Pass errors to DS in C++ and Java

Squashed commit of the following:

commit f317b3522e312cf7e7bb9eb0494f2f96a7f6363c
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Mon Oct 20 17:15:46 2014 -0400

    Send unhandled exceptions back to the DS.

    Change-Id: I0e658fdb6d43593ee20457f20f71f4f4cd2d21c3

commit f834ef8c791945697ad483c27b4167eb917ac242
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Mon Oct 20 16:05:24 2014 -0400

    Add StackTrace to Java errors

    Change-Id: I83b162afcc5f294703705770fbcd8623b0895539

commit 02e040b0c79067ce046ada29e26004e0460fceb0
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Mon Oct 20 15:07:44 2014 -0400

    HAL Errors to DS in Java

    Change-Id: I5fb51e4066bbc26ea59ca513c03c5ec5ace98831

commit 03775ddc42b129c27fdf403f17f0796009311c3c
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Mon Oct 20 13:38:18 2014 -0400

    Update AnalogInput to report errors for getting and setting sample rate

    Change-Id: I00eb78f52fc5b17a60bc84456f0ec9842cc40ef7

commit 4c10cb79612ae81e3cbb6bd4d6da8cf3b8955821
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Mon Oct 20 11:46:03 2014 -0400

    Define errors in HAL

    Change-Id: I96595472e42ba61f0f3d0da17caf01a748d0422a

commit 56cb5dcd93e5e849a016f63ac9d0dc245a23eb2b
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Fri Oct 17 10:59:29 2014 -0400

    Throttle errors (1 report per second per error code) and fix issue with GetTime conflicting with GetTime from Timer.h/Timer.cpp

    Change-Id: Ibe4dc2e400fc4671b240b876a46959256ea65ad7

commit 71c78826e548682ecd0c1548255f8a6552cece32
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Thu Oct 16 16:41:04 2014 -0400

    Feed errors to DS from C++

    Change-Id: I009a7798499fd93e9fdd976ff00aa74c0bd094ae

commit 81030c6cee7f18a5ddf0e95c4e402a6cf7b5de6c
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Thu Oct 16 16:40:50 2014 -0400

    Don't try to de-mangle lines without any symbols in them

    Change-Id: Icea02494b68f2ec9116d6cbf20a35a3a132234f8

Change-Id: If7717025b03914183736ccd95da5c9d49819a6f3

hal/include/HAL/Errors.hpp

@@ -1,26 +1,47 @@
 #pragma once
 
-#define SAMPLE_RATE_TOO_HIGH 1
-#define SAMPLE_RATE_TOO_HIGH_MESSAGE "Analog module sample rate is too high"
-#define VOLTAGE_OUT_OF_RANGE 2
-#define VOLTAGE_OUT_OF_RANGE_MESSAGE "Voltage to convert to raw value is out of range [0; 5]"
-#define LOOP_TIMING_ERROR 4
-#define LOOP_TIMING_ERROR_MESSAGE "Digital module loop timing is not the expected value"
-#define SPI_WRITE_NO_MOSI 12
-#define SPI_WRITE_NO_MOSI_MESSAGE "Cannot write to SPI port with no MOSI output"
-#define SPI_READ_NO_MISO 13
-#define SPI_READ_NO_MISO_MESSAGE "Cannot read from SPI port with no MISO input"
-#define SPI_READ_NO_DATA 14
-#define SPI_READ_NO_DATA_MESSAGE "No data available to read from SPI"
-#define INCOMPATIBLE_STATE 15
-#define INCOMPATIBLE_STATE_MESSAGE "Incompatible State: The operation cannot be completed"
-#define NO_AVAILABLE_RESOURCES -4
-#define NO_AVAILABLE_RESOURCES_MESSAGE "No available resources to allocate"
-#define NULL_PARAMETER -5
-#define NULL_PARAMETER_MESSAGE "A pointer parameter to a method is NULL"
-#define ANALOG_TRIGGER_LIMIT_ORDER_ERROR -10
-#define ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE "AnalogTrigger limits error.  Lower limit > Upper Limit"
-#define ANALOG_TRIGGER_PULSE_OUTPUT_ERROR -11
-#define ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE "Attempted to read AnalogTrigger pulse output."
-#define PARAMETER_OUT_OF_RANGE -28
-#define PARAMETER_OUT_OF_RANGE_MESSAGE "A parameter is out of range."
+#define CTR_RxTimeout_MESSAGE "CTRE CAN Recieve Timeout"
+#define CTR_TxTimeout_MESSAGE "CTRE CAN Transmit Timeout"
+#define CTR_InvalidParamValue_MESSAGE "CTRE CAN Invalid Parameter"
+#define CTR_UnexpectedArbId_MESSAGE "CTRE Unexpected Arbitration ID (CAN Node ID)"
+
+#define NiFpga_Status_FifoTimeout_MESSAGE "NIFPGA: FIFO timeout error"
+#define NiFpga_Status_TransferAborted_MESSAGE "NIFPGA: Transfer aborted error"
+#define NiFpga_Status_MemoryFull_MESSAGE "NIFPGA: Memory Allocation failed, memory full"
+#define NiFpga_Status_SoftwareFault_MESSAGE "NIFPGA: Unexepected software error"
+#define NiFpga_Status_InvalidParameter_MESSAGE "NIFPGA: Invalid Parameter"
+#define NiFpga_Status_ResourceNotFound_MESSAGE "NIFPGA: Resource not found"
+#define NiFpga_Status_ResourceNotInitialized_MESSAGE "NIFPGA: Resource not initialized"
+#define NiFpga_Status_HardwareFault_MESSAGE "NIFPGA: Hardware Fault"
+#define NiFpga_Status_IrqTimeout_MESSAGE "NIFPGA: Interrupt timeout"
+
+#define ERR_CANSessionMux_InvalidBuffer_MESSAGE "CAN: Invalid Buffer"
+#define ERR_CANSessionMux_MessageNotFound_MESSAGE "CAN: Message not found"
+#define WARN_CANSessionMux_NoToken_MESSAGE "CAN: No token"
+#define ERR_CANSessionMux_NotAllowed_MESSAGE "CAN: Not allowed"
+#define ERR_CANSessionMux_NotInitialized_MESSAGE "CAN: Not initialized" 
+
+#define SAMPLE_RATE_TOO_HIGH 1001
+#define SAMPLE_RATE_TOO_HIGH_MESSAGE "HAL: Analog module sample rate is too high"
+#define VOLTAGE_OUT_OF_RANGE 1002
+#define VOLTAGE_OUT_OF_RANGE_MESSAGE "HAL: Voltage to convert to raw value is out of range [0; 5]"
+#define LOOP_TIMING_ERROR 1004
+#define LOOP_TIMING_ERROR_MESSAGE "HAL: Digital module loop timing is not the expected value"
+#define SPI_WRITE_NO_MOSI 1012
+#define SPI_WRITE_NO_MOSI_MESSAGE "HAL: Cannot write to SPI port with no MOSI output"
+#define SPI_READ_NO_MISO 1013
+#define SPI_READ_NO_MISO_MESSAGE "HAL: Cannot read from SPI port with no MISO input"
+#define SPI_READ_NO_DATA 1014
+#define SPI_READ_NO_DATA_MESSAGE "HAL: No data available to read from SPI"
+#define INCOMPATIBLE_STATE 1015
+#define INCOMPATIBLE_STATE_MESSAGE "HAL: Incompatible State: The operation cannot be completed"
+#define NO_AVAILABLE_RESOURCES -1004
+#define NO_AVAILABLE_RESOURCES_MESSAGE "HAL: No available resources to allocate"
+#define NULL_PARAMETER -1005
+#define NULL_PARAMETER_MESSAGE "HAL: A pointer parameter to a method is NULL"
+#define ANALOG_TRIGGER_LIMIT_ORDER_ERROR -1010
+#define ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE "HAL: AnalogTrigger limits error.  Lower limit > Upper Limit"
+#define ANALOG_TRIGGER_PULSE_OUTPUT_ERROR -1011
+#define ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE "HAL: Attempted to read AnalogTrigger pulse output."
+#define PARAMETER_OUT_OF_RANGE -1028
+#define PARAMETER_OUT_OF_RANGE_MESSAGE "HAL: A parameter is out of range."

hal/lib/Athena/HAL.cpp

@@ -2,6 +2,7 @@
 
 #include "Port.h"
 #include "HAL/Errors.hpp"
+#include "ctre/ctre.h"
 #include "ChipObject.h"
 #include "NetworkCommunication/FRCComm.h"
 #include "NetworkCommunication/UsageReporting.h"
@@ -38,34 +39,72 @@ void* getPortWithModule(uint8_t module, uint8_t pin)
 
 const char* getHALErrorMessage(int32_t code)
 {
-	if (code == 0)
-		return "";
-	else if (code == SAMPLE_RATE_TOO_HIGH)
-		return SAMPLE_RATE_TOO_HIGH_MESSAGE;
-	else if (code == VOLTAGE_OUT_OF_RANGE)
-		return VOLTAGE_OUT_OF_RANGE_MESSAGE;
-	else if (code == LOOP_TIMING_ERROR)
-		return LOOP_TIMING_ERROR_MESSAGE;
-	else if (code == SPI_WRITE_NO_MOSI)
-		return SPI_WRITE_NO_MOSI_MESSAGE;
-	else if (code == SPI_READ_NO_MISO)
-		return SPI_READ_NO_MISO_MESSAGE;
-	else if (code == SPI_READ_NO_DATA)
-		return SPI_READ_NO_DATA_MESSAGE;
-	else if (code == INCOMPATIBLE_STATE)
-		return INCOMPATIBLE_STATE_MESSAGE;
-	else if (code == NO_AVAILABLE_RESOURCES)
-		return NO_AVAILABLE_RESOURCES_MESSAGE;
-	else if (code == NULL_PARAMETER)
-		return NULL_PARAMETER_MESSAGE;
-	else if (code == ANALOG_TRIGGER_LIMIT_ORDER_ERROR)
-		return ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE;
-	else if (code == ANALOG_TRIGGER_PULSE_OUTPUT_ERROR)
-		return ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE;
-	else if (code == PARAMETER_OUT_OF_RANGE)
-		return PARAMETER_OUT_OF_RANGE_MESSAGE;
-	else
-		return "";
+	switch(code) {
+		case 0:
+			return "";
+		case CTR_RxTimeout:
+			return CTR_RxTimeout_MESSAGE;
+		case CTR_TxTimeout:
+			return CTR_TxTimeout_MESSAGE;
+		case CTR_InvalidParamValue:
+			return CTR_InvalidParamValue_MESSAGE;
+		case CTR_UnexpectedArbId:
+			return CTR_UnexpectedArbId_MESSAGE;
+		case NiFpga_Status_FifoTimeout:
+			return NiFpga_Status_FifoTimeout_MESSAGE;
+		case NiFpga_Status_TransferAborted:
+			return NiFpga_Status_TransferAborted_MESSAGE;
+		case NiFpga_Status_MemoryFull: 
+			return NiFpga_Status_MemoryFull_MESSAGE;
+		case NiFpga_Status_SoftwareFault:
+			return NiFpga_Status_SoftwareFault_MESSAGE;
+		case NiFpga_Status_InvalidParameter:
+			return NiFpga_Status_InvalidParameter_MESSAGE;
+		case NiFpga_Status_ResourceNotFound:
+			return NiFpga_Status_ResourceNotFound_MESSAGE; 
+		case NiFpga_Status_ResourceNotInitialized:
+			return NiFpga_Status_ResourceNotInitialized_MESSAGE; 
+		case NiFpga_Status_HardwareFault:
+			return NiFpga_Status_HardwareFault_MESSAGE;
+		case NiFpga_Status_IrqTimeout:
+			return NiFpga_Status_IrqTimeout_MESSAGE;
+		case SAMPLE_RATE_TOO_HIGH:
+			return SAMPLE_RATE_TOO_HIGH_MESSAGE;
+		case VOLTAGE_OUT_OF_RANGE:
+			return VOLTAGE_OUT_OF_RANGE_MESSAGE;
+		case LOOP_TIMING_ERROR:
+			return LOOP_TIMING_ERROR_MESSAGE;
+		case SPI_WRITE_NO_MOSI:
+			return SPI_WRITE_NO_MOSI_MESSAGE;
+		case SPI_READ_NO_MISO:
+			return SPI_READ_NO_MISO_MESSAGE;
+		case SPI_READ_NO_DATA:
+			return SPI_READ_NO_DATA_MESSAGE;
+		case INCOMPATIBLE_STATE:
+			return INCOMPATIBLE_STATE_MESSAGE;
+		case NO_AVAILABLE_RESOURCES:
+			return NO_AVAILABLE_RESOURCES_MESSAGE;
+		case NULL_PARAMETER:
+			return NULL_PARAMETER_MESSAGE;
+		case ANALOG_TRIGGER_LIMIT_ORDER_ERROR:
+			return ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE;
+		case ANALOG_TRIGGER_PULSE_OUTPUT_ERROR:
+			return ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE;
+		case PARAMETER_OUT_OF_RANGE:
+			return PARAMETER_OUT_OF_RANGE_MESSAGE;
+		case ERR_CANSessionMux_InvalidBuffer:
+			return ERR_CANSessionMux_InvalidBuffer_MESSAGE;
+		case ERR_CANSessionMux_MessageNotFound:
+			return ERR_CANSessionMux_MessageNotFound_MESSAGE;
+		case WARN_CANSessionMux_NoToken:
+			return WARN_CANSessionMux_NoToken_MESSAGE;
+		case ERR_CANSessionMux_NotAllowed:
+			return ERR_CANSessionMux_NotAllowed_MESSAGE;
+		case ERR_CANSessionMux_NotInitialized:
+			return ERR_CANSessionMux_NotInitialized_MESSAGE; 	
+		default:
+			return "Unknown error status";
+	}
 }
 
 /**

wpilibc/wpilibC++/include/Error.h

@@ -29,7 +29,7 @@ public:
 	const char *GetFunction() const;
 	uint32_t GetLineNumber() const;
 	const ErrorBase* GetOriginatingObject() const;
-	double GetTime() const;
+	double GetTimestamp() const;
 	void Clear();
 	void Set(Code code, const char* contextMessage, const char* filename, const char *function,
 			uint32_t lineNumber, const ErrorBase* originatingObject);

wpilibc/wpilibC++/src/Error.cpp

@@ -8,13 +8,12 @@
 
 #include <iostream>
 #include <sstream>
-#include <cstdio>
 #include <cstring>
 #include <cstdlib>
 #include <stdint.h>
 #include "HAL/Task.hpp"
 
-//#include "NetworkCommunication/FRCComm.h"
+#include "DriverStation.h"
 #include "Timer.h"
 #include "Utility.h"
 bool Error::m_suspendOnErrorEnabled = false;
@@ -58,20 +57,30 @@ uint32_t Error::GetLineNumber() const
 const ErrorBase* Error::GetOriginatingObject() const
 {	return m_originatingObject;  }
 
-double Error::GetTime() const
+double Error::GetTimestamp() const
 {	return m_timestamp;  }
 
 void Error::Set(Code code, const char* contextMessage, const char* filename, const char* function, uint32_t lineNumber, const ErrorBase* originatingObject)
 {
+	bool report = true;
+
+	if(code == m_code && GetTime() - m_timestamp < 1)
+	{
+		report = false;
+	}
+
 	m_code = code;
 	m_message = contextMessage;
 	m_filename = filename;
 	m_function = function;
 	m_lineNumber = lineNumber;
 	m_originatingObject = originatingObject;
-	m_timestamp = GetTime();
 
-	Report();
+	if(report)
+	{
+		m_timestamp = GetTime();
+		Report();
+	}
 
     if (m_suspendOnErrorEnabled) suspendTask(0);
 }
@@ -87,9 +96,7 @@ void Error::Report()
 
 	std::string error = errorStream.str();
 
-	// Print the error and send it to the DriverStation
-	std::cout << error << std::endl;
-    // TODO: Better logging HALSetErrorData(error.c_str(), error.size(), 100);
+	DriverStation::ReportError(error);
 }
 
 void Error::Clear()

wpilibc/wpilibC++Devices/include/DriverStation.h

@@ -28,6 +28,7 @@ public:
 
 	virtual ~DriverStation();
 	static DriverStation *GetInstance();
+	static void ReportError(std::string error);
 
 	static const uint32_t kJoystickPorts = 4;
 

wpilibc/wpilibC++Devices/src/AnalogInput.cpp

@@ -387,6 +387,7 @@ void AnalogInput::SetSampleRate(float samplesPerSecond)
 {
 	int32_t status = 0;
 	setAnalogSampleRate(samplesPerSecond, &status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
 }
 
 /**
@@ -398,6 +399,7 @@ float AnalogInput::GetSampleRate()
 {
 	int32_t status = 0;
 	float sampleRate = getAnalogSampleRate(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
 	return sampleRate;
 }
 

wpilibc/wpilibC++Devices/src/DriverStation.cpp

@@ -366,3 +366,13 @@ double DriverStation::GetMatchTime()
 		return 0.0;
 	return Timer::GetFPGATimestamp() - m_approxMatchTimeOffset;
 }
+
+/**
+ * Report an error to the DriverStation messages window.
+ * The error is also printed to the program console.
+ */
+void DriverStation::ReportError(std::string error)
+{
+	std::cout << error << std::endl;
+    HALSetErrorData(error.c_str(), error.size(), 0);
+}

wpilibc/wpilibC++Devices/src/Utility.cpp

@@ -225,10 +225,10 @@ static std::string demangle(char const *mangledSymbol)
 	size_t length;
 	int status;
 
-	if(sscanf(mangledSymbol, "%*[^(]%*[^_]%255[^)+]", buffer))
+
+	if(sscanf(mangledSymbol, "%*[^(]%*[(]%255[^)+]", buffer))
 	{
 		char *symbol = abi::__cxa_demangle(buffer, NULL, &length, &status);
-
 		if(status == 0)
 		{
 			return symbol;

wpilibc/wpilibC++Sim/include/DriverStation.h

@@ -31,6 +31,7 @@ public:
 
 	virtual ~DriverStation();
 	static DriverStation *GetInstance();
+	static void ReportError(std::string error);
 
 	static const uint32_t kBatteryChannel = 7;
 	static const uint32_t kJoystickPorts = 4;
@@ -59,6 +60,8 @@ public:
 	double GetMatchTime();
 	float GetBatteryVoltage();
 	uint16_t GetTeamNumber();
+	
+
 
 	void IncrementUpdateNumber()
 	{

wpilibc/wpilibC++Sim/src/DriverStation.cpp

@@ -60,7 +60,7 @@ DriverStation::DriverStation()
 		                           &DriverStation::joystickCallback2, this);
 	joysticks[2] = msgs::JoystickPtr(new msgs::Joystick());
 	joysticksSub[2] =  MainNode::Subscribe("~/ds/joysticks/3",
-		                           &DriverStation::joystickCallback3, this);
+	&DriverStation::joystickCallback3, this);
 	joysticks[3] = msgs::JoystickPtr(new msgs::Joystick());
 	joysticksSub[3] =  MainNode::Subscribe("~/ds/joysticks/4",
 	                                   &DriverStation::joystickCallback4, this);
@@ -325,6 +325,15 @@ double DriverStation::GetMatchTime()
 	return Timer::GetFPGATimestamp() - m_approxMatchTimeOffset;
 }
 
+/**
+ * Report an error to the DriverStation messages window.
+ * The error is also printed to the program console.
+ */
+void DriverStation::ReportError(std::string error)
+{
+	std::cout << error << std::endl;
+}
+
 /**
  * Return the team number that the Driver Station is configured for
  * @return The team number

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -400,6 +400,26 @@ public class DriverStation implements RobotState.Interface {
         }
         return Timer.getFPGATimestamp() - m_approxMatchTimeOffset;
     }
+	
+	/**
+	 * Report error to Driver Station.
+	 * Also prints error to System.err
+	 * Optionally appends Stack trace to error message
+	 * @param printTrace If true, append stack trace to error string
+	 */
+	public static void reportError(String error, boolean printTrace) {
+		String errorString = error;
+		if(printTrace) {
+			errorString += " at ";
+			StackTraceElement[] traces = Thread.currentThread().getStackTrace();
+			for (int i=2; i<traces.length; i++)
+			{
+				errorString += traces[i].toString() + "\n";
+			}
+		}
+		System.err.println(errorString);
+		FRCNetworkCommunicationsLibrary.HALSetErrorData(errorString);
+	}
 
     /** Only to be used to tell the Driver Station what code you claim to be executing
      *   for diagnostic purposes only

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -11,6 +11,7 @@ import java.io.IOException;
 import java.net.URL;
 import java.util.Enumeration;
 import java.util.jar.Manifest;
+import java.util.Arrays;
 
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
@@ -19,6 +20,7 @@ import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.internal.HardwareHLUsageReporting;
 import edu.wpi.first.wpilibj.internal.HardwareTimer;
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
+import edu.wpi.first.wpilibj.Utility;
 
 /**
  * Implement a Robot Program framework.
@@ -197,7 +199,7 @@ public abstract class RobotBase {
 		try {
 			robot.startCompetition();
 		} catch (Throwable t) {
-			t.printStackTrace();
+			DriverStation.reportError("ERROR Unhandled exception: " + t.toString() + " at " + Arrays.toString(t.getStackTrace()), false);
 			errorOnExit = true;
 		} finally {
 			// startCompetition never returns unless exception occurs....

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Utility.java

@@ -10,9 +10,11 @@ package edu.wpi.first.wpilibj;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.nio.IntBuffer;
+import java.lang.StackTraceElement;
 
 import edu.wpi.first.wpilibj.hal.HALLibrary;
 import edu.wpi.first.wpilibj.hal.HALUtil;
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
 
 /**
  * Contains global utility functions

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java

@@ -468,42 +468,6 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 			return HALAllianceStationID.Blue2;
 		case 5:
 			return HALAllianceStationID.Blue3;
-		default:
-			return null;
-		}
-	}
-
-	public static int kMaxJoystickAxes = 12;
-	public static int kMaxJoystickPOVs = 12;
-	public static native short[] HALGetJoystickAxes(byte joystickNum);
-	public static native short[] HALGetJoystickPOVs(byte joystickNum);
-	public static native int HALGetJoystickButtons(byte joystickNum);
-
-	/*
-	public static class pthread_mutex_t extends PointerType {
-		public pthread_mutex_t(Pointer address) {
-			super(address);
-		}
-		public pthread_mutex_t() {
-			super();
-		}
-	};
-	public static class STATUS extends PointerType {
-		public STATUS(Pointer address) {
-			super(address);
-		}
-		public STATUS() {
-			super();
-		}
-	};*/
-
-	//
-	// JNI Testing
-	//
-	public static native void JNIValueParameterTest(boolean booleanValue, byte byteValue, char charValue, short shortValue, int intValue, long longValue, float floatValue, double doubleValue );
-	public static native boolean JNIValueReturnBooleanTest(boolean booleanValue);
-	public static native byte JNIValueReturnByteTest(byte byteValue);
-	public static native char JNIValueReturnCharTest(char charValue);
-	public static native short JNIValueReturnShortTest(short shortValue);
-	public static native int JNIValueReturnIntTest(int intValue);
+		default:
+			return null;
 		}

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/HALUtil.java

@@ -2,16 +2,17 @@ package edu.wpi.first.wpilibj.hal;
 
 import java.nio.ByteBuffer;
 import java.nio.IntBuffer;
+import edu.wpi.first.wpilibj.DriverStation;
 
 public class HALUtil extends JNIWrapper {
-	public static final int NULL_PARAMETER = -5;
-	public static final int SAMPLE_RATE_TOO_HIGH = 1;
-	public static final int VOLTAGE_OUT_OF_RANGE = 2;
-	public static final int LOOP_TIMING_ERROR = 4;
-	public static final int INCOMPATIBLE_STATE = 15;
-	public static final int ANALOG_TRIGGER_PULSE_OUTPUT_ERROR = -11;
-	public static final int NO_AVAILABLE_RESOURCES = -4;
-	public static final int PARAMETER_OUT_OF_RANGE = -28;
+	public static final int NULL_PARAMETER = -1005;
+	public static final int SAMPLE_RATE_TOO_HIGH = 1001;
+	public static final int VOLTAGE_OUT_OF_RANGE = 1002;
+	public static final int LOOP_TIMING_ERROR = 1004;
+	public static final int INCOMPATIBLE_STATE = 1015;
+	public static final int ANALOG_TRIGGER_PULSE_OUTPUT_ERROR = -1011;
+	public static final int NO_AVAILABLE_RESOURCES = -104;
+	public static final int PARAMETER_OUT_OF_RANGE = -1028;
 
 	//public static final int SEMAPHORE_WAIT_FOREVER = -1;
 	//public static final int SEMAPHORE_Q_PRIORITY = 0x01;
@@ -38,22 +39,13 @@ public class HALUtil extends JNIWrapper {
 	public static void checkStatus(IntBuffer status)
 	{
 		int s = status.get(0);
-		if (s != 0)
+		if (s < 0)
 		{
-			String message = "Code: " + s + ". " + HALUtil.getHALErrorMessage(s);
-			if (s == HALUtil.NULL_PARAMETER
-				|| s == HALUtil.SAMPLE_RATE_TOO_HIGH
-				|| s == HALUtil.VOLTAGE_OUT_OF_RANGE)
-				throw new IllegalArgumentException(message);
-			else if (s == HALUtil.LOOP_TIMING_ERROR)
-				throw new RuntimeException(message);
-			else if (s == HALUtil.INCOMPATIBLE_STATE
-				|| s == HALUtil.ANALOG_TRIGGER_PULSE_OUTPUT_ERROR)
-				throw new IllegalStateException(message);
-			else if (s == HALUtil.NO_AVAILABLE_RESOURCES)
-				throw new RuntimeException(message);
-			else
-				throw new RuntimeException("Unknown error. Code: " + s + ". " + message);
+			String message = getHALErrorMessage(s);
+			throw new RuntimeException(" Code: " + s + ". " + message);
+		} else if (s > 0) {
+			String message = getHALErrorMessage(s);
+			DriverStation.reportError(message, true);
 		}
 	}
 

wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp

@@ -88,8 +88,8 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
 JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport
   (JNIEnv * paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber, jbyte paramContext, jstring paramFeature)
 {
-	NETCOMM_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report " << "res:"<< (unsigned int)paramResource << " instance:" << (unsigned int)paramInstanceNumber << " context:" << (unsigned int)paramContext << " feature:" << paramFeature;
 	const char * featureStr = paramEnv->GetStringUTFChars(paramFeature, NULL);
+	NETCOMM_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report " << "res:"<< (unsigned int)paramResource << " instance:" << (unsigned int)paramInstanceNumber << " context:" << (unsigned int)paramContext << " feature:" << featureStr;
 	jint returnValue = HALReport(paramResource, paramInstanceNumber, paramContext, featureStr);
 	paramEnv->ReleaseStringUTFChars(paramFeature,featureStr);
 	return returnValue;
@@ -534,3 +534,22 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCom
 
 	return env->NewDirectByteBuffer(returnByteArray, 4);
 }
+
+/*
+ * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
+ * Method:    HALSetErrorData
+ * Signature: (Ljava/lang/String;)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetErrorData
+  (JNIEnv * env, jclass, jstring error)
+{
+  const char * errorStr = env->GetStringUTFChars(error, NULL);
+  jsize length = env->GetStringUTFLength(error);
+  
+  NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr;
+  NETCOMM_LOG(logDEBUG) << "Length: " << length;
+  jint returnValue = HALSetErrorData(errorStr, (jint) length, 0);
+  env->ReleaseStringUTFChars(error,errorStr);
+  return returnValue;
+}
+  

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -283,6 +283,25 @@ public class DriverStation implements RobotState.Interface {
     public boolean isFMSAttached() {
         return false;
     }
+	
+	/**
+	 * Report error to Driver Station.
+	 * Also prints error to System.err
+	 * Optionally appends Stack trace to error message
+	 * @param printTrace If true, append stack trace to error string
+	 */
+	public static void reportError(String error, boolean printTrace) {
+		String errorString = error;
+		if(printTrace) {
+			errorString += " at ";
+			StackTraceElement[] traces = Thread.currentThread().getStackTrace();
+			for (int i=2; i<traces.length; i++)
+			{
+				errorString += traces[i].toString() + "\n";
+			}
+		}
+		System.err.println(errorString);
+	}
 
     /** Only to be used to tell the Driver Station what code you claim to be executing
      *   for diagnostic purposes only