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[hal] Don't throw exceptions in PCM JNI (#3933)

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Since the CAN bus can easily become disconnected, we don't want this to crash. Instead, we just want this to report errors. This matches previous behavior.
This commit is contained in:
Thad House
2022-01-18 00:58:26 -08:00
committed by GitHub
parent 5ba69e1af1
commit 104d7e2abc
1 changed files with 22 additions and 22 deletions
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44
wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp
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@@ -80,20 +80,20 @@ PneumaticsControlModule::PneumaticsControlModule(HAL_CTREPCMHandle handle,
bool PneumaticsControlModule::GetCompressor() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressor(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
void PneumaticsControlModule::DisableCompressor() {
int32_t status = 0;
HAL_SetCTREPCMClosedLoopControl(m_handle, false, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::EnableCompressorDigital() {
int32_t status = 0;
HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::EnableCompressorAnalog(
@@ -101,7 +101,7 @@ void PneumaticsControlModule::EnableCompressorAnalog(
units::pounds_per_square_inch_t maxPressure) {
int32_t status = 0;
HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::EnableCompressorHybrid(
@@ -109,13 +109,13 @@ void PneumaticsControlModule::EnableCompressorHybrid(
units::pounds_per_square_inch_t maxPressure) {
int32_t status = 0;
HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
}
CompressorConfigType PneumaticsControlModule::GetCompressorConfigType() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMClosedLoopControl(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result ? CompressorConfigType::Digital
: CompressorConfigType::Disabled;
}
@@ -123,85 +123,85 @@ CompressorConfigType PneumaticsControlModule::GetCompressorConfigType() const {
bool PneumaticsControlModule::GetPressureSwitch() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMPressureSwitch(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
units::ampere_t PneumaticsControlModule::GetCompressorCurrent() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorCurrent(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return units::ampere_t{result};
}
bool PneumaticsControlModule::GetCompressorCurrentTooHighFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorCurrentTooHighFault(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorCurrentTooHighStickyFault() const {
int32_t status = 0;
auto result =
HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorShortedFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorShortedFault(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorShortedStickyFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorShortedStickyFault(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorNotConnectedFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorNotConnectedFault(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorNotConnectedStickyFault() const {
int32_t status = 0;
auto result =
HAL_GetCTREPCMCompressorNotConnectedStickyFault(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetSolenoidVoltageFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoidVoltageFault(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetSolenoidVoltageStickyFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoidVoltageStickyFault(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
void PneumaticsControlModule::ClearAllStickyFaults() {
int32_t status = 0;
HAL_ClearAllCTREPCMStickyFaults(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::SetSolenoids(int mask, int values) {
int32_t status = 0;
HAL_SetCTREPCMSolenoids(m_handle, mask, values, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
}
int PneumaticsControlModule::GetSolenoids() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoids(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
@@ -212,14 +212,14 @@ int PneumaticsControlModule::GetModuleNumber() const {
int PneumaticsControlModule::GetSolenoidDisabledList() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoidDisabledList(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
return result;
}
void PneumaticsControlModule::FireOneShot(int index) {
int32_t status = 0;
HAL_FireCTREPCMOneShot(m_handle, index, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::SetOneShotDuration(int index,
@@ -227,7 +227,7 @@ void PneumaticsControlModule::SetOneShotDuration(int index,
int32_t status = 0;
units::millisecond_t millis = duration;
HAL_SetCTREPCMOneShotDuration(m_handle, index, millis.to<int32_t>(), &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
FRC_ReportError(status, "Module {}", m_module);
}
bool PneumaticsControlModule::CheckSolenoidChannel(int channel) const {