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[hal] Prefix all error #defines with HAL_ (#8780)

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This commit is contained in:
Peter Johnson
2026-04-19 16:12:18 -07:00
committed by GitHub
parent b7df267687
commit 14d14e4ebc
40 changed files with 197 additions and 192 deletions
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10
hal/src/main/native/cpp/jni/CANAPIJNI.cpp
View File

@@ -173,7 +173,7 @@ Java_org_wpilib_hardware_hal_CANAPIJNI_writeCANPacketNoThrow
{
HAL_CANMessage message;
if (!PackCANMessage(env, data, dataLength, flags, &message)) {
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
}
int32_t status = 0;
@@ -194,7 +194,7 @@ Java_org_wpilib_hardware_hal_CANAPIJNI_writeCANPacketRepeatingNoThrow
{
HAL_CANMessage message;
if (!PackCANMessage(env, data, dataLength, flags, &message)) {
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
}
int32_t status = 0;
@@ -219,18 +219,18 @@ Java_org_wpilib_hardware_hal_CANAPIJNI_writeCANRTRFrameNoThrow
// We will allow RTR frames to have a null data array
if ((flags & HAL_CAN_FD_DATALENGTH) && dataLength > 64) {
ThrowIllegalArgumentException(env, "FD frame has max length of 64 bytes");
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
} else if (!(flags & HAL_CAN_FD_DATALENGTH) && dataLength > 8) {
ThrowIllegalArgumentException(env,
"Non FD frame has max length of 8 bytes");
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
}
std::memset(&message, 0, sizeof(message));
message.flags = flags;
message.dataSize = dataLength;
} else if (!PackCANMessage(env, data, dataLength, flags, &message)) {
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
}
int32_t status = 0;

4
hal/src/main/native/cpp/jni/CANJNI.cpp
View File

@@ -59,7 +59,7 @@ Java_org_wpilib_hardware_hal_can_CANJNI_sendMessage
{
HAL_CANMessage message;
if (!PackCANMessage(env, data, dataLength, flags, &message)) {
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
}
int32_t status = 0;
@@ -220,7 +220,7 @@ Java_org_wpilib_hardware_hal_can_CANJNI_readCANStreamSession
if (javaLen < msg->message.message.dataSize) {
ThrowIllegalArgumentException(
env, "Message buffer not long enough for message");
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
}
env->SetByteArrayRegion(
toSetArray, 0, msg->message.message.dataSize,

5
hal/src/main/native/cpp/jni/HALUtil.cpp
View File

@@ -124,8 +124,9 @@ void ThrowError(JNIEnv* env, int32_t status, int32_t minRange, int32_t maxRange,
return;
}
const char* lastError = HAL_GetLastError(&status);
if (status == NO_AVAILABLE_RESOURCES || status == RESOURCE_IS_ALLOCATED ||
status == RESOURCE_OUT_OF_RANGE) {
if (status == HAL_NO_AVAILABLE_RESOURCES ||
status == HAL_RESOURCE_IS_ALLOCATED ||
status == HAL_RESOURCE_OUT_OF_RANGE) {
ThrowAllocationException(env, lastError, status);
return;
}

40
hal/src/main/native/include/wpi/hal/Errors.h
View File

@@ -10,11 +10,11 @@
* @{
*/
#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 HAL_ERR_CANSessionMux_InvalidBuffer_MESSAGE "CAN: Invalid Buffer"
#define HAL_ERR_CANSessionMux_MessageNotFound_MESSAGE "CAN: Message not found"
#define HAL_WARN_CANSessionMux_NoToken_MESSAGE "CAN: No token"
#define HAL_ERR_CANSessionMux_NotAllowed_MESSAGE "CAN: Not allowed"
#define HAL_ERR_CANSessionMux_NotInitialized_MESSAGE "CAN: Not initialized"
#define HAL_WARN_CANSessionMux_TxQueueFull_MESSAGE \
"CAN: TX Queue full. Generally caused by a disconnected bus."
#define HAL_WARN_CANSessionMux_SocketBufferFull_MESSAGE \
@@ -22,22 +22,24 @@
#define HAL_SUCCESS 0
#define VOLTAGE_OUT_OF_RANGE 1002
#define VOLTAGE_OUT_OF_RANGE_MESSAGE \
#define HAL_VOLTAGE_OUT_OF_RANGE 1002
#define HAL_VOLTAGE_OUT_OF_RANGE_MESSAGE \
"HAL: Voltage to convert to raw value is out of range [0; 5]"
#define INCOMPATIBLE_STATE 1015
#define INCOMPATIBLE_STATE_MESSAGE \
#define HAL_INCOMPATIBLE_STATE 1015
#define HAL_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 PARAMETER_OUT_OF_RANGE -1028
#define PARAMETER_OUT_OF_RANGE_MESSAGE "HAL: A parameter is out of range."
#define RESOURCE_IS_ALLOCATED -1029
#define RESOURCE_IS_ALLOCATED_MESSAGE "HAL: Resource already allocated"
#define RESOURCE_OUT_OF_RANGE -1030
#define RESOURCE_OUT_OF_RANGE_MESSAGE \
#define HAL_NO_AVAILABLE_RESOURCES -1004
#define HAL_NO_AVAILABLE_RESOURCES_MESSAGE \
"HAL: No available resources to allocate"
#define HAL_NULL_PARAMETER -1005
#define HAL_NULL_PARAMETER_MESSAGE \
"HAL: A pointer parameter to a method is NULL"
#define HAL_PARAMETER_OUT_OF_RANGE -1028
#define HAL_PARAMETER_OUT_OF_RANGE_MESSAGE "HAL: A parameter is out of range."
#define HAL_RESOURCE_IS_ALLOCATED -1029
#define HAL_RESOURCE_IS_ALLOCATED_MESSAGE "HAL: Resource already allocated"
#define HAL_RESOURCE_OUT_OF_RANGE -1030
#define HAL_RESOURCE_OUT_OF_RANGE_MESSAGE \
"HAL: The requested resource is out of range."
#define HAL_COUNTER_NOT_SUPPORTED -1058
#define HAL_COUNTER_NOT_SUPPORTED_MESSAGE \

8
hal/src/main/native/include/wpi/hal/handles/DigitalHandleResource.hpp
View File

@@ -61,19 +61,19 @@ DigitalHandleResource<THandle, TStruct, size>::Allocate(
int16_t index, HAL_HandleEnum enumValue, std::string_view name) {
// don't acquire the lock if we can fail early.
if (index < 0 || index >= size) {
return wpi::util::unexpected(
MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE, name, 0, size, index));
return wpi::util::unexpected(MakeErrorIndexOutOfRange(
HAL_RESOURCE_OUT_OF_RANGE, name, 0, size, index));
}
std::scoped_lock lock(m_handleMutexes[index]);
// check for allocation, otherwise allocate and return a valid handle
if (m_structures[index] != nullptr) {
if constexpr (detail::HasPreviousAllocation<TStruct>) {
return wpi::util::unexpected(MakeErrorPreviouslyAllocated(
RESOURCE_IS_ALLOCATED, name, index,
HAL_RESOURCE_IS_ALLOCATED, name, index,
m_structures[index]->previousAllocation));
} else {
return wpi::util::unexpected(MakeErrorPreviouslyAllocated(
RESOURCE_IS_ALLOCATED, name, index, "unknown"));
HAL_RESOURCE_IS_ALLOCATED, name, index, "unknown"));
}
}
m_structures[index] = std::make_shared<TStruct>();

9
hal/src/main/native/include/wpi/hal/handles/IndexedClassedHandleResource.hpp
View File

@@ -65,19 +65,20 @@ IndexedClassedHandleResource<THandle, TStruct, size, enumValue>::Allocate(
int offset) {
// don't acquire the lock if we can fail early.
if (index < 0 || index >= size) {
return wpi::util::unexpected(MakeErrorIndexOutOfRange(
RESOURCE_OUT_OF_RANGE, name, offset, size + offset, index + offset));
return wpi::util::unexpected(
MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE, name, offset,
size + offset, index + offset));
}
std::scoped_lock lock(m_handleMutexes[index]);
// check for allocation, otherwise allocate and return a valid handle
if (m_structures[index] != nullptr) {
if constexpr (detail::HasPreviousAllocation<TStruct>) {
return wpi::util::unexpected(MakeErrorPreviouslyAllocated(
RESOURCE_IS_ALLOCATED, name, index + offset,
HAL_RESOURCE_IS_ALLOCATED, name, index + offset,
m_structures[index]->previousAllocation));
} else {
return wpi::util::unexpected(MakeErrorPreviouslyAllocated(
RESOURCE_IS_ALLOCATED, name, index + offset, "unknown"));
HAL_RESOURCE_IS_ALLOCATED, name, index + offset, "unknown"));
}
}
m_structures[index] = toSet;

9
hal/src/main/native/include/wpi/hal/handles/IndexedHandleResource.hpp
View File

@@ -63,19 +63,20 @@ IndexedHandleResource<THandle, TStruct, size, enumValue>::Allocate(
int16_t index, std::string_view name, int offset) {
// don't acquire the lock if we can fail early.
if (index < 0 || index >= size) {
return wpi::util::unexpected(MakeErrorIndexOutOfRange(
RESOURCE_OUT_OF_RANGE, name, offset, size + offset, index + offset));
return wpi::util::unexpected(
MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE, name, offset,
size + offset, index + offset));
}
std::scoped_lock lock(m_handleMutexes[index]);
// check for allocation, otherwise allocate and return a valid handle
if (m_structures[index] != nullptr) {
if constexpr (detail::HasPreviousAllocation<TStruct>) {
return wpi::util::unexpected(MakeErrorPreviouslyAllocated(
RESOURCE_IS_ALLOCATED, name, index + offset,
HAL_RESOURCE_IS_ALLOCATED, name, index + offset,
m_structures[index]->previousAllocation));
} else {
return wpi::util::unexpected(MakeErrorPreviouslyAllocated(
RESOURCE_IS_ALLOCATED, name, index + offset, "unknown"));
HAL_RESOURCE_IS_ALLOCATED, name, index + offset, "unknown"));
}
}
m_structures[index] = std::make_shared<TStruct>();

6
hal/src/main/native/sim/AddressableLED.cpp
View File

@@ -26,7 +26,7 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
wpi::hal::init::CheckInit();
if (channel < 0 || channel >= kNumAddressableLEDs) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for AddressableLED", 0,
kNumAddressableLEDs, channel);
return HAL_INVALID_HANDLE;
@@ -72,7 +72,7 @@ void HAL_SetAddressableLEDStart(HAL_AddressableLEDHandle handle, int32_t start,
}
if (start > HAL_ADDRESSABLE_LED_MAX_LEN || start < 0) {
*status = MakeError(
PARAMETER_OUT_OF_RANGE,
HAL_PARAMETER_OUT_OF_RANGE,
fmt::format(
"LED start must be less than or equal to {}. {} was requested",
HAL_ADDRESSABLE_LED_MAX_LEN, start));
@@ -91,7 +91,7 @@ void HAL_SetAddressableLEDLength(HAL_AddressableLEDHandle handle,
}
if (length > HAL_ADDRESSABLE_LED_MAX_LEN || length < 0) {
*status = MakeError(
PARAMETER_OUT_OF_RANGE,
HAL_PARAMETER_OUT_OF_RANGE,
fmt::format(
"LED length must be less than or equal to {}. {} was requested",
HAL_ADDRESSABLE_LED_MAX_LEN, length));

2
hal/src/main/native/sim/AnalogInput.cpp
View File

@@ -21,7 +21,7 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
int32_t channel, const char* allocationLocation, int32_t* status) {
wpi::hal::init::CheckInit();
if (channel < 0 || channel >= kNumAnalogInputs) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for Analog Input", 0,
kNumAnalogInputs, channel);
return HAL_INVALID_HANDLE;

4
hal/src/main/native/sim/CANAPI.cpp
View File

@@ -71,7 +71,7 @@ HAL_CANHandle HAL_InitializeCAN(int32_t busId, HAL_CANManufacturer manufacturer,
wpi::hal::init::CheckInit();
if (busId < 0 || busId > wpi::hal::kNumCanBuses) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_PARAMETER_OUT_OF_RANGE;
return HAL_INVALID_HANDLE;
}
@@ -80,7 +80,7 @@ HAL_CANHandle HAL_InitializeCAN(int32_t busId, HAL_CANManufacturer manufacturer,
auto handle = canHandles->Allocate(can);
if (handle == HAL_INVALID_HANDLE) {
*status = NO_AVAILABLE_RESOURCES;
*status = HAL_NO_AVAILABLE_RESOURCES;
return HAL_INVALID_HANDLE;
}

10
hal/src/main/native/sim/DIO.cpp
View File

@@ -38,9 +38,9 @@ HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel, HAL_Bool input,
wpi::hal::init::CheckInit();
if (channel < 0 || channel >= kNumDigitalChannels) {
*status =
MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE, "Invalid Index for DIO",
0, kNumDigitalChannels, channel);
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for DIO", 0,
kNumDigitalChannels, channel);
return HAL_INVALID_HANDLE;
}
@@ -89,7 +89,7 @@ void HAL_SetDIOSimDevice(HAL_DigitalHandle handle, HAL_SimDeviceHandle device) {
HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
auto handle = digitalPWMHandles->Allocate();
if (handle == HAL_INVALID_HANDLE) {
*status = NO_AVAILABLE_RESOURCES;
*status = HAL_NO_AVAILABLE_RESOURCES;
return HAL_INVALID_HANDLE;
}
@@ -183,7 +183,7 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
}
}
if (SimDIOData[port->channel].isInput) {
*status = MakeError(PARAMETER_OUT_OF_RANGE,
*status = MakeError(HAL_PARAMETER_OUT_OF_RANGE,
"Cannot set output of an input channel");
return;
}

18
hal/src/main/native/sim/DriverStation.cpp
View File

@@ -81,7 +81,7 @@ void JoystickDataCache::Update() {
#define CHECK_JOYSTICK_NUMBER(stickNum) \
if ((stickNum) < 0 || (stickNum) >= HAL_MAX_JOYSTICKS) \
return PARAMETER_OUT_OF_RANGE
return HAL_PARAMETER_OUT_OF_RANGE;
static HAL_ControlWord newestControlWord;
static JoystickDataCache caches[3];
@@ -221,7 +221,7 @@ int32_t HAL_SendConsoleLine(const char* line) {
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
if (gShutdown) {
controlWord->value = 0;
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
std::scoped_lock lock{driverStation->cacheMutex};
*controlWord = newestControlWord;
@@ -231,7 +231,7 @@ int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
int32_t HAL_GetUncachedControlWord(HAL_ControlWord* controlWord) {
if (gShutdown) {
controlWord->value = 0;
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
bool dsAttached = SimDriverStationData->dsAttached;
if (dsAttached) {
@@ -251,7 +251,7 @@ int32_t HAL_SetOpModeOptions(const struct HAL_OpModeOption* options,
return 0;
}
if (count < 0 || count > 1000 || (count != 0 && !options)) {
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
}
SimDriverStationData->SetOpModeOptions({options, options + count});
return 0;
@@ -267,7 +267,7 @@ HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
if (gShutdown) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
CHECK_JOYSTICK_NUMBER(joystickNum);
std::scoped_lock lock{driverStation->cacheMutex};
@@ -277,7 +277,7 @@ int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs) {
if (gShutdown) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
CHECK_JOYSTICK_NUMBER(joystickNum);
std::scoped_lock lock{driverStation->cacheMutex};
@@ -288,7 +288,7 @@ int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs) {
int32_t HAL_GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons) {
if (gShutdown) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
CHECK_JOYSTICK_NUMBER(joystickNum);
std::scoped_lock lock{driverStation->cacheMutex};
@@ -299,7 +299,7 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum,
int32_t HAL_GetJoystickTouchpads(int32_t joystickNum,
HAL_JoystickTouchpads* touchpads) {
if (gShutdown) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
CHECK_JOYSTICK_NUMBER(joystickNum);
std::scoped_lock lock{driverStation->cacheMutex};
@@ -349,7 +349,7 @@ int32_t HAL_GetJoystickGamepadType(int32_t joystickNum) {
int32_t HAL_GetGameData(HAL_GameData* gameData) {
if (gShutdown) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
std::scoped_lock lock{driverStation->cacheMutex};
*gameData = currentRead->gameData;

8
hal/src/main/native/sim/Encoder.cpp
View File

@@ -80,12 +80,12 @@ HAL_EncoderHandle HAL_InitializeEncoder(int32_t aChannel, int32_t bChannel,
nativeHandle = counterHandles->Allocate();
}
if (nativeHandle == HAL_INVALID_HANDLE) {
*status = NO_AVAILABLE_RESOURCES;
*status = HAL_NO_AVAILABLE_RESOURCES;
return HAL_INVALID_HANDLE;
}
auto handle = encoderHandles->Allocate();
if (handle == HAL_INVALID_HANDLE) {
*status = NO_AVAILABLE_RESOURCES;
*status = HAL_NO_AVAILABLE_RESOURCES;
return HAL_INVALID_HANDLE;
}
auto encoder = encoderHandles->Get(handle);
@@ -271,7 +271,7 @@ void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
}
if (minRate == 0.0) {
*status = MakeError(PARAMETER_OUT_OF_RANGE, "minRate must not be 0");
*status = MakeError(HAL_PARAMETER_OUT_OF_RANGE, "minRate must not be 0");
return;
}
@@ -288,7 +288,7 @@ void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
if (distancePerPulse == 0.0) {
*status =
MakeError(PARAMETER_OUT_OF_RANGE, "distancePerPulse must not be 0");
MakeError(HAL_PARAMETER_OUT_OF_RANGE, "distancePerPulse must not be 0");
return;
}
encoder->distancePerPulse = distancePerPulse;

38
hal/src/main/native/sim/HAL.cpp
View File

@@ -115,34 +115,34 @@ const char* HAL_GetErrorMessage(int32_t code) {
switch (code) {
case 0:
return "";
case VOLTAGE_OUT_OF_RANGE:
return VOLTAGE_OUT_OF_RANGE_MESSAGE;
case INCOMPATIBLE_STATE:
return INCOMPATIBLE_STATE_MESSAGE;
case NO_AVAILABLE_RESOURCES:
return NO_AVAILABLE_RESOURCES_MESSAGE;
case RESOURCE_IS_ALLOCATED:
return RESOURCE_IS_ALLOCATED_MESSAGE;
case RESOURCE_OUT_OF_RANGE:
return RESOURCE_OUT_OF_RANGE_MESSAGE;
case HAL_VOLTAGE_OUT_OF_RANGE:
return HAL_VOLTAGE_OUT_OF_RANGE_MESSAGE;
case HAL_INCOMPATIBLE_STATE:
return HAL_INCOMPATIBLE_STATE_MESSAGE;
case HAL_NO_AVAILABLE_RESOURCES:
return HAL_NO_AVAILABLE_RESOURCES_MESSAGE;
case HAL_RESOURCE_IS_ALLOCATED:
return HAL_RESOURCE_IS_ALLOCATED_MESSAGE;
case HAL_RESOURCE_OUT_OF_RANGE:
return HAL_RESOURCE_OUT_OF_RANGE_MESSAGE;
case HAL_HANDLE_ERROR:
return HAL_HANDLE_ERROR_MESSAGE;
case NULL_PARAMETER:
return NULL_PARAMETER_MESSAGE;
case PARAMETER_OUT_OF_RANGE:
return PARAMETER_OUT_OF_RANGE_MESSAGE;
case HAL_NULL_PARAMETER:
return HAL_NULL_PARAMETER_MESSAGE;
case HAL_PARAMETER_OUT_OF_RANGE:
return HAL_PARAMETER_OUT_OF_RANGE_MESSAGE;
case HAL_COUNTER_NOT_SUPPORTED:
return HAL_COUNTER_NOT_SUPPORTED_MESSAGE;
case HAL_ERR_CANSessionMux_InvalidBuffer:
return ERR_CANSessionMux_InvalidBuffer_MESSAGE;
return HAL_ERR_CANSessionMux_InvalidBuffer_MESSAGE;
case HAL_ERR_CANSessionMux_MessageNotFound:
return ERR_CANSessionMux_MessageNotFound_MESSAGE;
return HAL_ERR_CANSessionMux_MessageNotFound_MESSAGE;
case HAL_WARN_CANSessionMux_NoToken:
return WARN_CANSessionMux_NoToken_MESSAGE;
return HAL_WARN_CANSessionMux_NoToken_MESSAGE;
case HAL_ERR_CANSessionMux_NotAllowed:
return ERR_CANSessionMux_NotAllowed_MESSAGE;
return HAL_ERR_CANSessionMux_NotAllowed_MESSAGE;
case HAL_ERR_CANSessionMux_NotInitialized:
return ERR_CANSessionMux_NotInitialized_MESSAGE;
return HAL_ERR_CANSessionMux_NotInitialized_MESSAGE;
case HAL_CAN_TIMEOUT:
return HAL_CAN_TIMEOUT_MESSAGE;
case HAL_SIM_NOT_SUPPORTED:

6
hal/src/main/native/sim/PWM.cpp
View File

@@ -25,9 +25,9 @@ HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
wpi::hal::init::CheckInit();
if (channel < 0 || channel >= kNumPWMChannels) {
*status =
MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE, "Invalid Index for PWM",
0, kNumPWMChannels, channel);
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for PWM", 0,
kNumPWMChannels, channel);
return HAL_INVALID_HANDLE;
}

6
hal/src/main/native/sim/PowerDistribution.cpp
View File

@@ -33,7 +33,7 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
if (type == HAL_POWER_DISTRIBUTION_AUTOMATIC) {
if (module != HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
*status =
MakeError(PARAMETER_OUT_OF_RANGE,
MakeError(HAL_PARAMETER_OUT_OF_RANGE,
"Automatic PowerDistributionType must have default module");
return HAL_INVALID_HANDLE;
}
@@ -45,11 +45,11 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
if (!HAL_CheckPowerDistributionModule(module, type)) {
if (type == HAL_PowerDistributionType::HAL_POWER_DISTRIBUTION_CTRE) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for CTRE PDP", 0,
kNumCTREPDPModules - 1, module);
} else {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for REV PDH", 1,
kNumREVPDHModules, module);
}

2
hal/src/main/native/sim/REVPH.cpp
View File

@@ -41,7 +41,7 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t busId, int32_t module,
wpi::hal::init::CheckInit();
if (!HAL_CheckREVPHModuleNumber(module)) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for REV PH", 1,
kNumREVPHModules, module);
return HAL_INVALID_HANDLE;

4
hal/src/main/native/systemcore/AddressableLED.cpp
View File

@@ -89,7 +89,7 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
wpi::hal::init::CheckInit();
if (channel < 0 || channel >= kNumSmartIo) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for AddressableLED", 0,
kNumSmartIo, channel);
return HAL_INVALID_HANDLE;
@@ -168,7 +168,7 @@ void HAL_SetAddressableLEDData(int32_t start, int32_t length,
int32_t* status) {
if (start < 0 || start >= HAL_ADDRESSABLE_LED_MAX_LEN || length < 0 ||
(start + length) >= HAL_ADDRESSABLE_LED_MAX_LEN) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_PARAMETER_OUT_OF_RANGE;
return;
}
ConvertAndCopyLEDData(&leds->s_buffer[start * 3], data, length, colorOrder);

2
hal/src/main/native/systemcore/AnalogInput.cpp
View File

@@ -28,7 +28,7 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
wpi::hal::init::CheckInit();
if (channel < 0 || channel >= kNumSmartIo) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for Analog", 0,
kNumSmartIo, channel);
return HAL_INVALID_HANDLE;

12
hal/src/main/native/systemcore/CAN.cpp
View File

@@ -337,14 +337,14 @@ void HAL_CAN_SendMessage(int32_t busId, uint32_t messageId,
const struct HAL_CANMessage* message, int32_t periodMs,
int32_t* status) {
if (busId < 0 || busId >= wpi::hal::kNumCanBuses) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_PARAMETER_OUT_OF_RANGE;
return;
}
if (busId >= 5 &&
((message->flags & HAL_CANFlags::HAL_CAN_FD_DATALENGTH) ||
(message->flags & HAL_CANFlags::HAL_CAN_FD_BITRATESWITCH))) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_PARAMETER_OUT_OF_RANGE;
return;
}
@@ -413,7 +413,7 @@ void HAL_CAN_ReceiveMessage(int32_t busId, uint32_t messageId,
if (busId < 0 || busId >= wpi::hal::kNumCanBuses) {
message->message.dataSize = 0;
message->timeStamp = 0;
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_PARAMETER_OUT_OF_RANGE;
return;
}
@@ -439,7 +439,7 @@ HAL_CANStreamHandle HAL_CAN_OpenStreamSession(int32_t busId, uint32_t messageId,
uint32_t maxMessages,
int32_t* status) {
if (busId < 0 || busId >= wpi::hal::kNumCanBuses) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_PARAMETER_OUT_OF_RANGE;
return HAL_INVALID_HANDLE;
}
@@ -449,7 +449,7 @@ HAL_CANStreamHandle HAL_CAN_OpenStreamSession(int32_t busId, uint32_t messageId,
auto handle = canStreamHandles->Allocate(can);
if (handle == HAL_INVALID_HANDLE) {
*status = NO_AVAILABLE_RESOURCES;
*status = HAL_NO_AVAILABLE_RESOURCES;
return HAL_INVALID_HANDLE;
}
@@ -476,7 +476,7 @@ void HAL_CAN_ReadStreamSession(HAL_CANStreamHandle sessionHandle,
uint32_t messagesToRead, uint32_t* messagesRead,
int32_t* status) {
if (messages == nullptr || messagesRead == nullptr) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_PARAMETER_OUT_OF_RANGE;
return;
}

4
hal/src/main/native/systemcore/CANAPI.cpp
View File

@@ -59,7 +59,7 @@ HAL_CANHandle HAL_InitializeCAN(int32_t busId, HAL_CANManufacturer manufacturer,
wpi::hal::init::CheckInit();
if (busId < 0 || busId > wpi::hal::kNumCanBuses) {
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_PARAMETER_OUT_OF_RANGE;
return HAL_INVALID_HANDLE;
}
@@ -68,7 +68,7 @@ HAL_CANHandle HAL_InitializeCAN(int32_t busId, HAL_CANManufacturer manufacturer,
auto handle = canHandles->Allocate(can);
if (handle == HAL_INVALID_HANDLE) {
*status = NO_AVAILABLE_RESOURCES;
*status = HAL_NO_AVAILABLE_RESOURCES;
return HAL_INVALID_HANDLE;
}

4
hal/src/main/native/systemcore/CTREPCM.cpp
View File

@@ -354,7 +354,7 @@ void HAL_FireCTREPCMOneShot(HAL_CTREPCMHandle handle, int32_t index,
int32_t* status) {
if (index > 7 || index < 0) {
*status = MakeError(
PARAMETER_OUT_OF_RANGE,
HAL_PARAMETER_OUT_OF_RANGE,
fmt::format("Only [0-7] are valid index values. Requested {}", index));
return;
}
@@ -385,7 +385,7 @@ void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
int32_t durMs, int32_t* status) {
if (index > 7 || index < 0) {
*status = MakeError(
PARAMETER_OUT_OF_RANGE,
HAL_PARAMETER_OUT_OF_RANGE,
fmt::format("Only [0-7] are valid index values. Requested {}", index));
return;
}

10
hal/src/main/native/systemcore/CTREPDP.cpp
View File

@@ -133,7 +133,7 @@ HAL_PDPHandle HAL_InitializePDP(int32_t busId, int32_t module,
int32_t* status) {
wpi::hal::init::CheckInit();
if (!HAL_CheckPDPModule(module)) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for CTRE PDP", 0,
kNumCTREPDPModules - 1, module);
return HAL_INVALID_HANDLE;
@@ -224,7 +224,7 @@ double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
int32_t* status) {
if (!HAL_CheckPDPChannel(channel)) {
*status = MakeError(PARAMETER_OUT_OF_RANGE,
*status = MakeError(HAL_PARAMETER_OUT_OF_RANGE,
fmt::format("Invalid pdp channel {}", channel));
return 0;
}
@@ -547,7 +547,7 @@ void HAL_StartPDPStream(HAL_PDPHandle handle, int32_t* status) {
}
if (pdp->streamHandleAllocated) {
*status = RESOURCE_IS_ALLOCATED;
*status = HAL_RESOURCE_IS_ALLOCATED;
return;
}
@@ -582,7 +582,7 @@ HAL_PowerDistributionChannelData* HAL_GetPDPStreamData(HAL_PDPHandle handle,
}
if (!pdp->streamHandleAllocated) {
*status = RESOURCE_OUT_OF_RANGE;
*status = HAL_RESOURCE_OUT_OF_RANGE;
return nullptr;
}
@@ -765,7 +765,7 @@ void HAL_StopPDPStream(HAL_PDPHandle handle, int32_t* status) {
}
if (!pdp->streamHandleAllocated) {
*status = RESOURCE_OUT_OF_RANGE;
*status = HAL_RESOURCE_OUT_OF_RANGE;
return;
}

2
hal/src/main/native/systemcore/Counter.cpp
View File

@@ -28,7 +28,7 @@ HAL_CounterHandle HAL_InitializeCounter(int channel, HAL_Bool risingEdge,
int32_t* status) {
wpi::hal::init::CheckInit();
if (channel == INVALID_HANDLE_INDEX || channel >= kNumSmartIo) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for Counter", 0,
kNumSmartIo, channel);
return HAL_INVALID_HANDLE;

8
hal/src/main/native/systemcore/DIO.cpp
View File

@@ -30,9 +30,9 @@ HAL_DigitalHandle HAL_InitializeDIOPort(int32_t channel, HAL_Bool input,
wpi::hal::init::CheckInit();
if (channel < 0 || channel >= kNumSmartIo) {
*status =
MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE, "Invalid Index for DIO",
0, kNumSmartIo, channel);
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for DIO", 0, kNumSmartIo,
channel);
return HAL_INVALID_HANDLE;
}
@@ -163,7 +163,7 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
case SmartIoMode::DigitalOutput:
return false;
default:
*status = INCOMPATIBLE_STATE;
*status = HAL_INCOMPATIBLE_STATE;
return false;
}
}

2
hal/src/main/native/systemcore/DutyCycle.cpp
View File

@@ -28,7 +28,7 @@ HAL_DutyCycleHandle HAL_InitializeDutyCycle(int32_t channel,
wpi::hal::init::CheckInit();
if (channel < 0 || channel >= kNumSmartIo) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for DutyCycle", 0,
kNumSmartIo, channel);
return HAL_INVALID_HANDLE;

4
hal/src/main/native/systemcore/FIRSTDriverStation.cpp
View File

@@ -312,7 +312,7 @@ void JoystickDataCache::Update(const mrc::ControlData& data) {
#define CHECK_JOYSTICK_NUMBER(stickNum) \
if ((stickNum) < 0 || (stickNum) >= HAL_MAX_JOYSTICKS) \
return PARAMETER_OUT_OF_RANGE
return HAL_PARAMETER_OUT_OF_RANGE
static HAL_ControlWord newestControlWord;
static JoystickDataCache caches[2];
@@ -515,7 +515,7 @@ int32_t HAL_GetUncachedControlWord(HAL_ControlWord* controlWord) {
int32_t HAL_SetOpModeOptions(const struct HAL_OpModeOption* options,
int32_t count) {
if (count < 0 || count > 1000 || (count != 0 && !options)) {
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
}
std::vector<mrc::OpMode> newOptions;

38
hal/src/main/native/systemcore/HAL.cpp
View File

@@ -75,34 +75,34 @@ const char* HAL_GetErrorMessage(int32_t code) {
switch (code) {
case 0:
return "";
case VOLTAGE_OUT_OF_RANGE:
return VOLTAGE_OUT_OF_RANGE_MESSAGE;
case INCOMPATIBLE_STATE:
return INCOMPATIBLE_STATE_MESSAGE;
case NO_AVAILABLE_RESOURCES:
return NO_AVAILABLE_RESOURCES_MESSAGE;
case RESOURCE_IS_ALLOCATED:
return RESOURCE_IS_ALLOCATED_MESSAGE;
case RESOURCE_OUT_OF_RANGE:
return RESOURCE_OUT_OF_RANGE_MESSAGE;
case HAL_VOLTAGE_OUT_OF_RANGE:
return HAL_VOLTAGE_OUT_OF_RANGE_MESSAGE;
case HAL_INCOMPATIBLE_STATE:
return HAL_INCOMPATIBLE_STATE_MESSAGE;
case HAL_NO_AVAILABLE_RESOURCES:
return HAL_NO_AVAILABLE_RESOURCES_MESSAGE;
case HAL_RESOURCE_IS_ALLOCATED:
return HAL_RESOURCE_IS_ALLOCATED_MESSAGE;
case HAL_RESOURCE_OUT_OF_RANGE:
return HAL_RESOURCE_OUT_OF_RANGE_MESSAGE;
case HAL_HANDLE_ERROR:
return HAL_HANDLE_ERROR_MESSAGE;
case NULL_PARAMETER:
return NULL_PARAMETER_MESSAGE;
case PARAMETER_OUT_OF_RANGE:
return PARAMETER_OUT_OF_RANGE_MESSAGE;
case HAL_NULL_PARAMETER:
return HAL_NULL_PARAMETER_MESSAGE;
case HAL_PARAMETER_OUT_OF_RANGE:
return HAL_PARAMETER_OUT_OF_RANGE_MESSAGE;
case HAL_COUNTER_NOT_SUPPORTED:
return HAL_COUNTER_NOT_SUPPORTED_MESSAGE;
case HAL_ERR_CANSessionMux_InvalidBuffer:
return ERR_CANSessionMux_InvalidBuffer_MESSAGE;
return HAL_ERR_CANSessionMux_InvalidBuffer_MESSAGE;
case HAL_ERR_CANSessionMux_MessageNotFound:
return ERR_CANSessionMux_MessageNotFound_MESSAGE;
return HAL_ERR_CANSessionMux_MessageNotFound_MESSAGE;
case HAL_WARN_CANSessionMux_NoToken:
return WARN_CANSessionMux_NoToken_MESSAGE;
return HAL_WARN_CANSessionMux_NoToken_MESSAGE;
case HAL_ERR_CANSessionMux_NotAllowed:
return ERR_CANSessionMux_NotAllowed_MESSAGE;
return HAL_ERR_CANSessionMux_NotAllowed_MESSAGE;
case HAL_ERR_CANSessionMux_NotInitialized:
return ERR_CANSessionMux_NotInitialized_MESSAGE;
return HAL_ERR_CANSessionMux_NotInitialized_MESSAGE;
case HAL_WARN_CANSessionMux_TxQueueFull:
return HAL_WARN_CANSessionMux_TxQueueFull_MESSAGE;
case HAL_WARN_CANSessionMux_SocketBufferFull:

12
hal/src/main/native/systemcore/I2C.cpp
View File

@@ -45,7 +45,7 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
wpi::hal::init::CheckInit();
if (port < 0 || port > 2) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for I2C", 0, 1, port);
return;
}
@@ -59,7 +59,7 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
if (handle < 0) {
int err = errno;
*status = MakeError(
NO_AVAILABLE_RESOURCES,
HAL_NO_AVAILABLE_RESOURCES,
fmt::format("Failed to open onboard i2c bus: {}", std::strerror(err)));
wpi::util::print("Failed to open onboard i2c bus: {}\n",
std::strerror(err));
@@ -74,7 +74,7 @@ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
const uint8_t* dataToSend, int32_t sendSize,
uint8_t* dataReceived, int32_t receiveSize) {
if (port < 0 || port > 2) {
(void)MakeErrorIndexOutOfRange(PARAMETER_OUT_OF_RANGE,
(void)MakeErrorIndexOutOfRange(HAL_PARAMETER_OUT_OF_RANGE,
"Invalid Index for I2C", 0, 1, port);
return -1;
}
@@ -100,7 +100,7 @@ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
const uint8_t* dataToSend, int32_t sendSize) {
if (port < 0 || port > 2) {
(void)MakeErrorIndexOutOfRange(PARAMETER_OUT_OF_RANGE,
(void)MakeErrorIndexOutOfRange(HAL_PARAMETER_OUT_OF_RANGE,
"Invalid Index for I2C", 0, 2, port);
return -1;
}
@@ -122,7 +122,7 @@ int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
int32_t count) {
if (port < 0 || port > 2) {
(void)MakeErrorIndexOutOfRange(PARAMETER_OUT_OF_RANGE,
(void)MakeErrorIndexOutOfRange(HAL_PARAMETER_OUT_OF_RANGE,
"Invalid Index for I2C", 0, 1, port);
return -1;
}
@@ -143,7 +143,7 @@ int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
void HAL_CloseI2C(HAL_I2CPort port) {
if (port < 0 || port > 2) {
(void)MakeErrorIndexOutOfRange(PARAMETER_OUT_OF_RANGE,
(void)MakeErrorIndexOutOfRange(HAL_PARAMETER_OUT_OF_RANGE,
"Invalid Index for I2C", 0, 1, port);
return;
}

12
hal/src/main/native/systemcore/IMU.cpp
View File

@@ -70,7 +70,7 @@ extern "C" {
void HAL_GetIMUAcceleration(HAL_Acceleration3d* accel, int32_t* status) {
auto update = imu->rawAccelSub.GetAtomic();
if (update.value.size() != 3) {
*status = INCOMPATIBLE_STATE;
*status = HAL_INCOMPATIBLE_STATE;
return;
}
*accel =
@@ -83,7 +83,7 @@ void HAL_GetIMUAcceleration(HAL_Acceleration3d* accel, int32_t* status) {
void HAL_GetIMUGyroRates(HAL_GyroRate3d* rate, int32_t* status) {
auto update = imu->rawGyroSub.GetAtomic();
if (update.value.size() != 3) {
*status = INCOMPATIBLE_STATE;
*status = HAL_INCOMPATIBLE_STATE;
return;
}
@@ -96,7 +96,7 @@ void HAL_GetIMUGyroRates(HAL_GyroRate3d* rate, int32_t* status) {
void HAL_GetIMUEulerAnglesFlat(HAL_EulerAngles3d* angles, int32_t* status) {
auto update = imu->eulerFlatSub.GetAtomic();
if (update.value.size() != 3) {
*status = INCOMPATIBLE_STATE;
*status = HAL_INCOMPATIBLE_STATE;
return;
}
*angles = HAL_EulerAngles3d{.timestamp = update.time,
@@ -109,7 +109,7 @@ void HAL_GetIMUEulerAnglesLandscape(HAL_EulerAngles3d* angles,
int32_t* status) {
auto update = imu->eulerLandscapeSub.GetAtomic();
if (update.value.size() != 3) {
*status = INCOMPATIBLE_STATE;
*status = HAL_INCOMPATIBLE_STATE;
return;
}
*angles = HAL_EulerAngles3d{.timestamp = update.time,
@@ -121,7 +121,7 @@ void HAL_GetIMUEulerAnglesLandscape(HAL_EulerAngles3d* angles,
void HAL_GetIMUEulerAnglesPortrait(HAL_EulerAngles3d* angles, int32_t* status) {
auto update = imu->eulerPortraitSub.GetAtomic();
if (update.value.size() != 3) {
*status = INCOMPATIBLE_STATE;
*status = HAL_INCOMPATIBLE_STATE;
return;
}
*angles = HAL_EulerAngles3d{.timestamp = update.time,
@@ -133,7 +133,7 @@ void HAL_GetIMUEulerAnglesPortrait(HAL_EulerAngles3d* angles, int32_t* status) {
void HAL_GetIMUQuaternion(HAL_Quaternion* quat, int32_t* status) {
auto update = imu->quatSub.GetAtomic();
if (update.value.size() != 4) {
*status = INCOMPATIBLE_STATE;
*status = HAL_INCOMPATIBLE_STATE;
return;
}
*quat = HAL_Quaternion{.timestamp = update.time,

10
hal/src/main/native/systemcore/PWM.cpp
View File

@@ -32,9 +32,9 @@ HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel,
wpi::hal::init::CheckInit();
if (channel < 0 || channel >= kNumSmartIo) {
*status =
MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE, "Invalid Index for PWM",
0, kNumSmartIo, channel);
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for PWM", 0, kNumSmartIo,
channel);
return HAL_INVALID_HANDLE;
}
@@ -106,7 +106,7 @@ void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
if (microsecondPulseTime < 0 ||
(microsecondPulseTime != 0xFFFF && microsecondPulseTime >= 4096)) {
*status = MakeError(
PARAMETER_OUT_OF_RANGE,
HAL_PARAMETER_OUT_OF_RANGE,
fmt::format("Pulse time {} out of range. Expect [0-4096) or 0xFFFF",
microsecondPulseTime));
return;
@@ -148,7 +148,7 @@ void HAL_SetPWMOutputPeriod(HAL_DigitalHandle pwmPortHandle, int32_t period,
*status = port->SetPwmOutputPeriod(wpi::hal::PwmOutputPeriod::k20ms);
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
*status = HAL_PARAMETER_OUT_OF_RANGE;
return;
}
}

10
hal/src/main/native/systemcore/PowerDistribution.cpp
View File

@@ -26,7 +26,7 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
if (type == HAL_PowerDistributionType::HAL_POWER_DISTRIBUTION_AUTOMATIC) {
if (moduleNumber != HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
*status =
MakeError(PARAMETER_OUT_OF_RANGE,
MakeError(HAL_PARAMETER_OUT_OF_RANGE,
"Automatic PowerDistributionType must have default module");
return HAL_INVALID_HANDLE;
}
@@ -159,15 +159,15 @@ void HAL_GetPowerDistributionAllChannelCurrents(
int32_t currentsLength, int32_t* status) {
if (IsCtre(handle)) {
if (currentsLength < kNumCTREPDPChannels) {
*status =
MakeError(PARAMETER_OUT_OF_RANGE, "Output array not large enough");
*status = MakeError(HAL_PARAMETER_OUT_OF_RANGE,
"Output array not large enough");
return;
}
return HAL_GetPDPAllChannelCurrents(handle, currents, status);
} else {
if (currentsLength < kNumREVPDHChannels) {
*status =
MakeError(PARAMETER_OUT_OF_RANGE, "Output array not large enough");
*status = MakeError(HAL_PARAMETER_OUT_OF_RANGE,
"Output array not large enough");
return;
}
return HAL_GetREVPDHAllChannelCurrents(handle, currents, status);

10
hal/src/main/native/systemcore/REVPDH.cpp
View File

@@ -193,7 +193,7 @@ HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t busId, int32_t module,
int32_t* status) {
wpi::hal::init::CheckInit();
if (!HAL_CheckREVPDHModuleNumber(module)) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for REV PDH", 1,
kNumREVPDHModules, module);
return HAL_INVALID_HANDLE;
@@ -255,7 +255,7 @@ double HAL_GetREVPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
}
if (!HAL_CheckREVPDHChannelNumber(channel)) {
*status = RESOURCE_OUT_OF_RANGE;
*status = HAL_RESOURCE_OUT_OF_RANGE;
return 0;
}
@@ -643,7 +643,7 @@ void HAL_StartREVPDHStream(HAL_REVPDHHandle handle, int32_t* status) {
}
if (hpdh->streamHandleAllocated) {
*status = RESOURCE_IS_ALLOCATED;
*status = HAL_RESOURCE_IS_ALLOCATED;
return;
}
@@ -685,7 +685,7 @@ HAL_PowerDistributionChannelData* HAL_GetREVPDHStreamData(
}
if (!hpdh->streamHandleAllocated) {
*status = RESOURCE_OUT_OF_RANGE;
*status = HAL_RESOURCE_OUT_OF_RANGE;
return nullptr;
}
@@ -891,7 +891,7 @@ void HAL_StopREVPDHStream(HAL_REVPDHHandle handle, int32_t* status) {
}
if (!hpdh->streamHandleAllocated) {
*status = RESOURCE_OUT_OF_RANGE;
*status = HAL_RESOURCE_OUT_OF_RANGE;
return;
}

8
hal/src/main/native/systemcore/REVPH.cpp
View File

@@ -196,7 +196,7 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t busId, int32_t module,
int32_t* status) {
wpi::hal::init::CheckInit();
if (!HAL_CheckREVPHModuleNumber(module)) {
*status = MakeErrorIndexOutOfRange(RESOURCE_OUT_OF_RANGE,
*status = MakeErrorIndexOutOfRange(HAL_RESOURCE_OUT_OF_RANGE,
"Invalid Index for REV PH", 1,
kNumREVPHModules, module);
return HAL_INVALID_HANDLE;
@@ -392,7 +392,7 @@ double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
if (channel < 0 || channel > 1) {
*status = MakeErrorIndexOutOfRange(
PARAMETER_OUT_OF_RANGE, "Invalid REV Analog Index", 0, 2, channel);
HAL_PARAMETER_OUT_OF_RANGE, "Invalid REV Analog Index", 0, 2, channel);
return 0;
}
@@ -594,14 +594,14 @@ void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
if (index >= kNumREVPHChannels || index < 0) {
*status = MakeError(
PARAMETER_OUT_OF_RANGE,
HAL_PARAMETER_OUT_OF_RANGE,
fmt::format("Only [0-15] are valid index values. Requested {}", index));
return;
}
if (!HAL_CheckREVPHPulseTime(durMs)) {
*status = MakeError(
PARAMETER_OUT_OF_RANGE,
HAL_PARAMETER_OUT_OF_RANGE,
fmt::format("Time not within expected range [0-65534]. Requested {}",
durMs));
return;

32
hal/src/main/native/systemcore/SmartIo.cpp
View File

@@ -69,7 +69,7 @@ int32_t SmartIo::InitializeMode(SmartIoMode mode) {
default:
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
modePublisher.Set(static_cast<int>(mode));
@@ -79,7 +79,7 @@ int32_t SmartIo::InitializeMode(SmartIoMode mode) {
int32_t SmartIo::SwitchDioDirection(bool input) {
if (currentMode != SmartIoMode::DigitalInput &&
currentMode != SmartIoMode::DigitalOutput) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
modePublisher.Set(input ? 0 : 1);
@@ -90,7 +90,7 @@ int32_t SmartIo::SwitchDioDirection(bool input) {
int32_t SmartIo::SetDigitalOutput(bool value) {
if (currentMode != SmartIoMode::DigitalInput &&
currentMode != SmartIoMode::DigitalOutput) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
setPublisher.Set(value ? 255.0 : 0.0);
return 0;
@@ -99,7 +99,7 @@ int32_t SmartIo::SetDigitalOutput(bool value) {
int32_t SmartIo::GetDigitalInput(bool* value) {
if (currentMode != SmartIoMode::DigitalInput &&
currentMode != SmartIoMode::DigitalOutput) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
*value = getSubscriber.Get() != 0;
return 0;
@@ -107,7 +107,7 @@ int32_t SmartIo::GetDigitalInput(bool* value) {
int32_t SmartIo::GetPwmInputMicroseconds(uint16_t* microseconds) {
if (currentMode != SmartIoMode::PwmInput) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
int val = getSubscriber.Get();
@@ -118,7 +118,7 @@ int32_t SmartIo::GetPwmInputMicroseconds(uint16_t* microseconds) {
int32_t SmartIo::GetPwmInputPeriodMicroseconds(uint16_t* microseconds) {
if (currentMode != SmartIoMode::PwmInput) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
int val = periodGetSubscriber.Get();
@@ -129,7 +129,7 @@ int32_t SmartIo::GetPwmInputPeriodMicroseconds(uint16_t* microseconds) {
int32_t SmartIo::SetPwmOutputPeriod(PwmOutputPeriod period) {
if (currentMode != SmartIoMode::PwmOutput) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
switch (period) {
@@ -141,13 +141,13 @@ int32_t SmartIo::SetPwmOutputPeriod(PwmOutputPeriod period) {
return 0;
default:
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
}
}
int32_t SmartIo::SetPwmMicroseconds(uint16_t microseconds) {
if (currentMode != SmartIoMode::PwmOutput) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
if (microseconds > 4095) {
@@ -161,7 +161,7 @@ int32_t SmartIo::SetPwmMicroseconds(uint16_t microseconds) {
int32_t SmartIo::GetPwmMicroseconds(uint16_t* microseconds) {
if (currentMode != SmartIoMode::PwmOutput) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
int val = getSubscriber.Get();
@@ -174,7 +174,7 @@ int32_t SmartIo::GetPwmMicroseconds(uint16_t* microseconds) {
int32_t SmartIo::GetAnalogInput(uint16_t* value) {
if (currentMode != SmartIoMode::AnalogInput) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
int val = getSubscriber.Get();
@@ -187,7 +187,7 @@ int32_t SmartIo::GetAnalogInput(uint16_t* value) {
int32_t SmartIo::GetCounter(int32_t* value) {
if (currentMode != SmartIoMode::SingleCounterFalling &&
currentMode != SmartIoMode::SingleCounterRising) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
int32_t val = getSubscriber.Get();
@@ -199,10 +199,10 @@ int32_t SmartIo::GetCounter(int32_t* value) {
int32_t SmartIo::SetLedStart(int32_t start) {
if (currentMode != SmartIoMode::AddressableLED) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
if (start < 0 || start >= HAL_ADDRESSABLE_LED_MAX_LEN) {
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
}
ledoffsetPublisher.Set(start);
return 0;
@@ -210,10 +210,10 @@ int32_t SmartIo::SetLedStart(int32_t start) {
int32_t SmartIo::SetLedLength(int32_t length) {
if (currentMode != SmartIoMode::AddressableLED) {
return INCOMPATIBLE_STATE;
return HAL_INCOMPATIBLE_STATE;
}
if (length < 0 || length >= HAL_ADDRESSABLE_LED_MAX_LEN) {
return PARAMETER_OUT_OF_RANGE;
return HAL_PARAMETER_OUT_OF_RANGE;
}
ledcountPublisher.Set(length);
return 0;

4
hal/src/main/native/systemcore/Threads.cpp
View File

@@ -20,7 +20,7 @@ extern "C" {
HAL_Status HAL_GetThreadPriority(NativeThreadHandle handle, int32_t* priority) {
if (handle == nullptr) {
return NULL_PARAMETER;
return HAL_NULL_PARAMETER;
}
sched_param sch;
@@ -41,7 +41,7 @@ HAL_Status HAL_GetCurrentThreadPriority(int32_t* priority) {
HAL_Status HAL_SetThreadPriority(NativeThreadHandle handle, int32_t priority) {
if (handle == nullptr) {
return NULL_PARAMETER;
return HAL_NULL_PARAMETER;
}
if (priority < 0 || priority > 99) {

4
hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
View File

@@ -44,7 +44,7 @@ TEST(AnalogInSimTest, AnalogInInitialization) {
EXPECT_EQ(HAL_INVALID_HANDLE, analogInHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_EQ(HAL_RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestAnalogInCallbackName.c_str());
// Successful setup
@@ -64,7 +64,7 @@ TEST(AnalogInSimTest, AnalogInInitialization) {
EXPECT_EQ(HAL_INVALID_HANDLE, analogInHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_EQ(HAL_RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestAnalogInCallbackName.c_str());
// Reset, should allow you to re-register

4
hal/src/test/native/cpp/mockdata/DIODataTest.cpp
View File

@@ -44,7 +44,7 @@ TEST(DigitalIoSimTest, DigitalIoInitialization) {
EXPECT_EQ(HAL_INVALID_HANDLE, digitalIoHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_EQ(HAL_RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestDigitalIoCallbackName.c_str());
// Successful setup
@@ -64,7 +64,7 @@ TEST(DigitalIoSimTest, DigitalIoInitialization) {
EXPECT_EQ(HAL_INVALID_HANDLE, digitalIoHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_EQ(HAL_RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestDigitalIoCallbackName.c_str());
// Reset, should allow you to re-register

4
hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
View File

@@ -43,7 +43,7 @@ TEST(PCMDataTest, PCMInitialization) {
EXPECT_EQ(HAL_INVALID_HANDLE, pcmHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_EQ(HAL_RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
// Successful setup
@@ -63,7 +63,7 @@ TEST(PCMDataTest, PCMInitialization) {
EXPECT_EQ(HAL_INVALID_HANDLE, pcmHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_EQ(HAL_RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestSolenoidCallbackName.c_str());
// Reset, should allow you to re-register

4
hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
View File

@@ -43,7 +43,7 @@ TEST(PWMSimTest, PwmInitialization) {
EXPECT_EQ(HAL_INVALID_HANDLE, pwmHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_EQ(HAL_RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestPwmCallbackName.c_str());
// Successful setup
@@ -63,7 +63,7 @@ TEST(PWMSimTest, PwmInitialization) {
EXPECT_EQ(HAL_INVALID_HANDLE, pwmHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_EQ(HAL_RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestPwmCallbackName.c_str());
// Reset, should allow you to re-register