase.h"
+#include "ErrorBase.h"
 
 enum HAL_I2CPort : int32_t;
 
@@ -21,12 +21,12 @@ namespace frc {
  * This class is intended to be used by sensor (and other I2C device) drivers.
  * It probably should not be used directly.
  */
-class I2C : SensorBase {
+class I2C : public ErrorBase {
  public:
   enum Port { kOnboard = 0, kMXP };
 
   I2C(Port port, int deviceAddress);
-  virtual ~I2C();
+  ~I2C() override;
 
   I2C(const I2C&) = delete;
   I2C& operator=(const I2C&) = delete;

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

@@ -24,7 +24,6 @@ class InterruptableSensorBase : public SensorBase {
   };
 
   InterruptableSensorBase() = default;
-  virtual ~InterruptableSensorBase() = default;
 
   virtual HAL_Handle GetPortHandleForRouting() const = 0;
   virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;

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

@@ -17,7 +17,6 @@ namespace frc {
 class Jaguar : public PWMSpeedController {
  public:
   explicit Jaguar(int channel);
-  virtual ~Jaguar() = default;
 };
 
 }  // namespace frc

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

@@ -7,82 +7,76 @@
 
 #pragma once
 
-#include <map>
 #include <memory>
-#include <string>
-#include <vector>
 
-#include "Commands/Scheduler.h"
-#include "LiveWindow/LiveWindowSendable.h"
-#include "networktables/NetworkTable.h"
-#include "networktables/NetworkTableEntry.h"
+#include <llvm/Twine.h>
+#include <support/deprecated.h>
+
+#include "SmartDashboard/Sendable.h"
 
 namespace frc {
 
-struct LiveWindowComponent {
-  std::string subsystem;
-  std::string name;
-  bool isSensor = false;
-
-  LiveWindowComponent() = default;
-  LiveWindowComponent(std::string subsystem, std::string name, bool isSensor) {
-    this->subsystem = subsystem;
-    this->name = name;
-    this->isSensor = isSensor;
-  }
-};
-
 /**
  * The LiveWindow class is the public interface for putting sensors and
  * actuators on the LiveWindow.
  */
 class LiveWindow {
  public:
+  LiveWindow(const LiveWindow&) = delete;
+  LiveWindow& operator=(const LiveWindow&) = delete;
+
   static LiveWindow* GetInstance();
-  void Run();
-  void AddSensor(const std::string& subsystem, const std::string& name,
-                 LiveWindowSendable* component);
-  void AddSensor(const std::string& subsystem, const std::string& name,
-                 LiveWindowSendable& component);
-  void AddSensor(const std::string& subsystem, const std::string& name,
-                 std::shared_ptr<LiveWindowSendable> component);
-  void AddActuator(const std::string& subsystem, const std::string& name,
-                   LiveWindowSendable* component);
-  void AddActuator(const std::string& subsystem, const std::string& name,
-                   LiveWindowSendable& component);
-  void AddActuator(const std::string& subsystem, const std::string& name,
-                   std::shared_ptr<LiveWindowSendable> component);
 
-  void AddSensor(std::string type, int channel, LiveWindowSendable* component);
-  void AddActuator(std::string type, int channel,
-                   LiveWindowSendable* component);
-  void AddActuator(std::string type, int module, int channel,
-                   LiveWindowSendable* component);
+  WPI_DEPRECATED("no longer required")
+  void Run() { UpdateValues(); }
 
-  bool IsEnabled() const { return m_enabled; }
+  WPI_DEPRECATED("use Sendable::SetName() instead")
+  void AddSensor(const llvm::Twine& subsystem, const llvm::Twine& name,
+                 Sendable* component);
+  WPI_DEPRECATED("use Sendable::SetName() instead")
+  void AddSensor(const llvm::Twine& subsystem, const llvm::Twine& name,
+                 Sendable& component);
+  WPI_DEPRECATED("use Sendable::SetName() instead")
+  void AddSensor(const llvm::Twine& subsystem, const llvm::Twine& name,
+                 std::shared_ptr<Sendable> component);
+  WPI_DEPRECATED("use Sendable::SetName() instead")
+  void AddActuator(const llvm::Twine& subsystem, const llvm::Twine& name,
+                   Sendable* component);
+  WPI_DEPRECATED("use Sendable::SetName() instead")
+  void AddActuator(const llvm::Twine& subsystem, const llvm::Twine& name,
+                   Sendable& component);
+  WPI_DEPRECATED("use Sendable::SetName() instead")
+  void AddActuator(const llvm::Twine& subsystem, const llvm::Twine& name,
+                   std::shared_ptr<Sendable> component);
+
+  WPI_DEPRECATED("use SensorBase::SetName() instead")
+  void AddSensor(const llvm::Twine& type, int channel, Sendable* component);
+  WPI_DEPRECATED("use SensorBase::SetName() instead")
+  void AddActuator(const llvm::Twine& type, int channel, Sendable* component);
+  WPI_DEPRECATED("use SensorBase::SetName() instead")
+  void AddActuator(const llvm::Twine& type, int module, int channel,
+                   Sendable* component);
+
+  void Add(std::shared_ptr<Sendable> component);
+  void Add(Sendable* component);
+  void AddChild(Sendable* parent, std::shared_ptr<Sendable> component);
+  void AddChild(Sendable* parent, void* component);
+  void Remove(Sendable* component);
+
+  void EnableTelemetry(Sendable* component);
+  void DisableTelemetry(Sendable* component);
+  void DisableAllTelemetry();
+
+  bool IsEnabled() const;
   void SetEnabled(bool enabled);
 
- protected:
-  LiveWindow();
-  virtual ~LiveWindow() = default;
+  void UpdateValues();
 
  private:
-  void UpdateValues();
-  void Initialize();
-  void InitializeLiveWindowComponents();
+  LiveWindow();
 
-  std::vector<std::shared_ptr<LiveWindowSendable>> m_sensors;
-  std::map<std::shared_ptr<LiveWindowSendable>, LiveWindowComponent>
-      m_components;
-
-  std::shared_ptr<nt::NetworkTable> m_liveWindowTable;
-  std::shared_ptr<nt::NetworkTable> m_statusTable;
-  nt::NetworkTableEntry m_enabledEntry;
-
-  Scheduler* m_scheduler;
-
-  bool m_enabled = false;
-  bool m_firstTime = true;
+  struct Impl;
+  std::unique_ptr<Impl> m_impl;
 };
 
 }  // namespace frc

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

@@ -1,36 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2012-2017 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include "SmartDashboard/Sendable.h"
-
-namespace frc {
-
-/**
- * Live Window Sendable is a special type of object sendable to the live window.
- */
-class LiveWindowSendable : public Sendable {
- public:
-  /**
-   * Update the table for this sendable object with the latest values.
-   */
-  virtual void UpdateTable() = 0;
-
-  /**
-   * Start having this sendable object automatically respond to value changes
-   * reflect the value on the table.
-   */
-  virtual void StartLiveWindowMode() = 0;
-
-  /**
-   * Stop having this sendable object automatically respond to value changes.
-   */
-  virtual void StopLiveWindowMode() = 0;
-};
-
-}  // namespace frc

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

@@ -8,28 +8,27 @@
 #pragma once
 
 #include <atomic>
-#include <memory>
-#include <string>
 
 #include "DigitalOutput.h"
-#include "LiveWindow/LiveWindowSendable.h"
+#include "ErrorBase.h"
 #include "MotorSafety.h"
 #include "MotorSafetyHelper.h"
 #include "PWM.h"
+#include "SmartDashboard/SendableBase.h"
 #include "SpeedController.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
 /**
  * Nidec Brushless Motor.
  */
-class NidecBrushless : public SpeedController,
-                       public MotorSafety,
-                       public LiveWindowSendable {
+class NidecBrushless : public ErrorBase,
+                       public SendableBase,
+                       public SpeedController,
+                       public MotorSafety {
  public:
   NidecBrushless(int pwmChannel, int dioChannel);
-  ~NidecBrushless() = default;
+  ~NidecBrushless() override = default;
 
   // SpeedController interface
   void Set(double speed) override;
@@ -55,13 +54,7 @@ class NidecBrushless : public SpeedController,
   int GetChannel() const;
 
   // Sendable interface
-  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
-  std::string GetSmartDashboardType() const override;
-
-  // LiveWindowSendable interface
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   MotorSafetyHelper m_safetyHelper;
@@ -70,8 +63,6 @@ class NidecBrushless : public SpeedController,
   DigitalOutput m_dio;
   PWM m_pwm;
   double m_speed = 0.0;
-  nt::NetworkTableEntry m_valueEntry;
-  int m_valueListener;
 };
 
 }  // namespace frc

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

@@ -7,21 +7,20 @@
 
 #pragma once
 
-#include <atomic>
 #include <memory>
 #include <string>
 
+#include <support/deprecated.h>
 #include <support/mutex.h>
 
 #include "Base.h"
 #include "Controller.h"
 #include "Filters/LinearDigitalFilter.h"
-#include "LiveWindow/LiveWindow.h"
 #include "Notifier.h"
 #include "PIDInterface.h"
 #include "PIDSource.h"
+#include "SmartDashboard/SendableBase.h"
 #include "Timer.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -37,7 +36,7 @@ class PIDOutput;
  * in the integral and derivative calculations. Therefore, the sample rate
  * affects the controller's behavior for a given set of PID constants.
  */
-class PIDController : public LiveWindowSendable, public PIDInterface {
+class PIDController : public SendableBase, public PIDInterface {
  public:
   PIDController(double p, double i, double d, PIDSource* source,
                 PIDOutput* output, double period = 0.05);
@@ -47,7 +46,7 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
                 PIDOutput& output, double period = 0.05);
   PIDController(double p, double i, double d, double f, PIDSource& source,
                 PIDOutput& output, double period = 0.05);
-  virtual ~PIDController();
+  ~PIDController() override;
 
   PIDController(const PIDController&) = delete;
   PIDController& operator=(const PIDController) = delete;
@@ -58,6 +57,10 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
   virtual void SetOutputRange(double minimumOutput, double maximumOutput);
   void SetPID(double p, double i, double d) override;
   virtual void SetPID(double p, double i, double d, double f);
+  void SetP(double p);
+  void SetI(double i);
+  void SetD(double d);
+  void SetF(double f);
   double GetP() const override;
   double GetI() const override;
   double GetD() const override;
@@ -87,29 +90,17 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
 
   void Enable() override;
   void Disable() override;
+  void SetEnabled(bool enable);
   bool IsEnabled() const override;
 
   void Reset() override;
 
-  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
+  void InitSendable(SendableBuilder& builder) override;
 
  protected:
   PIDSource* m_pidInput;
   PIDOutput* m_pidOutput;
 
-  nt::NetworkTableEntry m_pEntry;
-  nt::NetworkTableEntry m_iEntry;
-  nt::NetworkTableEntry m_dEntry;
-  nt::NetworkTableEntry m_fEntry;
-  nt::NetworkTableEntry m_setpointEntry;
-  nt::NetworkTableEntry m_enabledEntry;
-  NT_EntryListener m_pListener = 0;
-  NT_EntryListener m_iListener = 0;
-  NT_EntryListener m_dListener = 0;
-  NT_EntryListener m_fListener = 0;
-  NT_EntryListener m_setpointListener = 0;
-  NT_EntryListener m_enabledListener = 0;
-
   virtual void Calculate();
   virtual double CalculateFeedForward();
   double GetContinuousError(double error) const;
@@ -180,12 +171,6 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
 
   std::unique_ptr<Notifier> m_controlLoop;
   Timer m_setpointTimer;
-
-  std::string GetSmartDashboardType() const override;
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  void RemoveListeners();
 };
 
 }  // namespace frc

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

@@ -9,7 +9,6 @@
 
 #include "Base.h"
 #include "Controller.h"
-#include "LiveWindow/LiveWindow.h"
 
 namespace frc {
 

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

@@ -9,14 +9,10 @@
 
 #include <stdint.h>
 
-#include <memory>
-#include <string>
-
 #include <HAL/Types.h>
 
-#include "LiveWindow/LiveWindowSendable.h"
-#include "SensorBase.h"
-#include "networktables/NetworkTableEntry.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -37,7 +33,7 @@ namespace frc {
  *   - 1 = minimum pulse width (currently .5ms)
  *   - 0 = disabled (i.e. PWM output is held low)
  */
-class PWM : public SensorBase, public LiveWindowSendable {
+class PWM : public ErrorBase, public SendableBase {
  public:
   /**
    * Represents the amount to multiply the minimum servo-pulse pwm period by.
@@ -58,7 +54,7 @@ class PWM : public SensorBase, public LiveWindowSendable {
   };
 
   explicit PWM(int channel);
-  virtual ~PWM();
+  ~PWM() override;
   virtual void SetRaw(uint16_t value);
   virtual uint16_t GetRaw() const;
   virtual void SetPosition(double pos);
@@ -78,14 +74,7 @@ class PWM : public SensorBase, public LiveWindowSendable {
   int GetChannel() const { return m_channel; }
 
  protected:
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
-
-  nt::NetworkTableEntry m_valueEntry;
-  NT_EntryListener m_valueListener = 0;
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   int m_channel;

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

@@ -17,7 +17,6 @@ namespace frc {
  */
 class PWMSpeedController : public SafePWM, public SpeedController {
  public:
-  virtual ~PWMSpeedController() = default;
   void Set(double value) override;
   double Get() const override;
   void SetInverted(bool isInverted) override;

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

@@ -18,7 +18,6 @@ namespace frc {
 class PWMTalonSRX : public PWMSpeedController {
  public:
   explicit PWMTalonSRX(int channel);
-  virtual ~PWMTalonSRX() = default;
 };
 
 }  // namespace frc

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

@@ -7,12 +7,7 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
-#include "LiveWindow/LiveWindowSendable.h"
 #include "SensorBase.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -20,7 +15,7 @@ namespace frc {
  * Class for getting voltage, current, temperature, power and energy from the
  * CAN PDP.
  */
-class PowerDistributionPanel : public SensorBase, public LiveWindowSendable {
+class PowerDistributionPanel : public SensorBase {
  public:
   PowerDistributionPanel();
   explicit PowerDistributionPanel(int module);
@@ -34,16 +29,9 @@ class PowerDistributionPanel : public SensorBase, public LiveWindowSendable {
   void ResetTotalEnergy();
   void ClearStickyFaults();
 
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
-  nt::NetworkTableEntry m_chanEntry[16];
-  nt::NetworkTableEntry m_voltageEntry;
-  nt::NetworkTableEntry m_totalCurrentEntry;
   int m_module;
 };
 

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

@@ -8,15 +8,13 @@
 #pragma once
 
 #include <memory>
-#include <string>
 
 #include <HAL/Types.h>
 #include <llvm/raw_ostream.h>
 
-#include "LiveWindow/LiveWindowSendable.h"
+#include "ErrorBase.h"
 #include "MotorSafety.h"
-#include "SensorBase.h"
-#include "networktables/NetworkTableEntry.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -34,13 +32,13 @@ class MotorSafetyHelper;
  * independently for something that does not care about voltage polarity (like
  * a solenoid).
  */
-class Relay : public MotorSafety, public SensorBase, public LiveWindowSendable {
+class Relay : public MotorSafety, public ErrorBase, public SendableBase {
  public:
   enum Value { kOff, kOn, kForward, kReverse };
   enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
 
   explicit Relay(int channel, Direction direction = kBothDirections);
-  virtual ~Relay();
+  ~Relay() override;
 
   void Set(Value value);
   Value Get() const;
@@ -54,15 +52,7 @@ class Relay : public MotorSafety, public SensorBase, public LiveWindowSendable {
   void SetSafetyEnabled(bool enabled) override;
   void GetDescription(llvm::raw_ostream& desc) const override;
 
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
-
- protected:
-  nt::NetworkTableEntry m_valueEntry;
-  NT_EntryListener m_valueListener = 0;
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   int m_channel;

wpilibc/src/main/native/include/SD540.h

@@ -17,7 +17,6 @@ namespace frc {
 class SD540 : public PWMSpeedController {
  public:
   explicit SD540(int channel);
-  virtual ~SD540() = default;
 };
 
 }  // namespace frc

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

@@ -9,15 +9,12 @@
 
 #include <stdint.h>
 
-#include "SensorBase.h"
+#include "ErrorBase.h"
 
 enum HAL_SPIPort : int32_t;
 
 namespace frc {
 
-class DigitalOutput;
-class DigitalInput;
-
 /**
  * SPI bus interface class.
  *
@@ -25,12 +22,12 @@ class DigitalInput;
  * It probably should not be used directly.
  *
  */
-class SPI : public SensorBase {
+class SPI : public ErrorBase {
  public:
   enum Port { kOnboardCS0 = 0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
 
   explicit SPI(Port port);
-  virtual ~SPI();
+  ~SPI() override;
 
   SPI(const SPI&) = delete;
   SPI& operator=(const SPI&) = delete;

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

@@ -7,8 +7,12 @@
 
 #pragma once
 
+#include <memory>
+
 #include "Base.h"
 #include "ErrorBase.h"
+#include "SmartDashboard/Sendable.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -18,10 +22,9 @@ namespace frc {
  * Stores most recent status information as well as containing utility functions
  * for checking channels and error processing.
  */
-class SensorBase : public ErrorBase {
+class SensorBase : public ErrorBase, public SendableBase {
  public:
   SensorBase() = default;
-  virtual ~SensorBase() = default;
 
   SensorBase(const SensorBase&) = delete;
   SensorBase& operator=(const SensorBase&) = delete;

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

@@ -7,12 +7,8 @@
 
 #pragma once
 
-#include <memory>
-#include <string>
-
 #include "SafePWM.h"
 #include "SpeedController.h"
-#include "networktables/NetworkTableEntry.h"
 
 namespace frc {
 
@@ -25,7 +21,6 @@ namespace frc {
 class Servo : public SafePWM {
  public:
   explicit Servo(int channel);
-  virtual ~Servo();
   void Set(double value);
   void SetOffline();
   double Get() const;
@@ -34,15 +29,7 @@ class Servo : public SafePWM {
   static double GetMaxAngle() { return kMaxServoAngle; }
   static double GetMinAngle() { return kMinServoAngle; }
 
-  void UpdateTable() override;
-  void StartLiveWindowMode() override;
-  void StopLiveWindowMode() override;
-  std::string GetSmartDashboardType() const override;
-  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
-
- protected:
-  nt::NetworkTableEntry m_valueEntry;
-  NT_EntryListener m_valueListener = 0;
+  void InitSendable(SendableBuilder& builder) override;
 
  private:
   double GetServoAngleRange() const { return kMaxServoAngle - kMinServoAngle; }