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Pass errors to DS in C++ and Java

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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
This commit is contained in:
Kevin O'Connor
2014-10-20 17:19:28 -04:00
committed by Brad Miller
parent 26419ec209
commit 003dc0dc2b
17 changed files with 237 additions and 127 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -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

4
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
View File

@@ -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....

2
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Utility.java
View File

@@ -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

40
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java
View File

@@ -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;
}

38
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/HALUtil.java
View File

@@ -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);
}
}