The non-NT portion has been moved to wpiutil.
The NT portion has been moved to ntcore (as NTSendable).
SendableBuilder similarly split and moved.
SendableRegistry moved to wpiutil.
In C++, SendableHelper also moved to wpiutil.
This enables use of Sendable from wpimath and also enables
moving several classes from wpilib to wpimath.
This is a breaking change to the WebSockets layer to align it with
recent specification documentation work.
To support this, HAL SimValue changed readonly to a direction enum.
This allows specifying bidirectional in addition to input and output.
The SimValue change is specifically designed to avoid API and ABI breakage.
This is completely transparent in C++; in Java a new callback class was added,
and the old readonly functions have been marked deprecated.
A new SimValue creation function for enums allows specifying double values
for each enum value, not just strings. This allows mapping enum values to
doubles in the WebSockets layer.
A ":" in the SimDevice name now maps it to different WebSocket types (e.g.
"Accel:Name" becomes type "Accel", device "Name"). The type is hidden
in the GUI.
Other WebSockets changes:
* Implemented match_time and game_data
* Added joystick rumble data
* Added builtin accelerometer support
* SimValue enums are mapped to string and double value on WS interface
* Added WebSockets protocol specification
* Added READMEs
The DutyCycleEncoder class initializes AnalogTrigger, which is not supported in simulation.
To avoid this, do not use AnalogTrigger (or Counter) in simulation mode.
Fixes#2367
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
