[wpilib] Remove LiveWindow (#7733)

This will be replaced by a different mechanism, but removing it eases the initial implementation burden of a new Telemetry/Sendable framework.
wpilibsuite · Jan 25, 2025 · eee30c4 · eee30c4
1 parent adbe95e
commit eee30c4
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Showing 88 changed files with 85 additions and 1,356 deletions.
diff --git a/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/LogBackedSendableBuilder.java b/epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/LogBackedSendableBuilder.java
@@ -43,11 +43,6 @@ public void setActuator(boolean value) {
     // ignore
   }
 
-  @Override
-  public void setSafeState(Runnable func) {
-    // ignore
-  }
-
   @Override
   public void addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter) {
     m_updates.add(() -> m_backend.log(key, getter.getAsBoolean()));

diff --git a/gradle.properties b/gradle.properties
@@ -1,2 +1,2 @@
-org.gradle.jvmargs=-Xmx2g
+org.gradle.jvmargs=-Xmx4g
 org.ysb33r.gradle.doxygen.download.url=https://frcmaven.wpi.edu/artifactory/generic-release-mirror/doxygen
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
@@ -18,7 +18,6 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Watchdog;
 import edu.wpi.first.wpilibj.event.EventLoop;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
 import java.io.PrintWriter;
 import java.io.StringWriter;
@@ -101,13 +100,7 @@ public static synchronized CommandScheduler getInstance() {
 
   CommandScheduler() {
     HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand2_Scheduler);
-    SendableRegistry.addLW(this, "Scheduler");
-    LiveWindow.setEnabledListener(
-        () -> {
-          disable();
-          cancelAll();
-        });
-    LiveWindow.setDisabledListener(this::enable);
+    SendableRegistry.add(this, "Scheduler");
   }
 
   /**
@@ -123,8 +116,6 @@ public void setPeriod(double period) {
   @Override
   public void close() {
     SendableRegistry.remove(this);
-    LiveWindow.setEnabledListener(null);
-    LiveWindow.setDisabledListener(null);
   }
 
   /**

diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
@@ -20,7 +20,7 @@ public abstract class SubsystemBase implements Subsystem, Sendable {
   public SubsystemBase() {
     String name = this.getClass().getSimpleName();
     name = name.substring(name.lastIndexOf('.') + 1);
-    SendableRegistry.addLW(this, name, name);
+    SendableRegistry.add(this, name, name);
     CommandScheduler.getInstance().registerSubsystem(this);
   }
 
@@ -31,7 +31,7 @@ public SubsystemBase() {
    */
   @SuppressWarnings("this-escape")
   public SubsystemBase(String name) {
-    SendableRegistry.addLW(this, name, name);
+    SendableRegistry.add(this, name, name);
     CommandScheduler.getInstance().registerSubsystem(this);
   }
 
@@ -79,7 +79,7 @@ public void setSubsystem(String subsystem) {
    * @param child sendable
    */
   public void addChild(String name, Sendable child) {
-    SendableRegistry.addLW(child, getSubsystem(), name);
+    SendableRegistry.add(child, getSubsystem(), name);
   }
 
   @Override

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -13,7 +13,6 @@
 #include <frc/RobotBase.h>
 #include <frc/RobotState.h>
 #include <frc/TimedRobot.h>
-#include <frc/livewindow/LiveWindow.h>
 #include <hal/FRCUsageReporting.h>
 #include <hal/HALBase.h>
 #include <networktables/IntegerArrayTopic.h>
@@ -72,19 +71,11 @@ CommandScheduler::CommandScheduler()
       }) {
   HAL_Report(HALUsageReporting::kResourceType_Command,
              HALUsageReporting::kCommand2_Scheduler);
-  wpi::SendableRegistry::AddLW(this, "Scheduler");
-  frc::LiveWindow::SetEnabledCallback([this] {
-    this->Disable();
-    this->CancelAll();
-  });
-  frc::LiveWindow::SetDisabledCallback([this] { this->Enable(); });
+  wpi::SendableRegistry::Add(this, "Scheduler");
 }
 
 CommandScheduler::~CommandScheduler() {
   wpi::SendableRegistry::Remove(this);
-  frc::LiveWindow::SetEnabledCallback(nullptr);
-  frc::LiveWindow::SetDisabledCallback(nullptr);
-
   std::unique_ptr<Impl>().swap(m_impl);
 }
 

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
@@ -15,12 +15,12 @@
 using namespace frc2;
 
 SubsystemBase::SubsystemBase() {
-  wpi::SendableRegistry::AddLW(this, GetTypeName(*this));
+  wpi::SendableRegistry::Add(this, GetTypeName(*this));
   CommandScheduler::GetInstance().RegisterSubsystem({this});
 }
 
 SubsystemBase::SubsystemBase(std::string_view name) {
-  wpi::SendableRegistry::AddLW(this, name);
+  wpi::SendableRegistry::Add(this, name);
   CommandScheduler::GetInstance().RegisterSubsystem({this});
 }
 
@@ -71,5 +71,5 @@ void SubsystemBase::SetSubsystem(std::string_view name) {
 }
 
 void SubsystemBase::AddChild(std::string name, wpi::Sendable* child) {
-  wpi::SendableRegistry::AddLW(child, GetSubsystem(), name);
+  wpi::SendableRegistry::Add(child, GetSubsystem(), name);
 }
diff --git a/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp b/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
@@ -30,7 +30,7 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
   HAL_Report(HALUsageReporting::kResourceType_ADXL345,
              HALUsageReporting::kADXL345_I2C, 0);
 
-  wpi::SendableRegistry::AddLW(this, "ADXL345_I2C", port);
+  wpi::SendableRegistry::Add(this, "ADXL345_I2C", port);
 }
 
 I2C::Port ADXL345_I2C::GetI2CPort() const {

diff --git a/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp b/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
@@ -56,6 +56,6 @@ void AnalogAccelerometer::InitAccelerometer() {
   HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
              m_analogInput->GetChannel() + 1);
 
-  wpi::SendableRegistry::AddLW(this, "Accelerometer",
-                               m_analogInput->GetChannel());
+  wpi::SendableRegistry::Add(this, "Accelerometer",
+                             m_analogInput->GetChannel());
 }
diff --git a/wpilibc/src/main/native/cpp/AnalogEncoder.cpp b/wpilibc/src/main/native/cpp/AnalogEncoder.cpp
@@ -67,8 +67,8 @@ void AnalogEncoder::Init(double fullRange, double expectedZero) {
   m_fullRange = fullRange;
   m_expectedZero = expectedZero;
 
-  wpi::SendableRegistry::AddLW(this, "Analog Encoder",
-                               m_analogInput->GetChannel());
+  wpi::SendableRegistry::Add(this, "Analog Encoder",
+                             m_analogInput->GetChannel());
 }
 
 double AnalogEncoder::Get() const {

diff --git a/wpilibc/src/main/native/cpp/AnalogInput.cpp b/wpilibc/src/main/native/cpp/AnalogInput.cpp
@@ -35,7 +35,7 @@ AnalogInput::AnalogInput(int channel) {
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel + 1);
 
-  wpi::SendableRegistry::AddLW(this, "AnalogInput", channel);
+  wpi::SendableRegistry::Add(this, "AnalogInput", channel);
 }
 
 int AnalogInput::GetValue() const {

diff --git a/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp b/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
@@ -33,8 +33,8 @@ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
     : m_analog_input(std::move(input)),
       m_fullRange(fullRange),
       m_offset(offset) {
-  wpi::SendableRegistry::AddLW(this, "AnalogPotentiometer",
-                               m_analog_input->GetChannel());
+  wpi::SendableRegistry::Add(this, "AnalogPotentiometer",
+                             m_analog_input->GetChannel());
 }
 
 double AnalogPotentiometer::Get() const {

diff --git a/wpilibc/src/main/native/cpp/AnalogTrigger.cpp b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
@@ -38,7 +38,7 @@ AnalogTrigger::AnalogTrigger(std::shared_ptr<AnalogInput> input)
   int index = GetIndex();
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
-  wpi::SendableRegistry::AddLW(this, "AnalogTrigger", index);
+  wpi::SendableRegistry::Add(this, "AnalogTrigger", index);
 }
 
 AnalogTrigger::AnalogTrigger(DutyCycle& input)
@@ -55,7 +55,7 @@ AnalogTrigger::AnalogTrigger(std::shared_ptr<DutyCycle> input)
   int index = GetIndex();
 
   HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, index + 1);
-  wpi::SendableRegistry::AddLW(this, "AnalogTrigger", index);
+  wpi::SendableRegistry::Add(this, "AnalogTrigger", index);
 }
 
 void AnalogTrigger::SetLimitsVoltage(double lower, double upper) {

diff --git a/wpilibc/src/main/native/cpp/Compressor.cpp b/wpilibc/src/main/native/cpp/Compressor.cpp
@@ -25,7 +25,7 @@ Compressor::Compressor(int module, PneumaticsModuleType moduleType)
   m_module->EnableCompressorDigital();
 
   HAL_Report(HALUsageReporting::kResourceType_Compressor, module + 1);
-  wpi::SendableRegistry::AddLW(this, "Compressor", module);
+  wpi::SendableRegistry::Add(this, "Compressor", module);
 }
 
 Compressor::Compressor(PneumaticsModuleType moduleType)

diff --git a/wpilibc/src/main/native/cpp/Counter.cpp b/wpilibc/src/main/native/cpp/Counter.cpp
@@ -27,7 +27,7 @@ Counter::Counter(Mode mode) {
   SetMaxPeriod(0.5_s);
 
   HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1, mode + 1);
-  wpi::SendableRegistry::AddLW(this, "Counter", m_index);
+  wpi::SendableRegistry::Add(this, "Counter", m_index);
 }
 
 Counter::Counter(int channel) : Counter(kTwoPulse) {

diff --git a/wpilibc/src/main/native/cpp/DigitalInput.cpp b/wpilibc/src/main/native/cpp/DigitalInput.cpp
@@ -32,7 +32,7 @@ DigitalInput::DigitalInput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel + 1);
-  wpi::SendableRegistry::AddLW(this, "DigitalInput", channel);
+  wpi::SendableRegistry::Add(this, "DigitalInput", channel);
 }
 
 bool DigitalInput::Get() const {

diff --git a/wpilibc/src/main/native/cpp/DigitalOutput.cpp b/wpilibc/src/main/native/cpp/DigitalOutput.cpp
@@ -33,7 +33,7 @@ DigitalOutput::DigitalOutput(int channel) {
   FRC_CheckErrorStatus(status, "Channel {}", channel);
 
   HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel + 1);
-  wpi::SendableRegistry::AddLW(this, "DigitalOutput", channel);
+  wpi::SendableRegistry::Add(this, "DigitalOutput", channel);
 }
 
 DigitalOutput::~DigitalOutput() {

diff --git a/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp b/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
@@ -55,8 +55,8 @@ DoubleSolenoid::DoubleSolenoid(int module, PneumaticsModuleType moduleType,
   HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel + 1,
              m_module->GetModuleNumber() + 1);
 
-  wpi::SendableRegistry::AddLW(this, "DoubleSolenoid",
-                               m_module->GetModuleNumber(), m_forwardChannel);
+  wpi::SendableRegistry::Add(this, "DoubleSolenoid",
+                             m_module->GetModuleNumber(), m_forwardChannel);
 }
 
 DoubleSolenoid::DoubleSolenoid(PneumaticsModuleType moduleType,
@@ -129,7 +129,6 @@ bool DoubleSolenoid::IsRevSolenoidDisabled() const {
 void DoubleSolenoid::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Double Solenoid");
   builder.SetActuator(true);
-  builder.SetSafeState([=, this] { Set(kOff); });
   builder.AddSmallStringProperty(
       "Value",
       [=, this](wpi::SmallVectorImpl<char>& buf) -> std::string_view {

diff --git a/wpilibc/src/main/native/cpp/DutyCycle.cpp b/wpilibc/src/main/native/cpp/DutyCycle.cpp
@@ -34,7 +34,7 @@ void DutyCycle::InitDutyCycle() {
                                      &status);
   FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
   HAL_Report(HALUsageReporting::kResourceType_DutyCycle, m_channel + 1);
-  wpi::SendableRegistry::AddLW(this, "Duty Cycle", m_channel);
+  wpi::SendableRegistry::Add(this, "Duty Cycle", m_channel);
 }
 
 int DutyCycle::GetFPGAIndex() const {

diff --git a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
@@ -74,8 +74,8 @@ void DutyCycleEncoder::Init(double fullRange, double expectedZero) {
   m_fullRange = fullRange;
   m_expectedZero = expectedZero;
 
-  wpi::SendableRegistry::AddLW(this, "DutyCycle Encoder",
-                               m_dutyCycle->GetSourceChannel());
+  wpi::SendableRegistry::Add(this, "DutyCycle Encoder",
+                             m_dutyCycle->GetSourceChannel());
 }
 
 double DutyCycleEncoder::Get() const {

diff --git a/wpilibc/src/main/native/cpp/Encoder.cpp b/wpilibc/src/main/native/cpp/Encoder.cpp
@@ -234,7 +234,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
 
   HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
              encodingType);
-  wpi::SendableRegistry::AddLW(this, "Encoder", m_aSource->GetChannel());
+  wpi::SendableRegistry::Add(this, "Encoder", m_aSource->GetChannel());
 }
 
 double Encoder::DecodingScaleFactor() const {

diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -13,7 +13,6 @@
 
 #include "frc/DSControlWord.h"
 #include "frc/Errors.h"
-#include "frc/livewindow/LiveWindow.h"
 #include "frc/smartdashboard/SmartDashboard.h"
 
 using namespace frc;
@@ -96,24 +95,6 @@ void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
   m_ntFlushEnabled = enabled;
 }
 
-void IterativeRobotBase::EnableLiveWindowInTest(bool testLW) {
-  static bool hasReported;
-  if (IsTestEnabled()) {
-    throw FRC_MakeError(err::IncompatibleMode,
-                        "Can't configure test mode while in test mode!");
-  }
-  if (!hasReported && testLW) {
-    HAL_Report(HALUsageReporting::kResourceType_SmartDashboard,
-               HALUsageReporting::kSmartDashboard_LiveWindow);
-    hasReported = true;
-  }
-  m_lwEnabledInTest = testLW;
-}
-
-bool IterativeRobotBase::IsLiveWindowEnabledInTest() {
-  return m_lwEnabledInTest;
-}
-
 units::second_t IterativeRobotBase::GetPeriod() const {
   return m_period;
 }
@@ -150,9 +131,6 @@ void IterativeRobotBase::LoopFunc() {
     } else if (m_lastMode == Mode::kTeleop) {
       TeleopExit();
     } else if (m_lastMode == Mode::kTest) {
-      if (m_lwEnabledInTest) {
-        LiveWindow::SetEnabled(false);
-      }
       TestExit();
     }
 
@@ -167,9 +145,6 @@ void IterativeRobotBase::LoopFunc() {
       TeleopInit();
       m_watchdog.AddEpoch("TeleopInit()");
     } else if (mode == Mode::kTest) {
-      if (m_lwEnabledInTest) {
-        LiveWindow::SetEnabled(true);
-      }
       TestInit();
       m_watchdog.AddEpoch("TestInit()");
     }
@@ -201,8 +176,6 @@ void IterativeRobotBase::LoopFunc() {
 
   SmartDashboard::UpdateValues();
   m_watchdog.AddEpoch("SmartDashboard::UpdateValues()");
-  LiveWindow::UpdateValues();
-  m_watchdog.AddEpoch("LiveWindow::UpdateValues()");
 
   if constexpr (IsSimulation()) {
     HAL_SimPeriodicBefore();

diff --git a/wpilibc/src/main/native/cpp/PWM.cpp b/wpilibc/src/main/native/cpp/PWM.cpp
@@ -40,7 +40,7 @@ PWM::PWM(int channel, bool registerSendable) {
 
   HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
   if (registerSendable) {
-    wpi::SendableRegistry::AddLW(this, "PWM", channel);
+    wpi::SendableRegistry::Add(this, "PWM", channel);
   }
 }
 
@@ -174,7 +174,6 @@ int PWM::GetChannel() const {
 void PWM::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("PWM");
   builder.SetActuator(true);
-  builder.SetSafeState([=, this] { SetDisabled(); });
   builder.AddDoubleProperty(
       "Value", [=, this] { return GetPulseTime().value(); },
       [=, this](double value) { SetPulseTime(units::millisecond_t{value}); });

diff --git a/wpilibc/src/main/native/cpp/PowerDistribution.cpp b/wpilibc/src/main/native/cpp/PowerDistribution.cpp
@@ -47,7 +47,7 @@ PowerDistribution::PowerDistribution() {
     HAL_Report(HALUsageReporting::kResourceType_PDP,
                HALUsageReporting::kPDP_REV);
   }
-  wpi::SendableRegistry::AddLW(this, "PowerDistribution", m_module);
+  wpi::SendableRegistry::Add(this, "PowerDistribution", m_module);
 }
 
 PowerDistribution::PowerDistribution(int module, ModuleType moduleType) {
@@ -68,7 +68,7 @@ PowerDistribution::PowerDistribution(int module, ModuleType moduleType) {
     HAL_Report(HALUsageReporting::kResourceType_PDP,
                HALUsageReporting::kPDP_REV);
   }
-  wpi::SendableRegistry::AddLW(this, "PowerDistribution", m_module);
+  wpi::SendableRegistry::Add(this, "PowerDistribution", m_module);
 }
 
 int PowerDistribution::GetNumChannels() const {

diff --git a/wpilibc/src/main/native/cpp/SharpIR.cpp b/wpilibc/src/main/native/cpp/SharpIR.cpp
@@ -31,7 +31,7 @@ SharpIR SharpIR::GP2Y0A51SK0F(int channel) {
 
 SharpIR::SharpIR(int channel, double a, double b, double minCM, double maxCM)
     : m_sensor(channel), m_A(a), m_B(b), m_minCM(minCM), m_maxCM(maxCM) {
-  wpi::SendableRegistry::AddLW(this, "SharpIR", channel);
+  wpi::SendableRegistry::Add(this, "SharpIR", channel);
 
   m_simDevice = hal::SimDevice("SharpIR", m_sensor.GetChannel());
   if (m_simDevice) {