allwpilib/wpilibc/wpilibC++/src/ErrorBase.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "ErrorBase.h"
#include "HAL/cpp/Synchronized.hpp"
#define WPI_ERRORS_DEFINE_STRINGS
#include "WPIErrors.h"

#include <errno.h>
#include <cstring>
#include <cstdio>

MUTEX_ID ErrorBase::_globalErrorMutex = initializeMutexNormal();
Error ErrorBase::_globalError;
/**
 * @brief Initialize the instance status to 0 for now.
 */
ErrorBase::ErrorBase() {}

/**
 * @brief Retrieve the current error.
 * Get the current error information associated with this sensor.
 */
Error& ErrorBase::GetError() { return m_error; }

const Error& ErrorBase::GetError() const { return m_error; }

/**
 * @brief Clear the current error information associated with this sensor.
 */
void ErrorBase::ClearError() const { m_error.Clear(); }

/**
 * @brief Set error information associated with a C library call that set an
 * error to the "errno" global variable.
 *
 * @param contextMessage A custom message from the code that set the error.
 * @param filename Filename of the error source
 * @param function Function of the error source
 * @param lineNumber Line number of the error source
 */
void ErrorBase::SetErrnoError(const char* contextMessage, const char* filename,
                              const char* function, uint32_t lineNumber) const {
  char err[256];
  int errNo = errno;
  if (errNo == 0) {
    sprintf(err, "OK: %s", contextMessage);
  } else {
    snprintf(err, 256, "%s (0x%08X): %s", strerror(errNo), errNo,
             contextMessage);
  }

  //  Set the current error information for this object.
  m_error.Set(-1, err, filename, function, lineNumber, this);

  // Update the global error if there is not one already set.
  Synchronized mutex(_globalErrorMutex);
  if (_globalError.GetCode() == 0) {
    _globalError.Clone(m_error);
  }
}

/**
 * @brief Set the current error information associated from the nivision Imaq
 * API.
 *
 * @param success The return from the function
 * @param contextMessage A custom message from the code that set the error.
 * @param filename Filename of the error source
 * @param function Function of the error source
 * @param lineNumber Line number of the error source
 */
void ErrorBase::SetImaqError(int success, const char* contextMessage,
                             const char* filename, const char* function,
                             uint32_t lineNumber) const {
  //  If there was an error
  if (success <= 0) {
    char err[256];
    sprintf(err, "%i: %s", success, contextMessage);

    //  Set the current error information for this object.
    m_error.Set(success, err, filename, function, lineNumber, this);

    // Update the global error if there is not one already set.
    Synchronized mutex(_globalErrorMutex);
    if (_globalError.GetCode() == 0) {
      _globalError.Clone(m_error);
    }
  }
}

/**
 * @brief Set the current error information associated with this sensor.
 *
 * @param code The error code
 * @param contextMessage A custom message from the code that set the error.
 * @param filename Filename of the error source
 * @param function Function of the error source
 * @param lineNumber Line number of the error source
 */
void ErrorBase::SetError(Error::Code code, const char* contextMessage,
                         const char* filename, const char* function,
                         uint32_t lineNumber) const {
  //  If there was an error
  if (code != 0) {
    //  Set the current error information for this object.
    m_error.Set(code, contextMessage, filename, function, lineNumber, this);

    // Update the global error if there is not one already set.
    Synchronized mutex(_globalErrorMutex);
    if (_globalError.GetCode() == 0) {
      _globalError.Clone(m_error);
    }
  }
}

/**
 * @brief Set the current error information associated with this sensor.
 *
 * @param errorMessage The error message from WPIErrors.h
 * @param contextMessage A custom message from the code that set the error.
 * @param filename Filename of the error source
 * @param function Function of the error source
 * @param lineNumber Line number of the error source
 */
void ErrorBase::SetWPIError(const char* errorMessage, Error::Code code,
                            const char* contextMessage, const char* filename,
                            const char* function, uint32_t lineNumber) const {
  char err[256];
  sprintf(err, "%s: %s", errorMessage, contextMessage);

  //  Set the current error information for this object.
  m_error.Set(code, err, filename, function, lineNumber, this);

  // Update the global error if there is not one already set.
  Synchronized mutex(_globalErrorMutex);
  if (_globalError.GetCode() == 0) {
    _globalError.Clone(m_error);
  }
}

void ErrorBase::CloneError(ErrorBase* rhs) const {
  m_error.Clone(rhs->GetError());
}

/**
@brief Check if the current error code represents a fatal error.

@return true if the current error is fatal.
*/
bool ErrorBase::StatusIsFatal() const { return m_error.GetCode() < 0; }

void ErrorBase::SetGlobalError(Error::Code code, const char* contextMessage,
                               const char* filename, const char* function,
                               uint32_t lineNumber) {
  //  If there was an error
  if (code != 0) {
    Synchronized mutex(_globalErrorMutex);

    //  Set the current error information for this object.
    _globalError.Set(code, contextMessage, filename, function, lineNumber,
                     nullptr);
  }
}

void ErrorBase::SetGlobalWPIError(const char* errorMessage,
                                  const char* contextMessage,
                                  const char* filename, const char* function,
                                  uint32_t lineNumber) {
  char err[256];
  sprintf(err, "%s: %s", errorMessage, contextMessage);

  Synchronized mutex(_globalErrorMutex);
  if (_globalError.GetCode() != 0) {
    _globalError.Clear();
  }
  _globalError.Set(-1, err, filename, function, lineNumber, nullptr);
}

/**
  * Retrieve the current global error.
*/
Error& ErrorBase::GetGlobalError() {
  Synchronized mutex(_globalErrorMutex);
  return _globalError;
}