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.

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Robot.cpp

@@ -45,8 +45,6 @@ void Robot::TeleopPeriodic() {
 	frc::Scheduler::GetInstance()->Run();
 }
 
-void Robot::TestPeriodic() {
-	m_lw.Run();
-}
+void Robot::TestPeriodic() {}
 
 START_ROBOT_CLASS(Robot)

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Robot.h

@@ -8,8 +8,10 @@
 #pragma once
 
 #include <Commands/Command.h>
+#include <Commands/Scheduler.h>
 #include <IterativeRobot.h>
 #include <LiveWindow/LiveWindow.h>
+#include <SmartDashboard/SmartDashboard.h>
 
 #include "Commands/Autonomous.h"
 #include "OI.h"

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Claw.cpp

@@ -7,12 +7,10 @@
 
 #include "Claw.h"
 
-#include <LiveWindow/LiveWindow.h>
-
 Claw::Claw()
     : frc::Subsystem("Claw") {
 	// Let's show everything on the LiveWindow
-	// frc::LiveWindow::GetInstance()->AddActuator("Claw", "Motor", &motor);
+	AddChild("Motor", m_motor);
 }
 
 void Claw::InitDefaultCommand() {}

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/DriveTrain.cpp

@@ -8,7 +8,7 @@
 #include "DriveTrain.h"
 
 #include <Joystick.h>
-#include <LiveWindow/LiveWindow.h>
+#include <SmartDashboard/SmartDashboard.h>
 
 #include "../Commands/TankDriveWithJoystick.h"
 
@@ -31,25 +31,14 @@ DriveTrain::DriveTrain()
 #endif
 
 	// Let's show everything on the LiveWindow
-	// frc::LiveWindow::GetInstance()->AddActuator("Drive Train",
-	// 		"Front_Left Motor", &m_frontLeft);
-	// frc::LiveWindow::GetInstance()->AddActuator("Drive Train",
-	// 		"Rear Left Motor", &m_rearLeft);
-	// frc::LiveWindow::GetInstance()->AddActuator("Drive Train",
-	// 		"Front Right Motor", &m_frontRight);
-	// frc::LiveWindow::GetInstance()->AddActuator("Drive Train",
-	// 		"Rear Right Motor", &m_rearRight);
-	// frc::LiveWindow::GetInstance()->AddSensor("Drive Train", "Left
-	// Encoder",
-	// 		&m_leftEncoder);
-	// frc::LiveWindow::GetInstance()->AddSensor("Drive Train", "Right
-	// Encoder",
-	// 		&m_rightEncoder);
-	// frc::LiveWindow::GetInstance()->AddSensor("Drive Train",
-	// "Rangefinder",
-	// 		&m_rangefinder);
-	// frc::LiveWindow::GetInstance()->AddSensor("Drive Train", "Gyro",
-	// &m_gyro);
+	// AddChild("Front_Left Motor", m_frontLeft);
+	// AddChild("Rear Left Motor", m_rearLeft);
+	// AddChild("Front Right Motor", m_frontRight);
+	// AddChild("Rear Right Motor", m_rearRight);
+	AddChild("Left Encoder", m_leftEncoder);
+	AddChild("Right Encoder", m_rightEncoder);
+	AddChild("Rangefinder", m_rangefinder);
+	AddChild("Gyro", m_gyro);
 }
 
 /**

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Elevator.cpp

@@ -18,11 +18,8 @@ Elevator::Elevator()
 	SetAbsoluteTolerance(0.005);
 
 	// Let's show everything on the LiveWindow
-	// frc::LiveWindow::GetInstance()->AddActuator("Elevator", "Motor",
-	// &m_motor);
-	// frc::LiveWindow::GetInstance()->AddSensor("Elevator", "Pot", &m_pot);
-	// frc::LiveWindow::GetInstance()->AddActuator("Elevator", "PID",
-	// 		GetPIDController());
+	AddChild("Motor", m_motor);
+	AddChild("Pot", &m_pot);
 }
 
 void Elevator::InitDefaultCommand() {}

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Wrist.cpp

@@ -7,7 +7,6 @@
 
 #include "Wrist.h"
 
-#include <LiveWindow/LiveWindow.h>
 #include <SmartDashboard/SmartDashboard.h>
 
 Wrist::Wrist()
@@ -18,11 +17,8 @@ Wrist::Wrist()
 	SetAbsoluteTolerance(2.5);
 
 	// Let's show everything on the LiveWindow
-	// frc::LiveWindow::GetInstance()->AddActuator("Wrist", "Motor",
-	// &motor);
-	// frc::LiveWindow::GetInstance()->AddSensor("Wrist", "Pot", &pot);
-	frc::LiveWindow::GetInstance()->AddActuator(
-			"Wrist", "PID", GetPIDController());
+	AddChild("Motor", m_motor);
+	AddChild("Pot", m_pot);
 }
 
 void Wrist::InitDefaultCommand() {}

wpilibcExamples/src/main/cpp/examples/GettingStarted/src/Robot.cpp

@@ -42,7 +42,7 @@ public:
 		m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());
 	}
 
-	void TestPeriodic() override { m_lw.Run(); }
+	void TestPeriodic() override {}
 
 private:
 	// Robot drive system

wpilibcExamples/src/main/cpp/examples/PacGoat/src/OI.cpp

@@ -13,6 +13,7 @@
 #include "Commands/SetCollectionSpeed.h"
 #include "Commands/SetPivotSetpoint.h"
 #include "Commands/Shoot.h"
+#include "SmartDashboard/SmartDashboard.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Pivot.h"
 

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Robot.cpp

@@ -9,6 +9,8 @@
 
 #include <iostream>
 
+#include <Commands/Scheduler.h>
+#include <LiveWindow/LiveWindow.h>
 #include <SmartDashboard/SmartDashboard.h>
 
 DriveTrain Robot::drivetrain;
@@ -60,9 +62,7 @@ void Robot::TeleopPeriodic() {
 	Log();
 }
 
-void Robot::TestPeriodic() {
-	frc::LiveWindow::GetInstance()->Run();
-}
+void Robot::TestPeriodic() {}
 
 void Robot::DisabledInit() {
 	shooter.Unlatch();

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Collector.cpp

@@ -12,14 +12,10 @@
 Collector::Collector()
     : frc::Subsystem("Collector") {
 	// Put everything to the LiveWindow for testing.
-	// XXX: LiveWindow::GetInstance()->AddActuator("Collector", "Roller
-	// Motor", &m_rollerMotor);
-	LiveWindow::GetInstance()->AddSensor(
-			"Collector", "Ball Detector", &m_ballDetector);
-	LiveWindow::GetInstance()->AddSensor(
-			"Collector", "Claw Open Detector", &m_openDetector);
-	LiveWindow::GetInstance()->AddActuator(
-			"Collector", "Piston", &m_piston);
+	AddChild("Roller Motor", m_rollerMotor);
+	AddChild("Ball Detector", m_ballDetector);
+	AddChild("Claw Open Detector", m_openDetector);
+	AddChild("Piston", m_piston);
 }
 
 bool Collector::HasBall() {

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/DriveTrain.cpp

@@ -10,20 +10,15 @@
 #include <cmath>
 
 #include <Joystick.h>
-#include <LiveWindow/LiveWindow.h>
 
 #include "../Commands/DriveWithJoystick.h"
 
 DriveTrain::DriveTrain()
     : frc::Subsystem("DriveTrain") {
-	// frc::LiveWindow::GetInstance()->AddActuator("DriveTrain", "Front Left
-	// CIM", &m_frontLeftCIM);
-	// frc::LiveWindow::GetInstance()->AddActuator("DriveTrain", "Front
-	// Right CIM", &m_frontRightCIM);
-	// frc::LiveWindow::GetInstance()->AddActuator("DriveTrain", "Back Left
-	// CIM", &m_backLeftCIM);
-	// frc::LiveWindow::GetInstance()->AddActuator("DriveTrain", "Back Right
-	// CIM", &m_backRightCIM);
+	// AddChild("Front Left CIM", m_frontLeftCIM);
+	// AddChild("Front Right CIM", m_frontRightCIM);
+	// AddChild("Back Left CIM", m_backLeftCIM);
+	// AddChild("Back Right CIM", m_backRightCIM);
 
 	// Configure the DifferentialDrive to reflect the fact that all our
 	// motors are wired backwards and our drivers sensitivity preferences.
@@ -49,16 +44,14 @@ DriveTrain::DriveTrain()
 			(4.0 /*in*/ * M_PI) / (360.0 * 12.0 /*in/ft*/));
 #endif
 
-	LiveWindow::GetInstance()->AddSensor(
-			"DriveTrain", "Right Encoder", m_rightEncoder);
-	LiveWindow::GetInstance()->AddSensor(
-			"DriveTrain", "Left Encoder", m_leftEncoder);
+	AddChild("Right Encoder", m_rightEncoder);
+	AddChild("Left Encoder", m_leftEncoder);
 
 // Configure gyro
 #ifndef SIMULATION
 	m_gyro.SetSensitivity(0.007);  // TODO: Handle more gracefully?
 #endif
-	LiveWindow::GetInstance()->AddSensor("DriveTrain", "Gyro", &m_gyro);
+	AddChild("Gyro", m_gyro);
 }
 
 void DriveTrain::InitDefaultCommand() {

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Pivot.cpp

@@ -7,8 +7,6 @@
 
 #include "Pivot.h"
 
-#include <LiveWindow/LiveWindow.h>
-
 Pivot::Pivot()
     : frc::PIDSubsystem("Pivot", 7.0, 0.0, 8.0) {
 	SetAbsoluteTolerance(0.005);
@@ -20,16 +18,10 @@ Pivot::Pivot()
 #endif
 
 	// Put everything to the LiveWindow for testing.
-	frc::LiveWindow::GetInstance()->AddSensor(
-			"Pivot", "Upper Limit Switch", &m_upperLimitSwitch);
-	frc::LiveWindow::GetInstance()->AddSensor(
-			"Pivot", "Lower Limit Switch", &m_lowerLimitSwitch);
-	// XXX: frc::LiveWindow::GetInstance()->AddSensor("Pivot", "Pot",
-	// &m_pot);
-	// XXX: frc::LiveWindow::GetInstance()->AddActuator("Pivot", "Motor",
-	// &m_motor);
-	frc::LiveWindow::GetInstance()->AddActuator(
-			"Pivot", "PIDSubsystem Controller", GetPIDController());
+	AddChild("Upper Limit Switch", m_upperLimitSwitch);
+	AddChild("Lower Limit Switch", m_lowerLimitSwitch);
+	AddChild("Pot", m_pot);
+	AddChild("Motor", m_motor);
 }
 
 void InitDefaultCommand() {}

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Pneumatics.cpp

@@ -7,12 +7,11 @@
 
 #include "Pneumatics.h"
 
-#include <LiveWindow/LiveWindow.h>
+#include <SmartDashboard/SmartDashboard.h>
 
 Pneumatics::Pneumatics()
     : frc::Subsystem("Pneumatics") {
-	frc::LiveWindow::GetInstance()->AddSensor(
-			"Pneumatics", "Pressure Sensor", m_pressureSensor);
+	AddChild("Pressure Sensor", m_pressureSensor);
 }
 
 /**

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Shooter.cpp

@@ -7,20 +7,13 @@
 
 #include "Shooter.h"
 
-#include <LiveWindow/LiveWindow.h>
-
 Shooter::Shooter()
     : Subsystem("Shooter") {
 	// Put everything to the LiveWindow for testing.
-	frc::LiveWindow::GetInstance()->AddSensor(
-			"Shooter", "Hot Goal Sensor", &m_hotGoalSensor);
-	frc::LiveWindow::GetInstance()->AddSensor("Shooter",
-			"Piston1 Reed Switch Front ",
-			&m_piston1ReedSwitchFront);
-	frc::LiveWindow::GetInstance()->AddSensor("Shooter",
-			"Piston1 Reed Switch Back ", &m_piston1ReedSwitchBack);
-	frc::LiveWindow::GetInstance()->AddActuator(
-			"Shooter", "Latch Piston", &m_latchPiston);
+	AddChild("Hot Goal Sensor", m_hotGoalSensor);
+	AddChild("Piston1 Reed Switch Front ", m_piston1ReedSwitchFront);
+	AddChild("Piston1 Reed Switch Back ", m_piston1ReedSwitchBack);
+	AddChild("Latch Piston", m_latchPiston);
 }
 
 void Shooter::InitDefaultCommand() {

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

@@ -83,7 +83,7 @@ public:
 
 	void TeleopPeriodic() override { frc::Scheduler::GetInstance()->Run(); }
 
-	void TestPeriodic() override { frc::LiveWindow::GetInstance()->Run(); }
+	void TestPeriodic() override {}
 
 private:
 	// Have it null by default so that if testing teleop it

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

@@ -60,7 +60,7 @@ public:
 
 	void TeleopPeriodic() {}
 
-	void TestPeriodic() { m_lw.Run(); }
+	void TestPeriodic() {}
 
 private:
 	frc::LiveWindow& m_lw = *LiveWindow::GetInstance();

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

@@ -59,7 +59,7 @@ public:
 
 	void TeleopPeriodic() {}
 
-	void TestPeriodic() { m_lw.Run(); }
+	void TestPeriodic() {}
 
 private:
 	frc::LiveWindow& m_lw = *LiveWindow::GetInstance();