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Enable log macros to work with no args (#4475)

Browse Source 
This is enabled by the C++20 __VA_OPT__ feature.
Uses of "{}" format string were updated.
Some warning suppressions were required for older clang versions.
Also improve codegen of wpi::Logger::Log(), frc::ReportError(), and frc::MakeError();
these generate better and less redundant code if they use fmt::string_view for the
format string instead of templating on it.
This commit is contained in:
Tyler Veness
2022-10-19 10:49:27 -07:00
committed by GitHub
parent 878cc8defb
commit 1fc098e696
70 changed files with 373 additions and 338 deletions
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2
cscore/src/main/native/cpp/CvSinkImpl.cpp
View File

@@ -110,7 +110,7 @@ void CvSinkImpl::ThreadMain() {
std::this_thread::sleep_for(std::chrono::seconds(1));
continue;
}
SDEBUG4("{}", "waiting for frame");
SDEBUG4("waiting for frame");
Frame frame = source->GetNextFrame(); // blocks
if (!m_active) {
break;

16
cscore/src/main/native/cpp/HttpCameraImpl.cpp
View File

@@ -85,7 +85,7 @@ void HttpCameraImpl::MonitorThreadMain() {
// (this will result in an error at the read point, and ultimately
// a reconnect attempt)
if (m_streamConn && m_frameCount == 0) {
SWARNING("{}", "Monitor detected stream hung, disconnecting");
SWARNING("Monitor detected stream hung, disconnecting");
m_streamConn->stream->close();
}
@@ -93,7 +93,7 @@ void HttpCameraImpl::MonitorThreadMain() {
m_frameCount = 0;
}
SDEBUG("{}", "Monitor Thread exiting");
SDEBUG("Monitor Thread exiting");
}
void HttpCameraImpl::StreamThreadMain() {
@@ -141,7 +141,7 @@ void HttpCameraImpl::StreamThreadMain() {
}
}
SDEBUG("{}", "Camera Thread exiting");
SDEBUG("Camera Thread exiting");
SetConnected(false);
}
@@ -152,7 +152,7 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
{
std::scoped_lock lock(m_mutex);
if (m_locations.empty()) {
SERROR("{}", "locations array is empty!?");
SERROR("locations array is empty!?");
std::this_thread::sleep_for(std::chrono::seconds(1));
return nullptr;
}
@@ -273,7 +273,7 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
wpi::SmallString<64> contentTypeBuf;
wpi::SmallString<64> contentLengthBuf;
if (!ParseHttpHeaders(is, &contentTypeBuf, &contentLengthBuf)) {
SWARNING("{}", "disconnected during headers");
SWARNING("disconnected during headers");
PutError("disconnected during headers", wpi::Now());
return false;
}
@@ -295,7 +295,7 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
// Ugh, no Content-Length? Read the blocks of the JPEG file.
int width, height;
if (!ReadJpeg(is, imageBuf, &width, &height)) {
SWARNING("{}", "did not receive a JPEG image");
SWARNING("did not receive a JPEG image");
PutError("did not receive a JPEG image", wpi::Now());
return false;
}
@@ -314,7 +314,7 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
}
int width, height;
if (!GetJpegSize(image->str(), &width, &height)) {
SWARNING("{}", "did not receive a JPEG image");
SWARNING("did not receive a JPEG image");
PutError("did not receive a JPEG image", wpi::Now());
return false;
}
@@ -344,7 +344,7 @@ void HttpCameraImpl::SettingsThreadMain() {
DeviceSendSettings(req);
}
SDEBUG("{}", "Settings Thread exiting");
SDEBUG("Settings Thread exiting");
}
void HttpCameraImpl::DeviceSendSettings(wpi::HttpRequest& req) {

56
cscore/src/main/native/cpp/Log.h
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@@ -27,26 +27,37 @@ inline void NamedLog(wpi::Logger& logger, unsigned int level, const char* file,
} // namespace cs
#define LOG(level, format, ...) WPI_LOG(m_logger, level, format, __VA_ARGS__)
#define LOG(level, format, ...) \
WPI_LOG(m_logger, level, format __VA_OPT__(, ) __VA_ARGS__)
#undef ERROR
#define ERROR(format, ...) WPI_ERROR(m_logger, format, __VA_ARGS__)
#define WARNING(format, ...) WPI_WARNING(m_logger, format, __VA_ARGS__)
#define INFO(format, ...) WPI_INFO(m_logger, format, __VA_ARGS__)
#define ERROR(format, ...) \
WPI_ERROR(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define WARNING(format, ...) \
WPI_WARNING(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define INFO(format, ...) WPI_INFO(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define DEBUG0(format, ...) WPI_DEBUG(m_logger, format, __VA_ARGS__)
#define DEBUG1(format, ...) WPI_DEBUG1(m_logger, format, __VA_ARGS__)
#define DEBUG2(format, ...) WPI_DEBUG2(m_logger, format, __VA_ARGS__)
#define DEBUG3(format, ...) WPI_DEBUG3(m_logger, format, __VA_ARGS__)
#define DEBUG4(format, ...) WPI_DEBUG4(m_logger, format, __VA_ARGS__)
#define DEBUG0(format, ...) \
WPI_DEBUG(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define DEBUG1(format, ...) \
WPI_DEBUG1(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define DEBUG2(format, ...) \
WPI_DEBUG2(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define DEBUG3(format, ...) \
WPI_DEBUG3(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define DEBUG4(format, ...) \
WPI_DEBUG4(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define SLOG(level, format, ...) \
NamedLog(m_logger, level, __FILE__, __LINE__, GetName(), FMT_STRING(format), \
__VA_ARGS__)
#define SLOG(level, format, ...) \
NamedLog(m_logger, level, __FILE__, __LINE__, GetName(), \
FMT_STRING(format) __VA_OPT__(, ) __VA_ARGS__)
#define SERROR(format, ...) SLOG(::wpi::WPI_LOG_ERROR, format, __VA_ARGS__)
#define SWARNING(format, ...) SLOG(::wpi::WPI_LOG_WARNING, format, __VA_ARGS__)
#define SINFO(format, ...) SLOG(::wpi::WPI_LOG_INFO, format, __VA_ARGS__)
#define SERROR(format, ...) \
SLOG(::wpi::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
#define SWARNING(format, ...) \
SLOG(::wpi::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
#define SINFO(format, ...) \
SLOG(::wpi::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
#ifdef NDEBUG
#define SDEBUG(format, ...) \
@@ -65,11 +76,16 @@ inline void NamedLog(wpi::Logger& logger, unsigned int level, const char* file,
do { \
} while (0)
#else
#define SDEBUG(format, ...) SLOG(::wpi::WPI_LOG_DEBUG, format, __VA_ARGS__)
#define SDEBUG1(format, ...) SLOG(::wpi::WPI_LOG_DEBUG1, format, __VA_ARGS__)
#define SDEBUG2(format, ...) SLOG(::wpi::WPI_LOG_DEBUG2, format, __VA_ARGS__)
#define SDEBUG3(format, ...) SLOG(::wpi::WPI_LOG_DEBUG3, format, __VA_ARGS__)
#define SDEBUG4(format, ...) SLOG(::wpi::WPI_LOG_DEBUG4, format, __VA_ARGS__)
#define SDEBUG(format, ...) \
SLOG(::wpi::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
#define SDEBUG1(format, ...) \
SLOG(::wpi::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
#define SDEBUG2(format, ...) \
SLOG(::wpi::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
#define SDEBUG3(format, ...) \
SLOG(::wpi::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
#define SDEBUG4(format, ...) \
SLOG(::wpi::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
#endif
#endif // CSCORE_LOG_H_

24
cscore/src/main/native/cpp/MjpegServerImpl.cpp
View File

@@ -650,7 +650,7 @@ void MjpegServerImpl::Stop() {
// Send HTTP response and a stream of JPG-frames
void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
if (m_noStreaming) {
SERROR("{}", "Too many simultaneous client streams");
SERROR("Too many simultaneous client streams");
SendError(os, 503, "Too many simultaneous streams");
return;
}
@@ -663,7 +663,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
SendHeader(oss, 200, "OK", "multipart/x-mixed-replace;boundary=" BOUNDARY);
os << oss.str();
SDEBUG("{}", "Headers send, sending stream now");
SDEBUG("Headers send, sending stream now");
Frame::Time lastFrameTime = 0;
Frame::Time timePerFrame = 0;
@@ -685,7 +685,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
std::this_thread::sleep_for(std::chrono::milliseconds(200));
continue;
}
SDEBUG4("{}", "waiting for frame");
SDEBUG4("waiting for frame");
Frame frame = source->GetNextFrame(0.225); // blocks
if (!m_active) {
break;
@@ -783,7 +783,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
wpi::SmallString<128> reqBuf;
std::string_view req = is.getline(reqBuf, 4096);
if (is.has_error()) {
SDEBUG("{}", "error getting request string");
SDEBUG("error getting request string");
return;
}
@@ -824,7 +824,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
} else if (req.find("GET / ") != std::string_view::npos || req == "GET /\n") {
kind = kRootPage;
} else {
SDEBUG("{}", "HTTP request resource not found");
SDEBUG("HTTP request resource not found");
SendError(os, 404, "Resource not found");
return;
}
@@ -866,11 +866,11 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
SendHeader(os, 200, "OK", "text/plain");
os << "Ignored due to no connected source."
<< "\r\n";
SDEBUG("{}", "Ignored due to no connected source.");
SDEBUG("Ignored due to no connected source.");
}
break;
case kGetSettings:
SDEBUG("{}", "request for JSON file");
SDEBUG("request for JSON file");
if (auto source = GetSource()) {
SendJSON(os, *source, true);
} else {
@@ -878,7 +878,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
}
break;
case kGetSourceConfig:
SDEBUG("{}", "request for JSON file");
SDEBUG("request for JSON file");
if (auto source = GetSource()) {
SendHeader(os, 200, "OK", "application/json");
CS_Status status = CS_OK;
@@ -889,7 +889,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
}
break;
case kRootPage:
SDEBUG("{}", "request for root page");
SDEBUG("request for root page");
SendHeader(os, 200, "OK", "text/html");
if (auto source = GetSource()) {
SendHTML(os, *source, false);
@@ -900,7 +900,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
break;
}
SDEBUG("{}", "leaving HTTP client thread");
SDEBUG("leaving HTTP client thread");
}
// worker thread for clients that connected to this server
@@ -927,7 +927,7 @@ void MjpegServerImpl::ServerThreadMain() {
return;
}
SDEBUG("{}", "waiting for clients to connect");
SDEBUG("waiting for clients to connect");
while (m_active) {
auto stream = m_acceptor->accept();
if (!stream) {
@@ -977,7 +977,7 @@ void MjpegServerImpl::ServerThreadMain() {
thr->m_cond.notify_one();
}
SDEBUG("{}", "leaving server thread");
SDEBUG("leaving server thread");
}
void MjpegServerImpl::SetSourceImpl(std::shared_ptr<SourceImpl> source) {

2
cscore/src/main/native/cpp/RawSinkImpl.cpp
View File

@@ -127,7 +127,7 @@ void RawSinkImpl::ThreadMain() {
std::this_thread::sleep_for(std::chrono::seconds(1));
continue;
}
SDEBUG4("{}", "waiting for frame");
SDEBUG4("waiting for frame");
Frame frame = source->GetNextFrame(); // blocks
if (!m_active) {
break;

39
cscore/src/main/native/linux/UsbCameraImpl.cpp
View File

@@ -454,7 +454,7 @@ void UsbCameraImpl::CameraThreadMain() {
// Handle notify events
if (notify_fd >= 0 && FD_ISSET(notify_fd, &readfds)) {
SDEBUG4("{}", "notify event");
SDEBUG4("notify event");
struct inotify_event event;
do {
// Read the event structure
@@ -483,7 +483,7 @@ void UsbCameraImpl::CameraThreadMain() {
// Handle commands
if (command_fd >= 0 && FD_ISSET(command_fd, &readfds)) {
SDEBUG4("{}", "got command");
SDEBUG4("got command");
// Read it to clear
eventfd_t val;
eventfd_read(command_fd, &val);
@@ -493,7 +493,7 @@ void UsbCameraImpl::CameraThreadMain() {
// Handle frames
if (m_streaming && fd >= 0 && FD_ISSET(fd, &readfds)) {
SDEBUG4("{}", "grabbing image");
SDEBUG4("grabbing image");
// Dequeue buffer
struct v4l2_buffer buf;
@@ -501,7 +501,7 @@ void UsbCameraImpl::CameraThreadMain() {
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (DoIoctl(fd, VIDIOC_DQBUF, &buf) != 0) {
SWARNING("{}", "could not dequeue buffer");
SWARNING("could not dequeue buffer");
wasStreaming = m_streaming;
DeviceStreamOff();
DeviceDisconnect();
@@ -525,7 +525,7 @@ void UsbCameraImpl::CameraThreadMain() {
bool good = true;
if (m_mode.pixelFormat == VideoMode::kMJPEG &&
!GetJpegSize(image, &width, &height)) {
SWARNING("{}", "invalid JPEG image received from camera");
SWARNING("invalid JPEG image received from camera");
good = false;
}
if (good) {
@@ -536,7 +536,7 @@ void UsbCameraImpl::CameraThreadMain() {
// Requeue buffer
if (DoIoctl(fd, VIDIOC_QBUF, &buf) != 0) {
SWARNING("{}", "could not requeue buffer");
SWARNING("could not requeue buffer");
wasStreaming = m_streaming;
DeviceStreamOff();
DeviceDisconnect();
@@ -579,7 +579,7 @@ void UsbCameraImpl::DeviceConnect() {
}
// Try to open the device
SDEBUG3("{}", "opening device");
SDEBUG3("opening device");
int fd = open(m_path.c_str(), O_RDWR);
if (fd < 0) {
return;
@@ -587,7 +587,7 @@ void UsbCameraImpl::DeviceConnect() {
m_fd = fd;
// Get capabilities
SDEBUG3("{}", "getting capabilities");
SDEBUG3("getting capabilities");
struct v4l2_capability vcap;
std::memset(&vcap, 0, sizeof(vcap));
if (DoIoctl(fd, VIDIOC_QUERYCAP, &vcap) >= 0) {
@@ -599,18 +599,18 @@ void UsbCameraImpl::DeviceConnect() {
// Get or restore video mode
if (!m_properties_cached) {
SDEBUG3("{}", "caching properties");
SDEBUG3("caching properties");
DeviceCacheProperties();
DeviceCacheVideoModes();
DeviceCacheMode();
m_properties_cached = true;
} else {
SDEBUG3("{}", "restoring video mode");
SDEBUG3("restoring video mode");
DeviceSetMode();
DeviceSetFPS();
// Restore settings
SDEBUG3("{}", "restoring settings");
SDEBUG3("restoring settings");
std::unique_lock lock2(m_mutex);
for (size_t i = 0; i < m_propertyData.size(); ++i) {
const auto prop =
@@ -625,21 +625,21 @@ void UsbCameraImpl::DeviceConnect() {
}
// Request buffers
SDEBUG3("{}", "allocating buffers");
SDEBUG3("allocating buffers");
struct v4l2_requestbuffers rb;
std::memset(&rb, 0, sizeof(rb));
rb.count = kNumBuffers;
rb.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
rb.memory = V4L2_MEMORY_MMAP;
if (DoIoctl(fd, VIDIOC_REQBUFS, &rb) != 0) {
SWARNING("{}", "could not allocate buffers");
SWARNING("could not allocate buffers");
close(fd);
m_fd = -1;
return;
}
// Map buffers
SDEBUG3("{}", "mapping buffers");
SDEBUG3("mapping buffers");
for (int i = 0; i < kNumBuffers; ++i) {
struct v4l2_buffer buf;
std::memset(&buf, 0, sizeof(buf));
@@ -689,7 +689,7 @@ bool UsbCameraImpl::DeviceStreamOn() {
}
// Queue buffers
SDEBUG3("{}", "queuing buffers");
SDEBUG3("queuing buffers");
for (int i = 0; i < kNumBuffers; ++i) {
struct v4l2_buffer buf;
std::memset(&buf, 0, sizeof(buf));
@@ -708,7 +708,6 @@ bool UsbCameraImpl::DeviceStreamOn() {
if (errno == ENOSPC) {
// indicates too much USB bandwidth requested
SERROR(
"{}",
"could not start streaming due to USB bandwidth limitations; try a "
"lower resolution or a different pixel format (VIDIOC_STREAMON: "
"No space left on device)");
@@ -718,7 +717,7 @@ bool UsbCameraImpl::DeviceStreamOn() {
}
return false;
}
SDEBUG4("{}", "enabled streaming");
SDEBUG4("enabled streaming");
m_streaming = true;
return true;
}
@@ -735,7 +734,7 @@ bool UsbCameraImpl::DeviceStreamOff() {
if (DoIoctl(fd, VIDIOC_STREAMOFF, &type) != 0) {
return false;
}
SDEBUG4("{}", "disabled streaming");
SDEBUG4("disabled streaming");
m_streaming = false;
return true;
}
@@ -1000,7 +999,7 @@ void UsbCameraImpl::DeviceCacheMode() {
#endif
vfmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (DoIoctl(fd, VIDIOC_G_FMT, &vfmt) != 0) {
SERROR("{}", "could not read current video mode");
SERROR("could not read current video mode");
std::scoped_lock lock(m_mutex);
m_mode = VideoMode{VideoMode::kMJPEG, 320, 240, 30};
return;
@@ -1668,7 +1667,7 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
::closedir(dp);
} else {
// *status = ;
WPI_ERROR(Instance::GetInstance().logger, "{}", "Could not open /dev");
WPI_ERROR(Instance::GetInstance().logger, "Could not open /dev");
return retval;
}

6
cscore/src/main/native/windows/UsbCameraImpl.cpp
View File

@@ -486,7 +486,7 @@ bool UsbCameraImpl::DeviceConnect() {
SINFO("Connecting to USB camera on {}", m_path);
}
SDEBUG3("{}", "opening device");
SDEBUG3("opening device");
const wchar_t* path = m_widePath.c_str();
m_mediaSource = CreateVideoCaptureDevice(path);
@@ -520,13 +520,13 @@ bool UsbCameraImpl::DeviceConnect() {
}
if (!m_properties_cached) {
SDEBUG3("{}", "caching properties");
SDEBUG3("caching properties");
DeviceCacheProperties();
DeviceCacheVideoModes();
DeviceCacheMode();
m_properties_cached = true;
} else {
SDEBUG3("{}", "restoring video mode");
SDEBUG3("restoring video mode");
DeviceSetMode();
}

26
ntcore/src/main/native/cpp/Log.h
View File

@@ -6,15 +6,23 @@
#include <wpi/Logger.h>
#define LOG(level, format, ...) WPI_LOG(m_logger, level, format, __VA_ARGS__)
#define LOG(level, format, ...) \
WPI_LOG(m_logger, level, format __VA_OPT__(, ) __VA_ARGS__)
#undef ERROR
#define ERROR(format, ...) WPI_ERROR(m_logger, format, __VA_ARGS__)
#define WARNING(format, ...) WPI_WARNING(m_logger, format, __VA_ARGS__)
#define INFO(format, ...) WPI_INFO(m_logger, format, __VA_ARGS__)
#define ERROR(format, ...) \
WPI_ERROR(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define WARNING(format, ...) \
WPI_WARNING(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define INFO(format, ...) WPI_INFO(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define DEBUG0(format, ...) WPI_DEBUG(m_logger, format, __VA_ARGS__)
#define DEBUG1(format, ...) WPI_DEBUG1(m_logger, format, __VA_ARGS__)
#define DEBUG2(format, ...) WPI_DEBUG2(m_logger, format, __VA_ARGS__)
#define DEBUG3(format, ...) WPI_DEBUG3(m_logger, format, __VA_ARGS__)
#define DEBUG4(format, ...) WPI_DEBUG4(m_logger, format, __VA_ARGS__)
#define DEBUG0(format, ...) \
WPI_DEBUG(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define DEBUG1(format, ...) \
WPI_DEBUG1(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define DEBUG2(format, ...) \
WPI_DEBUG2(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define DEBUG3(format, ...) \
WPI_DEBUG3(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
#define DEBUG4(format, ...) \
WPI_DEBUG4(m_logger, format __VA_OPT__(, ) __VA_ARGS__)

6
ntcore/src/main/native/cpp/NetworkClient.cpp
View File

@@ -131,7 +131,7 @@ NCImpl::NCImpl(int inst, std::string_view id, net::ILocalStorage& localStorage,
m_loop{*m_loopRunner.GetLoop()} {
m_localMsgs.reserve(net::NetworkLoopQueue::kInitialQueueSize);
INFO("{}", "starting network client");
INFO("starting network client");
}
void NCImpl::SetServers(
@@ -285,13 +285,13 @@ void NCImpl3::TcpConnected(uv::Tcp& tcp) {
}
});
tcp.end.connect([this, &tcp] {
DEBUG3("{}", "NT3 TCP read ended");
DEBUG3("NT3 TCP read ended");
if (!tcp.IsLoopClosing()) {
Disconnect("remote end closed connection");
}
});
tcp.closed.connect([this, &tcp] {
DEBUG3("{}", "NT3 TCP connection closed");
DEBUG3("NT3 TCP connection closed");
if (!tcp.IsLoopClosing()) {
Disconnect(m_wire->GetDisconnectReason());
}

8
ntcore/src/main/native/cpp/NetworkServer.cpp
View File

@@ -360,7 +360,7 @@ void NSImpl::LoadPersistent() {
is.readinto(m_persistentData, size);
DEBUG4("read data: {}", m_persistentData);
if (is.has_error()) {
WARNING("{}", "error reading persistent file");
WARNING("error reading persistent file");
return;
}
}
@@ -453,7 +453,7 @@ void NSImpl::Init() {
if (uv::AddrToName(tcp->GetPeer(), &peerAddr, &peerPort) == 0) {
INFO("Got a NT3 connection from {} port {}", peerAddr, peerPort);
} else {
INFO("{}", "Got a NT3 connection from unknown");
INFO("Got a NT3 connection from unknown");
}
auto conn = std::make_shared<ServerConnection3>(tcp, *this, peerAddr,
peerPort, m_logger);
@@ -485,7 +485,7 @@ void NSImpl::Init() {
if (uv::AddrToName(tcp->GetPeer(), &peerAddr, &peerPort) == 0) {
INFO("Got a NT4 connection from {} port {}", peerAddr, peerPort);
} else {
INFO("{}", "Got a NT4 connection from unknown");
INFO("Got a NT4 connection from unknown");
}
auto conn = std::make_shared<ServerConnection4>(tcp, *this, peerAddr,
peerPort, m_logger);
@@ -496,7 +496,7 @@ void NSImpl::Init() {
}
if (m_initDone) {
DEBUG4("{}", "NetworkServer initDone()");
DEBUG4("NetworkServer initDone()");
m_initDone();
m_initDone = nullptr;
}

2
ntcore/src/main/native/cpp/net/ClientImpl.cpp
View File

@@ -171,7 +171,7 @@ void CImpl::ProcessIncomingBinary(std::span<const uint8_t> data) {
}
void CImpl::HandleLocal(std::vector<ClientMessage>&& msgs) {
DEBUG4("{}", "HandleLocal()");
DEBUG4("HandleLocal()");
for (auto&& elem : msgs) {
// common case is value
if (auto msg = std::get_if<ClientValueMsg>(&elem.contents)) {

2
ntcore/src/main/native/cpp/net/NetworkLoopQueue.cpp
View File

@@ -45,7 +45,7 @@ void NetworkLoopQueue::SetValue(NT_Publisher pubHandle, const Value& value) {
m_size += sizeof(ClientMessage);
if (m_size > kMaxSize) {
if (!m_sizeErrored) {
WPI_ERROR(m_logger, "{}", "NT: dropping value set due to memory limits");
WPI_ERROR(m_logger, "NT: dropping value set due to memory limits");
m_sizeErrored = true;
}
return; // avoid potential out of memory

4
ntcore/src/main/native/cpp/net/ServerImpl.cpp
View File

@@ -758,7 +758,7 @@ void ClientDataLocal::SendPropertiesUpdate(TopicData* topic,
}
void ClientDataLocal::HandleLocal(std::span<const ClientMessage> msgs) {
DEBUG4("{}", "HandleLocal()");
DEBUG4("HandleLocal()");
// just map as a normal client into client=0 calls
for (const auto& elem : msgs) { // NOLINT
// common case is value, so check that first
@@ -2145,7 +2145,7 @@ void SImpl::UpdateMetaClients(const std::vector<ConnectionInfo>& conns) {
if (mpack_writer_destroy(&w) == mpack_ok) {
SetValue(nullptr, m_metaClients, Value::MakeRaw(std::move(w.bytes)));
} else {
DEBUG4("{}", "failed to encode $clients");
DEBUG4("failed to encode $clients");
}
}

2
ntcore/src/main/native/cpp/net/WireDecoder.cpp
View File

@@ -119,7 +119,7 @@ static void WireDecodeTextImpl(std::string_view in, T& out,
}
if (!j.is_array()) {
WPI_WARNING(logger, "{}", "expected JSON array at top level");
WPI_WARNING(logger, "expected JSON array at top level");
return;
}

14
ntcore/src/main/native/cpp/net3/ClientImpl3.cpp
View File

@@ -238,7 +238,7 @@ void CImpl::SendPeriodic(uint64_t curTimeMs, bool initial) {
if (!CheckNetworkReady()) {
return;
}
DEBUG4("{}", "Sending keep alive");
DEBUG4("Sending keep alive");
WireEncodeKeepAlive(out.stream());
// drift isn't critical here, so just go from current time
m_nextKeepAliveTimeMs = curTimeMs + kKeepAliveIntervalMs;
@@ -274,7 +274,7 @@ void CImpl::SendPeriodic(uint64_t curTimeMs, bool initial) {
}
if (initial) {
DEBUG4("{}", "Sending ClientHelloDone");
DEBUG4("Sending ClientHelloDone");
WireEncodeClientHelloDone(out.stream());
}
@@ -403,7 +403,7 @@ void CImpl::SetValue(NT_Publisher pubHandle, const Value& value) {
}
void CImpl::KeepAlive() {
DEBUG4("{}", "KeepAlive()");
DEBUG4("KeepAlive()");
if (m_state != kStateRunning && m_state != kStateInitialAssignments) {
m_decoder.SetError("received unexpected KeepAlive message");
return;
@@ -412,7 +412,7 @@ void CImpl::KeepAlive() {
}
void CImpl::ServerHelloDone() {
DEBUG4("{}", "ServerHelloDone()");
DEBUG4("ServerHelloDone()");
if (m_state != kStateInitialAssignments) {
m_decoder.SetError("received unexpected ServerHelloDone message");
return;
@@ -426,7 +426,7 @@ void CImpl::ServerHelloDone() {
}
void CImpl::ClientHelloDone() {
DEBUG4("{}", "ClientHelloDone()");
DEBUG4("ClientHelloDone()");
m_decoder.SetError("received unexpected ClientHelloDone message");
}
@@ -572,7 +572,7 @@ void CImpl::EntryDelete(unsigned int id) {
}
void CImpl::ClearEntries() {
DEBUG4("{}", "ClearEntries()");
DEBUG4("ClearEntries()");
if (m_state != kStateRunning) {
m_decoder.SetError("received ClearEntries message before ServerHelloDone");
return;
@@ -609,7 +609,7 @@ ClientImpl3::ClientImpl3(uint64_t curTimeMs, int inst, WireConnection3& wire,
std::move(setPeriodic))} {}
ClientImpl3::~ClientImpl3() {
WPI_DEBUG4(m_impl->m_logger, "{}", "NT3 ClientImpl destroyed");
WPI_DEBUG4(m_impl->m_logger, "NT3 ClientImpl destroyed");
}
void ClientImpl3::Start(std::string_view selfId,

6
roborioteamnumbersetter/src/main/native/cpp/DeploySession.cpp
View File

@@ -79,7 +79,7 @@ bool DeploySession::ChangeTeamNumber(const std::string& macAddress,
session.Open();
DEBUG("SSH connection to {} was successful.", ip);
SUCCESS("{}", "roboRIO Connected!");
SUCCESS("roboRIO Connected!");
try {
session.Execute(fmt::format(
@@ -123,7 +123,7 @@ bool DeploySession::Reboot(const std::string& macAddress,
session.Open();
DEBUG("SSH connection to {} was successful.", ip);
SUCCESS("{}", "roboRIO Connected!");
SUCCESS("roboRIO Connected!");
try {
session.Execute(fmt::format("sync ; shutdown -r now"));
@@ -162,7 +162,7 @@ bool DeploySession::Blink(const std::string& macAddress,
session.Open();
DEBUG("SSH connection to {} was successful.", ip);
SUCCESS("{}", "roboRIO Connected!");
SUCCESS("roboRIO Connected!");
try {
session.Execute(fmt::format(

2
roborioteamnumbersetter/src/main/native/cpp/SshSession.cpp
View File

@@ -18,7 +18,7 @@
using namespace sysid;
#define INFO(fmt, ...) WPI_INFO(m_logger, fmt, __VA_ARGS__)
#define INFO(fmt, ...) WPI_INFO(m_logger, fmt __VA_OPT__(, ) __VA_ARGS__)
SshSession::SshSession(std::string_view host, int port, std::string_view user,
std::string_view pass, wpi::Logger& logger)

2
upstream_utils/llvm_patches/0020-Prefer-fmtlib.patch
View File

@@ -49,7 +49,7 @@ index ec1a1633a..8de7b726d 100644
- dbgs() << " at " << file << ":" << line;
- dbgs() << "!\n";
+ fmt::print(stderr, " at {}:{}", file, line);
+ fmt::print(stderr, "{}", "!\n");
+ fmt::print(stderr, "!\n");
abort();
#ifdef LLVM_BUILTIN_UNREACHABLE
// Windows systems and possibly others don't declare abort() to be noreturn,

6
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandGroupBase.cpp
View File

@@ -9,7 +9,7 @@ using namespace frc2;
bool CommandGroupBase::RequireUngrouped(const Command& command) {
if (command.IsGrouped()) {
throw FRC_MakeError(
frc::err::CommandIllegalUse, "{}",
frc::err::CommandIllegalUse,
"Commands cannot be added to more than one CommandGroup");
}
return true;
@@ -27,7 +27,7 @@ bool CommandGroupBase::RequireUngrouped(
}
if (!allUngrouped) {
throw FRC_MakeError(
frc::err::CommandIllegalUse, "{}",
frc::err::CommandIllegalUse,
"Commands cannot be added to more than one CommandGroup");
}
return allUngrouped;
@@ -41,7 +41,7 @@ bool CommandGroupBase::RequireUngrouped(
}
if (!allUngrouped) {
throw FRC_MakeError(
frc::err::CommandIllegalUse, "{}",
frc::err::CommandIllegalUse,
"Commands cannot be added to more than one CommandGroup");
}
return allUngrouped;

2
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
View File

@@ -119,7 +119,7 @@ void CommandScheduler::Schedule(Command* command) {
}
if (command->IsGrouped()) {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
throw FRC_MakeError(frc::err::CommandIllegalUse,
"A command that is part of a command group "
"cannot be independently scheduled");
return;

4
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
View File

@@ -65,7 +65,7 @@ void ParallelCommandGroup::AddCommands(
}
if (isRunning) {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
throw FRC_MakeError(frc::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
}
@@ -77,7 +77,7 @@ void ParallelCommandGroup::AddCommands(
m_runWhenDisabled &= command->RunsWhenDisabled();
m_commands.emplace_back(std::move(command), false);
} else {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
throw FRC_MakeError(frc::err::CommandIllegalUse,
"Multiple commands in a parallel group cannot "
"require the same subsystems");
}

4
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
View File

@@ -60,7 +60,7 @@ void ParallelDeadlineGroup::AddCommands(
}
if (!m_finished) {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
throw FRC_MakeError(frc::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
}
@@ -72,7 +72,7 @@ void ParallelDeadlineGroup::AddCommands(
m_runWhenDisabled &= command->RunsWhenDisabled();
m_commands.emplace_back(std::move(command), false);
} else {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
throw FRC_MakeError(frc::err::CommandIllegalUse,
"Multiple commands in a parallel group cannot "
"require the same subsystems");
}

4
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
View File

@@ -50,7 +50,7 @@ void ParallelRaceGroup::AddCommands(
}
if (isRunning) {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
throw FRC_MakeError(frc::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
}
@@ -62,7 +62,7 @@ void ParallelRaceGroup::AddCommands(
m_runWhenDisabled &= command->RunsWhenDisabled();
m_commands.emplace_back(std::move(command));
} else {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
throw FRC_MakeError(frc::err::CommandIllegalUse,
"Multiple commands in a parallel group cannot "
"require the same subsystems");
}

2
wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
View File

@@ -60,7 +60,7 @@ void SequentialCommandGroup::AddCommands(
}
if (m_currentCommandIndex != invalid_index) {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
throw FRC_MakeError(frc::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
}

4
wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
View File

@@ -179,11 +179,11 @@ class CommandScheduler final : public nt::NTSendable,
Command, std::remove_reference_t<T>>>>
void SetDefaultCommand(Subsystem* subsystem, T&& defaultCommand) {
if (!defaultCommand.HasRequirement(subsystem)) {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
throw FRC_MakeError(frc::err::CommandIllegalUse,
"Default commands must require their subsystem!");
}
if (defaultCommand.IsFinished()) {
throw FRC_MakeError(frc::err::CommandIllegalUse, "{}",
throw FRC_MakeError(frc::err::CommandIllegalUse,
"Default commands should not end!");
}
SetDefaultCommandImpl(subsystem,

4
wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
View File

@@ -61,9 +61,9 @@ inline void ADISReportError(int32_t status, const char* file, int line,
} // namespace
#define REPORT_WARNING(msg) \
ADISReportError(warn::Warning, __FILE__, __LINE__, __FUNCTION__, "{}", msg);
ADISReportError(warn::Warning, __FILE__, __LINE__, __FUNCTION__, msg);
#define REPORT_ERROR(msg) \
ADISReportError(err::Error, __FILE__, __LINE__, __FUNCTION__, "{}", msg)
ADISReportError(err::Error, __FILE__, __LINE__, __FUNCTION__, msg)
ADIS16448_IMU::ADIS16448_IMU()
: ADIS16448_IMU(kZ, SPI::Port::kMXP, CalibrationTime::_512ms) {}

4
wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
View File

@@ -55,9 +55,9 @@ inline void ADISReportError(int32_t status, const char* file, int line,
} // namespace
#define REPORT_WARNING(msg) \
ADISReportError(warn::Warning, __FILE__, __LINE__, __FUNCTION__, "{}", msg);
ADISReportError(warn::Warning, __FILE__, __LINE__, __FUNCTION__, msg);
#define REPORT_ERROR(msg) \
ADISReportError(err::Error, __FILE__, __LINE__, __FUNCTION__, "{}", msg)
ADISReportError(err::Error, __FILE__, __LINE__, __FUNCTION__, msg)
/**
* Constructor.

2
wpilibc/src/main/native/cpp/ADXL362.cpp
View File

@@ -55,7 +55,7 @@ ADXL362::ADXL362(SPI::Port port, Range range)
commands[2] = 0;
m_spi.Transaction(commands, commands, 3);
if (commands[2] != 0xF2) {
FRC_ReportError(err::Error, "{}", "could not find ADXL362");
FRC_ReportError(err::Error, "could not find ADXL362");
m_gsPerLSB = 0.0;
return;
}

2
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
View File

@@ -44,7 +44,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
if (!m_simDevice) {
// Validate the part ID
if ((ReadRegister(kPIDRegister) & 0xff00) != 0x5200) {
FRC_ReportError(err::Error, "{}", "could not find ADXRS450 gyro");
FRC_ReportError(err::Error, "could not find ADXRS450 gyro");
return;
}

4
wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
View File

@@ -21,7 +21,7 @@ AnalogAccelerometer::AnalogAccelerometer(int channel)
AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
: m_analogInput(channel, wpi::NullDeleter<AnalogInput>()) {
if (!channel) {
throw FRC_MakeError(err::NullParameter, "{}", "channel");
throw FRC_MakeError(err::NullParameter, "channel");
}
InitAccelerometer();
}
@@ -29,7 +29,7 @@ AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr<AnalogInput> channel)
: m_analogInput(channel) {
if (!channel) {
throw FRC_MakeError(err::NullParameter, "{}", "channel");
throw FRC_MakeError(err::NullParameter, "channel");
}
InitAccelerometer();
}

2
wpilibc/src/main/native/cpp/AnalogEncoder.cpp
View File

@@ -83,7 +83,7 @@ units::turn_t AnalogEncoder::Get() const {
}
FRC_ReportError(
warn::Warning, "{}",
warn::Warning,
"Failed to read Analog Encoder. Potential Speed Overrun. Returning last "
"value");
return m_lastPosition;

4
wpilibc/src/main/native/cpp/AnalogGyro.cpp
View File

@@ -33,7 +33,7 @@ AnalogGyro::AnalogGyro(AnalogInput* channel)
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
: m_analog(channel) {
if (!channel) {
throw FRC_MakeError(err::NullParameter, "{}", "channel");
throw FRC_MakeError(err::NullParameter, "channel");
}
InitGyro();
Calibrate();
@@ -48,7 +48,7 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
double offset)
: m_analog(channel) {
if (!channel) {
throw FRC_MakeError(err::NullParameter, "{}", "channel");
throw FRC_MakeError(err::NullParameter, "channel");
}
InitGyro();
int32_t status = 0;

4
wpilibc/src/main/native/cpp/AnalogInput.cpp
View File

@@ -180,13 +180,13 @@ void AnalogInput::GetAccumulatorOutput(int64_t& value, int64_t& count) const {
void AnalogInput::SetSampleRate(double samplesPerSecond) {
int32_t status = 0;
HAL_SetAnalogSampleRate(samplesPerSecond, &status);
FRC_CheckErrorStatus(status, "{}", "SetSampleRate");
FRC_CheckErrorStatus(status, "SetSampleRate");
}
double AnalogInput::GetSampleRate() {
int32_t status = 0;
double sampleRate = HAL_GetAnalogSampleRate(&status);
FRC_CheckErrorStatus(status, "{}", "GetSampleRate");
FRC_CheckErrorStatus(status, "GetSampleRate");
return sampleRate;
}

2
wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp
View File

@@ -18,7 +18,7 @@ bool AnalogTriggerOutput::Get() const {
bool result = HAL_GetAnalogTriggerOutput(
m_trigger->m_trigger, static_cast<HAL_AnalogTriggerType>(m_outputType),
&status);
FRC_CheckErrorStatus(status, "{}", "Get");
FRC_CheckErrorStatus(status, "Get");
return result;
}

2
wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
View File

@@ -23,7 +23,7 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
void BuiltInAccelerometer::SetRange(Range range) {
if (range == kRange_16G) {
throw FRC_MakeError(err::ParameterOutOfRange, "{}",
throw FRC_MakeError(err::ParameterOutOfRange,
"16G range not supported (use k2G, k4G, or k8G)");
}

14
wpilibc/src/main/native/cpp/CAN.cpp
View File

@@ -45,20 +45,20 @@ CAN::~CAN() {
void CAN::WritePacket(const uint8_t* data, int length, int apiId) {
int32_t status = 0;
HAL_WriteCANPacket(m_handle, data, length, apiId, &status);
FRC_CheckErrorStatus(status, "{}", "WritePacket");
FRC_CheckErrorStatus(status, "WritePacket");
}
void CAN::WritePacketRepeating(const uint8_t* data, int length, int apiId,
int repeatMs) {
int32_t status = 0;
HAL_WriteCANPacketRepeating(m_handle, data, length, apiId, repeatMs, &status);
FRC_CheckErrorStatus(status, "{}", "WritePacketRepeating");
FRC_CheckErrorStatus(status, "WritePacketRepeating");
}
void CAN::WriteRTRFrame(int length, int apiId) {
int32_t status = 0;
HAL_WriteCANRTRFrame(m_handle, length, apiId, &status);
FRC_CheckErrorStatus(status, "{}", "WriteRTRFrame");
FRC_CheckErrorStatus(status, "WriteRTRFrame");
}
int CAN::WritePacketNoError(const uint8_t* data, int length, int apiId) {
@@ -83,7 +83,7 @@ int CAN::WriteRTRFrameNoError(int length, int apiId) {
void CAN::StopPacketRepeating(int apiId) {
int32_t status = 0;
HAL_StopCANPacketRepeating(m_handle, apiId, &status);
FRC_CheckErrorStatus(status, "{}", "StopPacketRepeating");
FRC_CheckErrorStatus(status, "StopPacketRepeating");
}
bool CAN::ReadPacketNew(int apiId, CANData* data) {
@@ -94,7 +94,7 @@ bool CAN::ReadPacketNew(int apiId, CANData* data) {
return false;
}
if (status != 0) {
FRC_CheckErrorStatus(status, "{}", "ReadPacketNew");
FRC_CheckErrorStatus(status, "ReadPacketNew");
return false;
} else {
return true;
@@ -109,7 +109,7 @@ bool CAN::ReadPacketLatest(int apiId, CANData* data) {
return false;
}
if (status != 0) {
FRC_CheckErrorStatus(status, "{}", "ReadPacketLatest");
FRC_CheckErrorStatus(status, "ReadPacketLatest");
return false;
} else {
return true;
@@ -125,7 +125,7 @@ bool CAN::ReadPacketTimeout(int apiId, int timeoutMs, CANData* data) {
return false;
}
if (status != 0) {
FRC_CheckErrorStatus(status, "{}", "ReadPacketTimeout");
FRC_CheckErrorStatus(status, "ReadPacketTimeout");
return false;
} else {
return true;

46
wpilibc/src/main/native/cpp/Counter.cpp
View File

@@ -22,7 +22,7 @@ Counter::Counter(Mode mode) {
int32_t status = 0;
m_counter = HAL_InitializeCounter(static_cast<HAL_Counter_Mode>(mode),
&m_index, &status);
FRC_CheckErrorStatus(status, "{}", "InitializeCounter");
FRC_CheckErrorStatus(status, "InitializeCounter");
SetMaxPeriod(0.5_s);
@@ -64,7 +64,7 @@ Counter::Counter(EncodingType encodingType,
std::shared_ptr<DigitalSource> downSource, bool inverted)
: Counter(kExternalDirection) {
if (encodingType != k1X && encodingType != k2X) {
throw FRC_MakeError(err::ParameterOutOfRange, "{}",
throw FRC_MakeError(err::ParameterOutOfRange,
"Counter only supports 1X and 2X quadrature decoding");
}
SetUpSource(upSource);
@@ -79,7 +79,7 @@ Counter::Counter(EncodingType encodingType,
HAL_SetCounterAverageSize(m_counter, 2, &status);
}
FRC_CheckErrorStatus(status, "{}", "Counter constructor");
FRC_CheckErrorStatus(status, "Counter constructor");
SetDownSourceEdge(inverted, true);
}
@@ -92,7 +92,7 @@ Counter::~Counter() {
int32_t status = 0;
HAL_FreeCounter(m_counter, &status);
FRC_ReportError(status, "{}", "Counter destructor");
FRC_ReportError(status, "Counter destructor");
}
void Counter::SetUpSource(int channel) {
@@ -124,7 +124,7 @@ void Counter::SetUpSource(std::shared_ptr<DigitalSource> source) {
static_cast<HAL_AnalogTriggerType>(
source->GetAnalogTriggerTypeForRouting()),
&status);
FRC_CheckErrorStatus(status, "{}", "SetUpSource");
FRC_CheckErrorStatus(status, "SetUpSource");
}
void Counter::SetUpSource(DigitalSource& source) {
@@ -135,19 +135,19 @@ void Counter::SetUpSource(DigitalSource& source) {
void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) {
if (m_upSource == nullptr) {
throw FRC_MakeError(
err::NullParameter, "{}",
err::NullParameter,
"Must set non-nullptr UpSource before setting UpSourceEdge");
}
int32_t status = 0;
HAL_SetCounterUpSourceEdge(m_counter, risingEdge, fallingEdge, &status);
FRC_CheckErrorStatus(status, "{}", "SetUpSourceEdge");
FRC_CheckErrorStatus(status, "SetUpSourceEdge");
}
void Counter::ClearUpSource() {
m_upSource.reset();
int32_t status = 0;
HAL_ClearCounterUpSource(m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "ClearUpSource");
FRC_CheckErrorStatus(status, "ClearUpSource");
}
void Counter::SetDownSource(int channel) {
@@ -184,37 +184,37 @@ void Counter::SetDownSource(std::shared_ptr<DigitalSource> source) {
static_cast<HAL_AnalogTriggerType>(
source->GetAnalogTriggerTypeForRouting()),
&status);
FRC_CheckErrorStatus(status, "{}", "SetDownSource");
FRC_CheckErrorStatus(status, "SetDownSource");
}
void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) {
if (m_downSource == nullptr) {
throw FRC_MakeError(
err::NullParameter, "{}",
err::NullParameter,
"Must set non-nullptr DownSource before setting DownSourceEdge");
}
int32_t status = 0;
HAL_SetCounterDownSourceEdge(m_counter, risingEdge, fallingEdge, &status);
FRC_CheckErrorStatus(status, "{}", "SetDownSourceEdge");
FRC_CheckErrorStatus(status, "SetDownSourceEdge");
}
void Counter::ClearDownSource() {
m_downSource.reset();
int32_t status = 0;
HAL_ClearCounterDownSource(m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "ClearDownSource");
FRC_CheckErrorStatus(status, "ClearDownSource");
}
void Counter::SetUpDownCounterMode() {
int32_t status = 0;
HAL_SetCounterUpDownMode(m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "SetUpDownCounterMode");
FRC_CheckErrorStatus(status, "SetUpDownCounterMode");
}
void Counter::SetExternalDirectionMode() {
int32_t status = 0;
HAL_SetCounterExternalDirectionMode(m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "SetExternalDirectionMode");
FRC_CheckErrorStatus(status, "SetExternalDirectionMode");
}
void Counter::SetSemiPeriodMode(bool highSemiPeriod) {
@@ -227,7 +227,7 @@ void Counter::SetSemiPeriodMode(bool highSemiPeriod) {
void Counter::SetPulseLengthMode(double threshold) {
int32_t status = 0;
HAL_SetCounterPulseLengthMode(m_counter, threshold, &status);
FRC_CheckErrorStatus(status, "{}", "SetPulseLengthMode");
FRC_CheckErrorStatus(status, "SetPulseLengthMode");
}
void Counter::SetReverseDirection(bool reverseDirection) {
@@ -252,7 +252,7 @@ void Counter::SetSamplesToAverage(int samplesToAverage) {
int Counter::GetSamplesToAverage() const {
int32_t status = 0;
int samples = HAL_GetCounterSamplesToAverage(m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "GetSamplesToAverage");
FRC_CheckErrorStatus(status, "GetSamplesToAverage");
return samples;
}
@@ -263,46 +263,46 @@ int Counter::GetFPGAIndex() const {
int Counter::Get() const {
int32_t status = 0;
int value = HAL_GetCounter(m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "Get");
FRC_CheckErrorStatus(status, "Get");
return value;
}
void Counter::Reset() {
int32_t status = 0;
HAL_ResetCounter(m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "Reset");
FRC_CheckErrorStatus(status, "Reset");
}
units::second_t Counter::GetPeriod() const {
int32_t status = 0;
double value = HAL_GetCounterPeriod(m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "GetPeriod");
FRC_CheckErrorStatus(status, "GetPeriod");
return units::second_t{value};
}
void Counter::SetMaxPeriod(units::second_t maxPeriod) {
int32_t status = 0;
HAL_SetCounterMaxPeriod(m_counter, maxPeriod.value(), &status);
FRC_CheckErrorStatus(status, "{}", "SetMaxPeriod");
FRC_CheckErrorStatus(status, "SetMaxPeriod");
}
void Counter::SetUpdateWhenEmpty(bool enabled) {
int32_t status = 0;
HAL_SetCounterUpdateWhenEmpty(m_counter, enabled, &status);
FRC_CheckErrorStatus(status, "{}", "SetUpdateWhenEmpty");
FRC_CheckErrorStatus(status, "SetUpdateWhenEmpty");
}
bool Counter::GetStopped() const {
int32_t status = 0;
bool value = HAL_GetCounterStopped(m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "GetStopped");
FRC_CheckErrorStatus(status, "GetStopped");
return value;
}
bool Counter::GetDirection() const {
int32_t status = 0;
bool value = HAL_GetCounterDirection(m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "GetDirection");
FRC_CheckErrorStatus(status, "GetDirection");
return value;
}

40
wpilibc/src/main/native/cpp/DMA.cpp
View File

@@ -27,7 +27,7 @@ using namespace frc;
DMA::DMA() {
int32_t status = 0;
dmaHandle = HAL_InitializeDMA(&status);
FRC_CheckErrorStatus(status, "{}", "InitializeDMA");
FRC_CheckErrorStatus(status, "InitializeDMA");
}
DMA::~DMA() {
@@ -37,74 +37,74 @@ DMA::~DMA() {
void DMA::SetPause(bool pause) {
int32_t status = 0;
HAL_SetDMAPause(dmaHandle, pause, &status);
FRC_CheckErrorStatus(status, "{}", "SetPause");
FRC_CheckErrorStatus(status, "SetPause");
}
void DMA::SetTimedTrigger(units::second_t seconds) {
int32_t status = 0;
HAL_SetDMATimedTrigger(dmaHandle, seconds.value(), &status);
FRC_CheckErrorStatus(status, "{}", "SetTimedTrigger");
FRC_CheckErrorStatus(status, "SetTimedTrigger");
}
void DMA::SetTimedTriggerCycles(int cycles) {
int32_t status = 0;
HAL_SetDMATimedTriggerCycles(dmaHandle, cycles, &status);
FRC_CheckErrorStatus(status, "{}", "SetTimedTriggerCycles");
FRC_CheckErrorStatus(status, "SetTimedTriggerCycles");
}
void DMA::AddEncoder(const Encoder* encoder) {
int32_t status = 0;
HAL_AddDMAEncoder(dmaHandle, encoder->m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "AddEncoder");
FRC_CheckErrorStatus(status, "AddEncoder");
}
void DMA::AddEncoderPeriod(const Encoder* encoder) {
int32_t status = 0;
HAL_AddDMAEncoderPeriod(dmaHandle, encoder->m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "AddEncoderPeriod");
FRC_CheckErrorStatus(status, "AddEncoderPeriod");
}
void DMA::AddCounter(const Counter* counter) {
int32_t status = 0;
HAL_AddDMACounter(dmaHandle, counter->m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "AddCounter");
FRC_CheckErrorStatus(status, "AddCounter");
}
void DMA::AddCounterPeriod(const Counter* counter) {
int32_t status = 0;
HAL_AddDMACounterPeriod(dmaHandle, counter->m_counter, &status);
FRC_CheckErrorStatus(status, "{}", "AddCounterPeriod");
FRC_CheckErrorStatus(status, "AddCounterPeriod");
}
void DMA::AddDigitalSource(const DigitalSource* digitalSource) {
int32_t status = 0;
HAL_AddDMADigitalSource(dmaHandle, digitalSource->GetPortHandleForRouting(),
&status);
FRC_CheckErrorStatus(status, "{}", "AddDigitalSource");
FRC_CheckErrorStatus(status, "AddDigitalSource");
}
void DMA::AddDutyCycle(const DutyCycle* dutyCycle) {
int32_t status = 0;
HAL_AddDMADutyCycle(dmaHandle, dutyCycle->m_handle, &status);
FRC_CheckErrorStatus(status, "{}", "AddDutyCycle");
FRC_CheckErrorStatus(status, "AddDutyCycle");
}
void DMA::AddAnalogInput(const AnalogInput* analogInput) {
int32_t status = 0;
HAL_AddDMAAnalogInput(dmaHandle, analogInput->m_port, &status);
FRC_CheckErrorStatus(status, "{}", "AddAnalogInput");
FRC_CheckErrorStatus(status, "AddAnalogInput");
}
void DMA::AddAveragedAnalogInput(const AnalogInput* analogInput) {
int32_t status = 0;
HAL_AddDMAAveragedAnalogInput(dmaHandle, analogInput->m_port, &status);
FRC_CheckErrorStatus(status, "{}", "AddAveragedAnalogInput");
FRC_CheckErrorStatus(status, "AddAveragedAnalogInput");
}
void DMA::AddAnalogAccumulator(const AnalogInput* analogInput) {
int32_t status = 0;
HAL_AddDMAAnalogAccumulator(dmaHandle, analogInput->m_port, &status);
FRC_CheckErrorStatus(status, "{}", "AddAnalogAccumulator");
FRC_CheckErrorStatus(status, "AddAnalogAccumulator");
}
int DMA::SetExternalTrigger(DigitalSource* source, bool rising, bool falling) {
@@ -114,7 +114,7 @@ int DMA::SetExternalTrigger(DigitalSource* source, bool rising, bool falling) {
static_cast<HAL_AnalogTriggerType>(
source->GetAnalogTriggerTypeForRouting()),
rising, falling, &status);
FRC_CheckErrorStatus(status, "{}", "SetExternalTrigger");
FRC_CheckErrorStatus(status, "SetExternalTrigger");
return idx;
}
@@ -124,7 +124,7 @@ int DMA::SetPwmEdgeTrigger(PWMMotorController* source, bool rising,
int32_t idx = HAL_SetDMAExternalTrigger(
dmaHandle, source->GetPwm()->m_handle,
HAL_AnalogTriggerType::HAL_Trigger_kInWindow, rising, falling, &status);
FRC_CheckErrorStatus(status, "{}", "SetPWmEdgeTrigger");
FRC_CheckErrorStatus(status, "SetPWmEdgeTrigger");
return idx;
}
@@ -133,30 +133,30 @@ int DMA::SetPwmEdgeTrigger(PWM* source, bool rising, bool falling) {
int32_t idx = HAL_SetDMAExternalTrigger(
dmaHandle, source->m_handle, HAL_AnalogTriggerType::HAL_Trigger_kInWindow,
rising, falling, &status);
FRC_CheckErrorStatus(status, "{}", "SetPWmEdgeTrigger");
FRC_CheckErrorStatus(status, "SetPWmEdgeTrigger");
return idx;
}
void DMA::ClearSensors() {
int32_t status = 0;
HAL_ClearDMASensors(dmaHandle, &status);
FRC_CheckErrorStatus(status, "{}", "ClearSensors");
FRC_CheckErrorStatus(status, "ClearSensors");
}
void DMA::ClearExternalTriggers() {
int32_t status = 0;
HAL_ClearDMAExternalTriggers(dmaHandle, &status);
FRC_CheckErrorStatus(status, "{}", "ClearExternalTriggers");
FRC_CheckErrorStatus(status, "ClearExternalTriggers");
}
void DMA::Start(int queueDepth) {
int32_t status = 0;
HAL_StartDMA(dmaHandle, queueDepth, &status);
FRC_CheckErrorStatus(status, "{}", "Start");
FRC_CheckErrorStatus(status, "Start");
}
void DMA::Stop() {
int32_t status = 0;
HAL_StopDMA(dmaHandle, &status);
FRC_CheckErrorStatus(status, "{}", "Stop");
FRC_CheckErrorStatus(status, "Stop");
}

2
wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
View File

@@ -56,7 +56,7 @@ void DigitalGlitchFilter::DoAdd(DigitalSource* input, int requestedIndex) {
// We don't support GlitchFilters on AnalogTriggers.
if (input->IsAnalogTrigger()) {
throw FRC_MakeError(
-1, "{}", "Analog Triggers not supported for DigitalGlitchFilters");
-1, "Analog Triggers not supported for DigitalGlitchFilters");
}
int32_t status = 0;
HAL_SetFilterSelect(input->GetPortHandleForRouting(), requestedIndex,

2
wpilibc/src/main/native/cpp/DriverStation.cpp
View File

@@ -635,7 +635,7 @@ double DriverStation::GetMatchTime() {
double DriverStation::GetBatteryVoltage() {
int32_t status = 0;
double voltage = HAL_GetVinVoltage(&status);
FRC_CheckErrorStatus(status, "{}", "getVinVoltage");
FRC_CheckErrorStatus(status, "getVinVoltage");
return voltage;
}

4
wpilibc/src/main/native/cpp/DutyCycle.cpp
View File

@@ -17,7 +17,7 @@ using namespace frc;
DutyCycle::DutyCycle(DigitalSource* source)
: m_source{source, wpi::NullDeleter<DigitalSource>()} {
if (!m_source) {
throw FRC_MakeError(err::NullParameter, "{}", "source");
throw FRC_MakeError(err::NullParameter, "source");
}
InitDutyCycle();
}
@@ -30,7 +30,7 @@ DutyCycle::DutyCycle(DigitalSource& source)
DutyCycle::DutyCycle(std::shared_ptr<DigitalSource> source)
: m_source{std::move(source)} {
if (!m_source) {
throw FRC_MakeError(err::NullParameter, "{}", "source");
throw FRC_MakeError(err::NullParameter, "source");
}
InitDutyCycle();
}

2
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
View File

@@ -105,7 +105,7 @@ units::turn_t DutyCycleEncoder::Get() const {
}
FRC_ReportError(
warn::Warning, "{}",
warn::Warning,
"Failed to read DutyCycle Encoder. Potential Speed Overrun. Returning "
"last value");
return m_lastPosition;

52
wpilibc/src/main/native/cpp/Encoder.cpp
View File

@@ -31,10 +31,10 @@ Encoder::Encoder(DigitalSource* aSource, DigitalSource* bSource,
: m_aSource(aSource, wpi::NullDeleter<DigitalSource>()),
m_bSource(bSource, wpi::NullDeleter<DigitalSource>()) {
if (!m_aSource) {
throw FRC_MakeError(err::NullParameter, "{}", "aSource");
throw FRC_MakeError(err::NullParameter, "aSource");
}
if (!m_bSource) {
throw FRC_MakeError(err::NullParameter, "{}", "bSource");
throw FRC_MakeError(err::NullParameter, "bSource");
}
InitEncoder(reverseDirection, encodingType);
}
@@ -51,10 +51,10 @@ Encoder::Encoder(std::shared_ptr<DigitalSource> aSource,
EncodingType encodingType)
: m_aSource(std::move(aSource)), m_bSource(std::move(bSource)) {
if (!m_aSource) {
throw FRC_MakeError(err::NullParameter, "{}", "aSource");
throw FRC_MakeError(err::NullParameter, "aSource");
}
if (!m_bSource) {
throw FRC_MakeError(err::NullParameter, "{}", "bSource");
throw FRC_MakeError(err::NullParameter, "bSource");
}
InitEncoder(reverseDirection, encodingType);
}
@@ -62,100 +62,100 @@ Encoder::Encoder(std::shared_ptr<DigitalSource> aSource,
Encoder::~Encoder() {
int32_t status = 0;
HAL_FreeEncoder(m_encoder, &status);
FRC_ReportError(status, "{}", "FreeEncoder");
FRC_ReportError(status, "FreeEncoder");
}
int Encoder::Get() const {
int32_t status = 0;
int value = HAL_GetEncoder(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "Get");
FRC_CheckErrorStatus(status, "Get");
return value;
}
void Encoder::Reset() {
int32_t status = 0;
HAL_ResetEncoder(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "Reset");
FRC_CheckErrorStatus(status, "Reset");
}
units::second_t Encoder::GetPeriod() const {
int32_t status = 0;
double value = HAL_GetEncoderPeriod(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetPeriod");
FRC_CheckErrorStatus(status, "GetPeriod");
return units::second_t{value};
}
void Encoder::SetMaxPeriod(units::second_t maxPeriod) {
int32_t status = 0;
HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod.value(), &status);
FRC_CheckErrorStatus(status, "{}", "SetMaxPeriod");
FRC_CheckErrorStatus(status, "SetMaxPeriod");
}
bool Encoder::GetStopped() const {
int32_t status = 0;
bool value = HAL_GetEncoderStopped(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetStopped");
FRC_CheckErrorStatus(status, "GetStopped");
return value;
}
bool Encoder::GetDirection() const {
int32_t status = 0;
bool value = HAL_GetEncoderDirection(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetDirection");
FRC_CheckErrorStatus(status, "GetDirection");
return value;
}
int Encoder::GetRaw() const {
int32_t status = 0;
int value = HAL_GetEncoderRaw(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetRaw");
FRC_CheckErrorStatus(status, "GetRaw");
return value;
}
int Encoder::GetEncodingScale() const {
int32_t status = 0;
int val = HAL_GetEncoderEncodingScale(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetEncodingScale");
FRC_CheckErrorStatus(status, "GetEncodingScale");
return val;
}
double Encoder::GetDistance() const {
int32_t status = 0;
double value = HAL_GetEncoderDistance(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetDistance");
FRC_CheckErrorStatus(status, "GetDistance");
return value;
}
double Encoder::GetRate() const {
int32_t status = 0;
double value = HAL_GetEncoderRate(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetRate");
FRC_CheckErrorStatus(status, "GetRate");
return value;
}
void Encoder::SetMinRate(double minRate) {
int32_t status = 0;
HAL_SetEncoderMinRate(m_encoder, minRate, &status);
FRC_CheckErrorStatus(status, "{}", "SetMinRate");
FRC_CheckErrorStatus(status, "SetMinRate");
}
void Encoder::SetDistancePerPulse(double distancePerPulse) {
int32_t status = 0;
HAL_SetEncoderDistancePerPulse(m_encoder, distancePerPulse, &status);
FRC_CheckErrorStatus(status, "{}", "SetDistancePerPulse");
FRC_CheckErrorStatus(status, "SetDistancePerPulse");
}
double Encoder::GetDistancePerPulse() const {
int32_t status = 0;
double distancePerPulse = HAL_GetEncoderDistancePerPulse(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetDistancePerPulse");
FRC_CheckErrorStatus(status, "GetDistancePerPulse");
return distancePerPulse;
}
void Encoder::SetReverseDirection(bool reverseDirection) {
int32_t status = 0;
HAL_SetEncoderReverseDirection(m_encoder, reverseDirection, &status);
FRC_CheckErrorStatus(status, "{}", "SetReverseDirection");
FRC_CheckErrorStatus(status, "SetReverseDirection");
}
void Encoder::SetSamplesToAverage(int samplesToAverage) {
@@ -167,13 +167,13 @@ void Encoder::SetSamplesToAverage(int samplesToAverage) {
}
int32_t status = 0;
HAL_SetEncoderSamplesToAverage(m_encoder, samplesToAverage, &status);
FRC_CheckErrorStatus(status, "{}", "SetSamplesToAverage");
FRC_CheckErrorStatus(status, "SetSamplesToAverage");
}
int Encoder::GetSamplesToAverage() const {
int32_t status = 0;
int result = HAL_GetEncoderSamplesToAverage(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetSamplesToAverage");
FRC_CheckErrorStatus(status, "GetSamplesToAverage");
return result;
}
@@ -192,7 +192,7 @@ void Encoder::SetIndexSource(const DigitalSource& source,
source.GetAnalogTriggerTypeForRouting()),
static_cast<HAL_EncoderIndexingType>(type),
&status);
FRC_CheckErrorStatus(status, "{}", "SetIndexSource");
FRC_CheckErrorStatus(status, "SetIndexSource");
}
void Encoder::SetSimDevice(HAL_SimDeviceHandle device) {
@@ -202,14 +202,14 @@ void Encoder::SetSimDevice(HAL_SimDeviceHandle device) {
int Encoder::GetFPGAIndex() const {
int32_t status = 0;
int val = HAL_GetEncoderFPGAIndex(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetFPGAIndex");
FRC_CheckErrorStatus(status, "GetFPGAIndex");
return val;
}
void Encoder::InitSendable(wpi::SendableBuilder& builder) {
int32_t status = 0;
HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "GetEncodingType");
FRC_CheckErrorStatus(status, "GetEncodingType");
if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
builder.SetSmartDashboardType("Quadrature Encoder");
} else {
@@ -236,7 +236,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
m_bSource->GetAnalogTriggerTypeForRouting()),
reverseDirection, static_cast<HAL_EncoderEncodingType>(encodingType),
&status);
FRC_CheckErrorStatus(status, "{}", "InitEncoder");
FRC_CheckErrorStatus(status, "InitEncoder");
HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
encodingType);
@@ -246,6 +246,6 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
double Encoder::DecodingScaleFactor() const {
int32_t status = 0;
double val = HAL_GetEncoderDecodingScaleFactor(m_encoder, &status);
FRC_CheckErrorStatus(status, "{}", "DecodingScaleFactor");
FRC_CheckErrorStatus(status, "DecodingScaleFactor");
return val;
}

6
wpilibc/src/main/native/cpp/I2C.cpp
View File

@@ -18,7 +18,7 @@ I2C::I2C(Port port, int deviceAddress)
int32_t status = 0;
if (port == I2C::Port::kOnboard) {
FRC_ReportError(warn::Warning, "{}",
FRC_ReportError(warn::Warning,
"Onboard I2C port is subject to system lockups. See Known "
"Issues page for "
"details");
@@ -74,7 +74,7 @@ bool I2C::Read(int registerAddress, int count, uint8_t* buffer) {
throw FRC_MakeError(err::ParameterOutOfRange, "count {}", count);
}
if (!buffer) {
throw FRC_MakeError(err::NullParameter, "{}", "buffer");
throw FRC_MakeError(err::NullParameter, "buffer");
}
uint8_t regAddr = registerAddress;
return Transaction(&regAddr, sizeof(regAddr), buffer, count);
@@ -85,7 +85,7 @@ bool I2C::ReadOnly(int count, uint8_t* buffer) {
throw FRC_MakeError(err::ParameterOutOfRange, "count {}", count);
}
if (!buffer) {
throw FRC_MakeError(err::NullParameter, "{}", "buffer");
throw FRC_MakeError(err::NullParameter, "buffer");
}
return HAL_ReadI2C(m_port, m_deviceAddress, buffer, count) < 0;
}

14
wpilibc/src/main/native/cpp/Notifier.cpp
View File

@@ -18,12 +18,12 @@ using namespace frc;
Notifier::Notifier(std::function<void()> handler) {
if (!handler) {
throw FRC_MakeError(err::NullParameter, "{}", "handler");
throw FRC_MakeError(err::NullParameter, "handler");
}
m_handler = handler;
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "{}", "InitializeNotifier");
FRC_CheckErrorStatus(status, "InitializeNotifier");
m_thread = std::thread([=, this] {
for (;;) {
@@ -60,12 +60,12 @@ Notifier::Notifier(std::function<void()> handler) {
Notifier::Notifier(int priority, std::function<void()> handler) {
if (!handler) {
throw FRC_MakeError(err::NullParameter, "{}", "handler");
throw FRC_MakeError(err::NullParameter, "handler");
}
m_handler = handler;
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "{}", "InitializeNotifier");
FRC_CheckErrorStatus(status, "InitializeNotifier");
m_thread = std::thread([=, this] {
int32_t status = 0;
@@ -106,7 +106,7 @@ Notifier::~Notifier() {
// atomically set handle to 0, then clean
HAL_NotifierHandle handle = m_notifier.exchange(0);
HAL_StopNotifier(handle, &status);
FRC_ReportError(status, "{}", "StopNotifier");
FRC_ReportError(status, "StopNotifier");
// Join the thread to ensure the handler has exited.
if (m_thread.joinable()) {
@@ -172,7 +172,7 @@ void Notifier::Stop() {
m_periodic = false;
int32_t status = 0;
HAL_CancelNotifierAlarm(m_notifier, &status);
FRC_CheckErrorStatus(status, "{}", "CancelNotifierAlarm");
FRC_CheckErrorStatus(status, "CancelNotifierAlarm");
}
void Notifier::UpdateAlarm(uint64_t triggerTime) {
@@ -183,7 +183,7 @@ void Notifier::UpdateAlarm(uint64_t triggerTime) {
return;
}
HAL_UpdateNotifierAlarm(notifier, triggerTime, &status);
FRC_CheckErrorStatus(status, "{}", "UpdateNotifierAlarm");
FRC_CheckErrorStatus(status, "UpdateNotifierAlarm");
}
void Notifier::UpdateAlarm() {

4
wpilibc/src/main/native/cpp/PneumaticHub.cpp
View File

@@ -148,7 +148,7 @@ void PneumaticHub::EnableCompressorAnalog(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) {
if (minPressure >= maxPressure) {
throw FRC_MakeError(err::InvalidParameter, "{}",
throw FRC_MakeError(err::InvalidParameter,
"maxPressure must be greater than minPresure");
}
if (minPressure < 0_psi || minPressure > 120_psi) {
@@ -173,7 +173,7 @@ void PneumaticHub::EnableCompressorHybrid(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) {
if (minPressure >= maxPressure) {
throw FRC_MakeError(err::InvalidParameter, "{}",
throw FRC_MakeError(err::InvalidParameter,
"maxPressure must be greater than minPresure");
}
if (minPressure < 0_psi || minPressure > 120_psi) {

48
wpilibc/src/main/native/cpp/RobotController.cpp
View File

@@ -15,161 +15,161 @@ using namespace frc;
int RobotController::GetFPGAVersion() {
int32_t status = 0;
int version = HAL_GetFPGAVersion(&status);
FRC_CheckErrorStatus(status, "{}", "GetFPGAVersion");
FRC_CheckErrorStatus(status, "GetFPGAVersion");
return version;
}
int64_t RobotController::GetFPGARevision() {
int32_t status = 0;
int64_t revision = HAL_GetFPGARevision(&status);
FRC_CheckErrorStatus(status, "{}", "GetFPGARevision");
FRC_CheckErrorStatus(status, "GetFPGARevision");
return revision;
}
uint64_t RobotController::GetFPGATime() {
int32_t status = 0;
uint64_t time = HAL_GetFPGATime(&status);
FRC_CheckErrorStatus(status, "{}", "GetFPGATime");
FRC_CheckErrorStatus(status, "GetFPGATime");
return time;
}
bool RobotController::GetUserButton() {
int32_t status = 0;
bool value = HAL_GetFPGAButton(&status);
FRC_CheckErrorStatus(status, "{}", "GetUserButton");
FRC_CheckErrorStatus(status, "GetUserButton");
return value;
}
units::volt_t RobotController::GetBatteryVoltage() {
int32_t status = 0;
double retVal = HAL_GetVinVoltage(&status);
FRC_CheckErrorStatus(status, "{}", "GetBatteryVoltage");
FRC_CheckErrorStatus(status, "GetBatteryVoltage");
return units::volt_t{retVal};
}
bool RobotController::IsSysActive() {
int32_t status = 0;
bool retVal = HAL_GetSystemActive(&status);
FRC_CheckErrorStatus(status, "{}", "IsSysActive");
FRC_CheckErrorStatus(status, "IsSysActive");
return retVal;
}
bool RobotController::IsBrownedOut() {
int32_t status = 0;
bool retVal = HAL_GetBrownedOut(&status);
FRC_CheckErrorStatus(status, "{}", "IsBrownedOut");
FRC_CheckErrorStatus(status, "IsBrownedOut");
return retVal;
}
double RobotController::GetInputVoltage() {
int32_t status = 0;
double retVal = HAL_GetVinVoltage(&status);
FRC_CheckErrorStatus(status, "{}", "GetInputVoltage");
FRC_CheckErrorStatus(status, "GetInputVoltage");
return retVal;
}
double RobotController::GetInputCurrent() {
int32_t status = 0;
double retVal = HAL_GetVinCurrent(&status);
FRC_CheckErrorStatus(status, "{}", "GetInputCurrent");
FRC_CheckErrorStatus(status, "GetInputCurrent");
return retVal;
}
double RobotController::GetVoltage3V3() {
int32_t status = 0;
double retVal = HAL_GetUserVoltage3V3(&status);
FRC_CheckErrorStatus(status, "{}", "GetVoltage3V3");
FRC_CheckErrorStatus(status, "GetVoltage3V3");
return retVal;
}
double RobotController::GetCurrent3V3() {
int32_t status = 0;
double retVal = HAL_GetUserCurrent3V3(&status);
FRC_CheckErrorStatus(status, "{}", "GetCurrent3V3");
FRC_CheckErrorStatus(status, "GetCurrent3V3");
return retVal;
}
bool RobotController::GetEnabled3V3() {
int32_t status = 0;
bool retVal = HAL_GetUserActive3V3(&status);
FRC_CheckErrorStatus(status, "{}", "GetEnabled3V3");
FRC_CheckErrorStatus(status, "GetEnabled3V3");
return retVal;
}
int RobotController::GetFaultCount3V3() {
int32_t status = 0;
int retVal = HAL_GetUserCurrentFaults3V3(&status);
FRC_CheckErrorStatus(status, "{}", "GetFaultCount3V3");
FRC_CheckErrorStatus(status, "GetFaultCount3V3");
return retVal;
}
double RobotController::GetVoltage5V() {
int32_t status = 0;
double retVal = HAL_GetUserVoltage5V(&status);
FRC_CheckErrorStatus(status, "{}", "GetVoltage5V");
FRC_CheckErrorStatus(status, "GetVoltage5V");
return retVal;
}
double RobotController::GetCurrent5V() {
int32_t status = 0;
double retVal = HAL_GetUserCurrent5V(&status);
FRC_CheckErrorStatus(status, "{}", "GetCurrent5V");
FRC_CheckErrorStatus(status, "GetCurrent5V");
return retVal;
}
bool RobotController::GetEnabled5V() {
int32_t status = 0;
bool retVal = HAL_GetUserActive5V(&status);
FRC_CheckErrorStatus(status, "{}", "GetEnabled5V");
FRC_CheckErrorStatus(status, "GetEnabled5V");
return retVal;
}
int RobotController::GetFaultCount5V() {
int32_t status = 0;
int retVal = HAL_GetUserCurrentFaults5V(&status);
FRC_CheckErrorStatus(status, "{}", "GetFaultCount5V");
FRC_CheckErrorStatus(status, "GetFaultCount5V");
return retVal;
}
double RobotController::GetVoltage6V() {
int32_t status = 0;
double retVal = HAL_GetUserVoltage6V(&status);
FRC_CheckErrorStatus(status, "{}", "GetVoltage6V");
FRC_CheckErrorStatus(status, "GetVoltage6V");
return retVal;
}
double RobotController::GetCurrent6V() {
int32_t status = 0;
double retVal = HAL_GetUserCurrent6V(&status);
FRC_CheckErrorStatus(status, "{}", "GetCurrent6V");
FRC_CheckErrorStatus(status, "GetCurrent6V");
return retVal;
}
bool RobotController::GetEnabled6V() {
int32_t status = 0;
bool retVal = HAL_GetUserActive6V(&status);
FRC_CheckErrorStatus(status, "{}", "GetEnabled6V");
FRC_CheckErrorStatus(status, "GetEnabled6V");
return retVal;
}
int RobotController::GetFaultCount6V() {
int32_t status = 0;
int retVal = HAL_GetUserCurrentFaults6V(&status);
FRC_CheckErrorStatus(status, "{}", "GetFaultCount6V");
FRC_CheckErrorStatus(status, "GetFaultCount6V");
return retVal;
}
units::volt_t RobotController::GetBrownoutVoltage() {
int32_t status = 0;
double retVal = HAL_GetBrownoutVoltage(&status);
FRC_CheckErrorStatus(status, "{}", "GetBrownoutVoltage");
FRC_CheckErrorStatus(status, "GetBrownoutVoltage");
return units::volt_t{retVal};
}
void RobotController::SetBrownoutVoltage(units::volt_t brownoutVoltage) {
int32_t status = 0;
HAL_SetBrownoutVoltage(brownoutVoltage.value(), &status);
FRC_CheckErrorStatus(status, "{}", "SetBrownoutVoltage");
FRC_CheckErrorStatus(status, "SetBrownoutVoltage");
}
CANStatus RobotController::GetCANStatus() {
@@ -181,7 +181,7 @@ CANStatus RobotController::GetCANStatus() {
uint32_t transmitErrorCount = 0;
HAL_CAN_GetCANStatus(&percentBusUtilization, &busOffCount, &txFullCount,
&receiveErrorCount, &transmitErrorCount, &status);
FRC_CheckErrorStatus(status, "{}", "GetCANStatus");
FRC_CheckErrorStatus(status, "GetCANStatus");
return {percentBusUtilization, static_cast<int>(busOffCount),
static_cast<int>(txFullCount), static_cast<int>(receiveErrorCount),
static_cast<int>(transmitErrorCount)};

16
wpilibc/src/main/native/cpp/SerialPort.cpp
View File

@@ -77,7 +77,7 @@ SerialPort::SerialPort(int baudRate, std::string_view portName, Port port,
SerialPort::~SerialPort() {
int32_t status = 0;
HAL_CloseSerial(m_portHandle, &status);
FRC_ReportError(status, "{}", "CloseSerial");
FRC_ReportError(status, "CloseSerial");
}
void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) {
@@ -96,20 +96,20 @@ void SerialPort::EnableTermination(char terminator) {
void SerialPort::DisableTermination() {
int32_t status = 0;
HAL_DisableSerialTermination(m_portHandle, &status);
FRC_CheckErrorStatus(status, "{}", "DisableTermination");
FRC_CheckErrorStatus(status, "DisableTermination");
}
int SerialPort::GetBytesReceived() {
int32_t status = 0;
int retVal = HAL_GetSerialBytesReceived(m_portHandle, &status);
FRC_CheckErrorStatus(status, "{}", "GetBytesReceived");
FRC_CheckErrorStatus(status, "GetBytesReceived");
return retVal;
}
int SerialPort::Read(char* buffer, int count) {
int32_t status = 0;
int retVal = HAL_ReadSerial(m_portHandle, buffer, count, &status);
FRC_CheckErrorStatus(status, "{}", "Read");
FRC_CheckErrorStatus(status, "Read");
return retVal;
}
@@ -121,14 +121,14 @@ int SerialPort::Write(std::string_view buffer) {
int32_t status = 0;
int retVal =
HAL_WriteSerial(m_portHandle, buffer.data(), buffer.size(), &status);
FRC_CheckErrorStatus(status, "{}", "Write");
FRC_CheckErrorStatus(status, "Write");
return retVal;
}
void SerialPort::SetTimeout(units::second_t timeout) {
int32_t status = 0;
HAL_SetSerialTimeout(m_portHandle, timeout.value(), &status);
FRC_CheckErrorStatus(status, "{}", "SetTimeout");
FRC_CheckErrorStatus(status, "SetTimeout");
}
void SerialPort::SetReadBufferSize(int size) {
@@ -152,11 +152,11 @@ void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) {
void SerialPort::Flush() {
int32_t status = 0;
HAL_FlushSerial(m_portHandle, &status);
FRC_CheckErrorStatus(status, "{}", "Flush");
FRC_CheckErrorStatus(status, "Flush");
}
void SerialPort::Reset() {
int32_t status = 0;
HAL_ClearSerial(m_portHandle, &status);
FRC_CheckErrorStatus(status, "{}", "Reset");
FRC_CheckErrorStatus(status, "Reset");
}

18
wpilibc/src/main/native/cpp/SynchronousInterrupt.cpp
View File

@@ -21,7 +21,7 @@ SynchronousInterrupt::SynchronousInterrupt(DigitalSource& source)
SynchronousInterrupt::SynchronousInterrupt(DigitalSource* source)
: m_source{source, wpi::NullDeleter<DigitalSource>()} {
if (m_source == nullptr) {
FRC_CheckErrorStatus(frc::err::NullParameter, "{}", "Source is null");
FRC_CheckErrorStatus(frc::err::NullParameter, "Source is null");
} else {
InitSynchronousInterrupt();
}
@@ -30,7 +30,7 @@ SynchronousInterrupt::SynchronousInterrupt(
std::shared_ptr<DigitalSource> source)
: m_source{std::move(source)} {
if (m_source == nullptr) {
FRC_CheckErrorStatus(frc::err::NullParameter, "{}", "Source is null");
FRC_CheckErrorStatus(frc::err::NullParameter, "Source is null");
} else {
InitSynchronousInterrupt();
}
@@ -39,14 +39,14 @@ SynchronousInterrupt::SynchronousInterrupt(
void SynchronousInterrupt::InitSynchronousInterrupt() {
int32_t status = 0;
m_handle = HAL_InitializeInterrupts(&status);
FRC_CheckErrorStatus(status, "{}", "Interrupt failed to initialize");
FRC_CheckErrorStatus(status, "Interrupt failed to initialize");
HAL_RequestInterrupts(m_handle, m_source->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
m_source->GetAnalogTriggerTypeForRouting()),
&status);
FRC_CheckErrorStatus(status, "{}", "Interrupt request failed");
FRC_CheckErrorStatus(status, "Interrupt request failed");
HAL_SetInterruptUpSourceEdge(m_handle, true, false, &status);
FRC_CheckErrorStatus(status, "{}", "Interrupt setting up source edge failed");
FRC_CheckErrorStatus(status, "Interrupt setting up source edge failed");
}
SynchronousInterrupt::~SynchronousInterrupt() {
@@ -79,19 +79,19 @@ void SynchronousInterrupt::SetInterruptEdges(bool risingEdge,
bool fallingEdge) {
int32_t status = 0;
HAL_SetInterruptUpSourceEdge(m_handle, risingEdge, fallingEdge, &status);
FRC_CheckErrorStatus(status, "{}", "Interrupt setting edges failed");
FRC_CheckErrorStatus(status, "Interrupt setting edges failed");
}
void SynchronousInterrupt::WakeupWaitingInterrupt() {
int32_t status = 0;
HAL_ReleaseWaitingInterrupt(m_handle, &status);
FRC_CheckErrorStatus(status, "{}", "Interrupt wakeup failed");
FRC_CheckErrorStatus(status, "Interrupt wakeup failed");
}
units::second_t SynchronousInterrupt::GetRisingTimestamp() {
int32_t status = 0;
auto ts = HAL_ReadInterruptRisingTimestamp(m_handle, &status);
FRC_CheckErrorStatus(status, "{}", "Interrupt rising timestamp failed");
FRC_CheckErrorStatus(status, "Interrupt rising timestamp failed");
units::microsecond_t ms{static_cast<double>(ts)};
return ms;
}
@@ -99,7 +99,7 @@ units::second_t SynchronousInterrupt::GetRisingTimestamp() {
units::second_t SynchronousInterrupt::GetFallingTimestamp() {
int32_t status = 0;
auto ts = HAL_ReadInterruptFallingTimestamp(m_handle, &status);
FRC_CheckErrorStatus(status, "{}", "Interrupt falling timestamp failed");
FRC_CheckErrorStatus(status, "Interrupt falling timestamp failed");
units::microsecond_t ms{static_cast<double>(ts)};
return ms;
}

8
wpilibc/src/main/native/cpp/Threads.cpp
View File

@@ -16,7 +16,7 @@ int GetThreadPriority(std::thread& thread, bool* isRealTime) {
HAL_Bool rt = false;
auto native = thread.native_handle();
auto ret = HAL_GetThreadPriority(&native, &rt, &status);
FRC_CheckErrorStatus(status, "{}", "GetThreadPriority");
FRC_CheckErrorStatus(status, "GetThreadPriority");
*isRealTime = rt;
return ret;
}
@@ -25,7 +25,7 @@ int GetCurrentThreadPriority(bool* isRealTime) {
int32_t status = 0;
HAL_Bool rt = false;
auto ret = HAL_GetCurrentThreadPriority(&rt, &status);
FRC_CheckErrorStatus(status, "{}", "GetCurrentThreadPriority");
FRC_CheckErrorStatus(status, "GetCurrentThreadPriority");
*isRealTime = rt;
return ret;
}
@@ -34,14 +34,14 @@ bool SetThreadPriority(std::thread& thread, bool realTime, int priority) {
int32_t status = 0;
auto native = thread.native_handle();
auto ret = HAL_SetThreadPriority(&native, realTime, priority, &status);
FRC_CheckErrorStatus(status, "{}", "SetThreadPriority");
FRC_CheckErrorStatus(status, "SetThreadPriority");
return ret;
}
bool SetCurrentThreadPriority(bool realTime, int priority) {
int32_t status = 0;
auto ret = HAL_SetCurrentThreadPriority(realTime, priority, &status);
FRC_CheckErrorStatus(status, "{}", "SetCurrentThreadPriority");
FRC_CheckErrorStatus(status, "SetCurrentThreadPriority");
return ret;
}

6
wpilibc/src/main/native/cpp/TimedRobot.cpp
View File

@@ -40,7 +40,7 @@ void TimedRobot::StartCompetition() {
HAL_UpdateNotifierAlarm(
m_notifier, static_cast<uint64_t>(callback.expirationTime * 1e6),
&status);
FRC_CheckErrorStatus(status, "{}", "UpdateNotifierAlarm");
FRC_CheckErrorStatus(status, "UpdateNotifierAlarm");
uint64_t curTime = HAL_WaitForNotifierAlarm(m_notifier, &status);
if (curTime == 0 || status != 0) {
@@ -76,7 +76,7 @@ TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "{}", "InitializeNotifier");
FRC_CheckErrorStatus(status, "InitializeNotifier");
HAL_SetNotifierName(m_notifier, "TimedRobot", &status);
HAL_Report(HALUsageReporting::kResourceType_Framework,
@@ -87,7 +87,7 @@ TimedRobot::~TimedRobot() {
int32_t status = 0;
HAL_StopNotifier(m_notifier, &status);
FRC_ReportError(status, "{}", "StopNotifier");
FRC_ReportError(status, "StopNotifier");
HAL_CleanNotifier(m_notifier, &status);
}

6
wpilibc/src/main/native/cpp/Ultrasonic.cpp
View File

@@ -39,10 +39,10 @@ Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel)
m_echoChannel(echoChannel, wpi::NullDeleter<DigitalInput>()),
m_counter(m_echoChannel) {
if (!pingChannel) {
throw FRC_MakeError(err::NullParameter, "{}", "pingChannel");
throw FRC_MakeError(err::NullParameter, "pingChannel");
}
if (!echoChannel) {
throw FRC_MakeError(err::NullParameter, "{}", "echoChannel");
throw FRC_MakeError(err::NullParameter, "echoChannel");
}
Initialize();
}
@@ -86,7 +86,7 @@ int Ultrasonic::GetEchoChannel() const {
void Ultrasonic::Ping() {
if (m_automaticEnabled) {
throw FRC_MakeError(err::IncompatibleMode, "{}",
throw FRC_MakeError(err::IncompatibleMode,
"cannot call Ping() in automatic mode");
}

6
wpilibc/src/main/native/cpp/Watchdog.cpp
View File

@@ -47,7 +47,7 @@ class Watchdog::Impl {
Watchdog::Impl::Impl() {
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "{}", "starting watchdog notifier");
FRC_CheckErrorStatus(status, "starting watchdog notifier");
HAL_SetNotifierName(m_notifier, "Watchdog", &status);
m_thread = std::thread([=, this] { Main(); });
@@ -58,7 +58,7 @@ Watchdog::Impl::~Impl() {
// atomically set handle to 0, then clean
HAL_NotifierHandle handle = m_notifier.exchange(0);
HAL_StopNotifier(handle, &status);
FRC_ReportError(status, "{}", "stopping watchdog notifier");
FRC_ReportError(status, "stopping watchdog notifier");
// Join the thread to ensure the handler has exited.
if (m_thread.joinable()) {
@@ -84,7 +84,7 @@ void Watchdog::Impl::UpdateAlarm() {
1e6),
&status);
}
FRC_CheckErrorStatus(status, "{}", "updating watchdog notifier alarm");
FRC_CheckErrorStatus(status, "updating watchdog notifier alarm");
}
void Watchdog::Impl::Main() {

4
wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp
View File

@@ -24,10 +24,10 @@ ExternalDirectionCounter::ExternalDirectionCounter(
std::shared_ptr<DigitalSource> countSource,
std::shared_ptr<DigitalSource> directionSource) {
if (countSource == nullptr) {
throw FRC_MakeError(err::NullParameter, "{}", "countSource");
throw FRC_MakeError(err::NullParameter, "countSource");
}
if (directionSource == nullptr) {
throw FRC_MakeError(err::NullParameter, "{}", "directionSource");
throw FRC_MakeError(err::NullParameter, "directionSource");
}
m_countSource = countSource;

2
wpilibc/src/main/native/cpp/counter/Tachometer.cpp
View File

@@ -19,7 +19,7 @@ Tachometer::Tachometer(DigitalSource& source)
: Tachometer({&source, wpi::NullDeleter<DigitalSource>()}) {}
Tachometer::Tachometer(std::shared_ptr<DigitalSource> source) {
if (source == nullptr) {
throw FRC_MakeError(err::NullParameter, "{}", "source");
throw FRC_MakeError(err::NullParameter, "source");
}
m_source = source;

3
wpilibc/src/main/native/cpp/shuffleboard/RecordingController.cpp
View File

@@ -39,8 +39,7 @@ void RecordingController::AddEventMarker(
std::string_view name, std::string_view description,
ShuffleboardEventImportance importance) {
if (name.empty()) {
FRC_ReportError(err::Error, "{}",
"Shuffleboard event name was not specified");
FRC_ReportError(err::Error, "Shuffleboard event name was not specified");
return;
}
m_eventsTable->GetSubTable(name)->GetEntry("Info").SetStringArray(

2
wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
View File

@@ -70,7 +70,7 @@ ComplexWidget& ShuffleboardContainer::Add(std::string_view title,
ComplexWidget& ShuffleboardContainer::Add(wpi::Sendable& sendable) {
auto name = wpi::SendableRegistry::GetName(&sendable);
if (name.empty()) {
FRC_ReportError(err::Error, "{}", "Sendable must have a name");
FRC_ReportError(err::Error, "Sendable must have a name");
}
return Add(name, sendable);
}

4
wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
View File

@@ -76,7 +76,7 @@ nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
void SmartDashboard::PutData(std::string_view key, wpi::Sendable* data) {
if (!data) {
throw FRC_MakeError(err::NullParameter, "{}", "value");
throw FRC_MakeError(err::NullParameter, "value");
}
auto& inst = GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
@@ -96,7 +96,7 @@ void SmartDashboard::PutData(std::string_view key, wpi::Sendable* data) {
void SmartDashboard::PutData(wpi::Sendable* value) {
if (!value) {
throw FRC_MakeError(err::NullParameter, "{}", "value");
throw FRC_MakeError(err::NullParameter, "value");
}
auto name = wpi::SendableRegistry::GetName(value);
if (!name.empty()) {

2
wpilibc/src/main/native/cppcs/RobotBase.cpp
View File

@@ -45,7 +45,7 @@ int frc::RunHALInitialization() {
HALUsageReporting::kLanguage_CPlusPlus, 0, GetWPILibVersion());
if (!frc::Notifier::SetHALThreadPriority(true, 40)) {
FRC_ReportError(warn::Warning, "{}",
FRC_ReportError(warn::Warning,
"Setting HAL Notifier RT priority to 40 failed\n");
}

58
wpilibc/src/main/native/include/frc/Errors.h
View File

@@ -74,9 +74,10 @@ void ReportErrorV(int32_t status, const char* fileName, int lineNumber,
* @param[in] format error message format
* @param[in] args error message format args
*/
template <typename S, typename... Args>
template <typename... Args>
inline void ReportError(int32_t status, const char* fileName, int lineNumber,
const char* funcName, const S& format, Args&&... args) {
const char* funcName, fmt::string_view format,
Args&&... args) {
ReportErrorV(status, fileName, lineNumber, funcName, format,
fmt::make_format_args(args...));
}
@@ -99,12 +100,10 @@ inline void ReportError(int32_t status, const char* fileName, int lineNumber,
fmt::string_view format,
fmt::format_args args);
template <typename S, typename... Args>
[[nodiscard]] inline RuntimeError MakeError(int32_t status,
const char* fileName,
int lineNumber,
const char* funcName,
const S& format, Args&&... args) {
template <typename... Args>
[[nodiscard]] inline RuntimeError MakeError(
int32_t status, const char* fileName, int lineNumber, const char* funcName,
fmt::string_view format, Args&&... args) {
return MakeErrorV(status, fileName, lineNumber, funcName, format,
fmt::make_format_args(args...));
}
@@ -122,18 +121,24 @@ namespace warn {
} // namespace warn
} // namespace frc
// C++20 relaxed the number of arguments to variadics, but Apple Clang's
// warnings haven't caught up yet: https://stackoverflow.com/a/67996331
#ifdef __clang__
#pragma clang diagnostic ignored "-Wgnu-zero-variadic-macro-arguments"
#endif
/**
* Reports an error to the driver station (using HAL_SendError).
*
* @param[out] status error code
* @param[in] format error message format
*/
#define FRC_ReportError(status, format, ...) \
do { \
if ((status) != 0) { \
::frc::ReportError(status, __FILE__, __LINE__, __FUNCTION__, \
FMT_STRING(format), __VA_ARGS__); \
} \
#define FRC_ReportError(status, format, ...) \
do { \
if ((status) != 0) { \
::frc::ReportError(status, __FILE__, __LINE__, __FUNCTION__, \
FMT_STRING(format) __VA_OPT__(, ) __VA_ARGS__); \
} \
} while (0)
/**
@@ -146,7 +151,7 @@ namespace warn {
*/
#define FRC_MakeError(status, format, ...) \
::frc::MakeError(status, __FILE__, __LINE__, __FUNCTION__, \
FMT_STRING(format), __VA_ARGS__)
FMT_STRING(format) __VA_OPT__(, ) __VA_ARGS__)
/**
* Checks a status code and depending on its value, either throws a
@@ -155,23 +160,24 @@ namespace warn {
* @param[out] status error code
* @param[in] format error message format
*/
#define FRC_CheckErrorStatus(status, format, ...) \
do { \
if ((status) < 0) { \
throw ::frc::MakeError(status, __FILE__, __LINE__, __FUNCTION__, \
FMT_STRING(format), __VA_ARGS__); \
} else if ((status) > 0) { \
::frc::ReportError(status, __FILE__, __LINE__, __FUNCTION__, \
FMT_STRING(format), __VA_ARGS__); \
} \
#define FRC_CheckErrorStatus(status, format, ...) \
do { \
if ((status) < 0) { \
throw ::frc::MakeError(status, __FILE__, __LINE__, __FUNCTION__, \
FMT_STRING(format) __VA_OPT__(, ) __VA_ARGS__); \
} else if ((status) > 0) { \
::frc::ReportError(status, __FILE__, __LINE__, __FUNCTION__, \
FMT_STRING(format) __VA_OPT__(, ) __VA_ARGS__); \
} \
} while (0)
#define FRC_AssertMessage(condition, format, ...) \
do { \
if (!(condition)) { \
throw ::frc::MakeError(err::AssertionFailure, __FILE__, __LINE__, \
__FUNCTION__, FMT_STRING(format), __VA_ARGS__); \
__FUNCTION__, \
FMT_STRING(format) __VA_OPT__(, ) __VA_ARGS__); \
} \
} while (0)
#define FRC_Assert(condition) FRC_AssertMessage(condition, "{}", #condition)
#define FRC_Assert(condition) FRC_AssertMessage(condition, #condition)

2
wpilibc/src/main/native/include/frc/RobotBase.h
View File

@@ -34,7 +34,7 @@ void RunRobot(wpi::mutex& m, Robot** robot) {
} catch (const frc::RuntimeError& e) {
e.Report();
FRC_ReportError(
err::Error, "{}",
err::Error,
"The robot program quit unexpectedly."
" This is usually due to a code error.\n"
" The above stacktrace can help determine where the error occurred.\n"

2
wpimath/src/main/native/cpp/controller/PIDController.cpp
View File

@@ -24,7 +24,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
period.value());
m_period = 20_ms;
wpi::math::MathSharedStore::ReportWarning(
"{}", "Controller period defaulted to 20ms.");
"Controller period defaulted to 20ms.");
}
static int instances = 0;
instances++;

4
wpinet/src/main/native/cpp/DsClient.cpp
View File

@@ -22,7 +22,7 @@ DsClient::DsClient(wpi::uv::Loop& loop, wpi::Logger& logger,
m_tcp{uv::Tcp::Create(loop)},
m_timer{uv::Timer::Create(loop)} {
m_tcp->end.connect([this] {
WPI_DEBUG4(m_logger, "{}", "DS connection closed");
WPI_DEBUG4(m_logger, "DS connection closed");
clearIp();
// try to connect again
m_tcp->Reuse([this] { m_timer->Start(kReconnectTime); });
@@ -56,7 +56,7 @@ void DsClient::Connect() {
m_tcp->Reuse([this] { m_timer->Start(kReconnectTime); });
};
WPI_DEBUG4(m_logger, "{}", "Starting DS connection attempt");
WPI_DEBUG4(m_logger, "Starting DS connection attempt");
m_tcp->Connect("127.0.0.1", 1742, connreq);
}

6
wpinet/src/main/native/cpp/ParallelTcpConnector.cpp
View File

@@ -26,7 +26,7 @@ ParallelTcpConnector::ParallelTcpConnector(
m_reconnectTimer{uv::Timer::Create(loop)} {
m_reconnectTimer->timeout.connect([this] {
if (!IsConnected()) {
WPI_DEBUG1(m_logger, "{}", "timed out, reconnecting");
WPI_DEBUG1(m_logger, "timed out, reconnecting");
Connect();
}
});
@@ -70,7 +70,7 @@ void ParallelTcpConnector::Connect() {
CancelAll();
m_reconnectTimer->Start(m_reconnectRate);
WPI_DEBUG3(m_logger, "{}", "starting new connection attempts");
WPI_DEBUG3(m_logger, "starting new connection attempts");
// kick off parallel lookups
for (auto&& server : m_servers) {
@@ -154,7 +154,7 @@ void ParallelTcpConnector::Connect() {
}
void ParallelTcpConnector::CancelAll(wpi::uv::Tcp* except) {
WPI_DEBUG4(m_logger, "{}", "canceling previous attempts");
WPI_DEBUG4(m_logger, "canceling previous attempts");
for (auto&& resolverWeak : m_resolvers) {
if (auto resolver = resolverWeak.lock()) {
WPI_DEBUG4(m_logger, "canceling GetAddrInfo({})",

8
wpinet/src/main/native/cpp/UDPClient.cpp
View File

@@ -74,7 +74,7 @@ int UDPClient::start(int port) {
m_lsd = socket(AF_INET, SOCK_DGRAM, 0);
if (m_lsd < 0) {
WPI_ERROR(m_logger, "{}", "could not create socket");
WPI_ERROR(m_logger, "could not create socket");
return -1;
}
@@ -142,7 +142,7 @@ int UDPClient::send(std::span<const uint8_t> data, std::string_view server,
addr.sin_family = AF_INET;
SmallString<128> remoteAddr{server};
if (remoteAddr.empty()) {
WPI_ERROR(m_logger, "{}", "server must be passed");
WPI_ERROR(m_logger, "server must be passed");
return -1;
}
@@ -171,7 +171,7 @@ int UDPClient::send(std::string_view data, std::string_view server, int port) {
addr.sin_family = AF_INET;
SmallString<128> remoteAddr{server};
if (remoteAddr.empty()) {
WPI_ERROR(m_logger, "{}", "server must be passed");
WPI_ERROR(m_logger, "server must be passed");
return -1;
}
@@ -243,7 +243,7 @@ int UDPClient::set_timeout(double timeout) {
int ret = setsockopt(m_lsd, SOL_SOCKET, SO_RCVTIMEO,
reinterpret_cast<char*>(&tv), sizeof(tv));
if (ret < 0) {
WPI_ERROR(m_logger, "{}", "set timeout failed");
WPI_ERROR(m_logger, "set timeout failed");
}
return ret;
}

2
wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPAcceptor.cpp vendored
View File

@@ -80,7 +80,7 @@ int TCPAcceptor::start() {
m_lsd = socket(PF_INET, SOCK_STREAM, 0);
if (m_lsd < 0) {
WPI_ERROR(m_logger, "{}", "could not create socket");
WPI_ERROR(m_logger, "could not create socket");
return -1;
}
struct sockaddr_in address;

4
wpinet/src/main/native/thirdparty/tcpsockets/cpp/TCPConnector.cpp vendored
View File

@@ -106,7 +106,7 @@ std::unique_ptr<NetworkStream> TCPConnector::connect(const char* server,
if (timeout == 0) {
int sd = socket(AF_INET, SOCK_STREAM, 0);
if (sd < 0) {
WPI_ERROR(logger, "{}", "could not create socket");
WPI_ERROR(logger, "could not create socket");
return nullptr;
}
if (::connect(sd, reinterpret_cast<struct sockaddr*>(&address),
@@ -128,7 +128,7 @@ std::unique_ptr<NetworkStream> TCPConnector::connect(const char* server,
socklen_t len;
int result = -1, valopt, sd = socket(AF_INET, SOCK_STREAM, 0);
if (sd < 0) {
WPI_ERROR(logger, "{}", "could not create socket");
WPI_ERROR(logger, "could not create socket");
return nullptr;
}

2
wpiutil/src/main/native/cpp/DataLog.cpp
View File

@@ -276,7 +276,7 @@ void DataLog::WriterThreadMain(std::string_view dir) {
}
if (f == fs::kInvalidFile) {
WPI_ERROR(m_msglog, "{}", "Could not open log file, no log being saved");
WPI_ERROR(m_msglog, "Could not open log file, no log being saved");
} else {
WPI_INFO(m_msglog, "Logging to '{}'", (dirPath / filename).string());
}

35
wpiutil/src/main/native/include/wpi/Logger.h
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@@ -45,9 +45,9 @@ class Logger {
void LogV(unsigned int level, const char* file, unsigned int line,
fmt::string_view format, fmt::format_args args);
template <typename S, typename... Args>
template <typename... Args>
void Log(unsigned int level, const char* file, unsigned int line,
const S& format, Args&&... args) {
fmt::string_view format, Args&&... args) {
if (m_func && level >= m_min_level) {
LogV(level, file, line, format, fmt::make_format_args(args...));
}
@@ -60,18 +60,25 @@ class Logger {
unsigned int m_min_level = 20;
};
#define WPI_LOG(logger_inst, level, format, ...) \
if ((logger_inst).HasLogger() && level >= (logger_inst).min_level()) { \
(logger_inst) \
.Log(level, __FILE__, __LINE__, FMT_STRING(format), __VA_ARGS__); \
// C++20 relaxed the number of arguments to variadics, but Apple Clang's
// warnings haven't caught up yet: https://stackoverflow.com/a/67996331
#ifdef __clang__
#pragma clang diagnostic ignored "-Wgnu-zero-variadic-macro-arguments"
#endif
#define WPI_LOG(logger_inst, level, format, ...) \
if ((logger_inst).HasLogger() && level >= (logger_inst).min_level()) { \
(logger_inst) \
.Log(level, __FILE__, __LINE__, \
FMT_STRING(format) __VA_OPT__(, ) __VA_ARGS__); \
}
#define WPI_ERROR(inst, format, ...) \
WPI_LOG(inst, ::wpi::WPI_LOG_ERROR, format, __VA_ARGS__)
WPI_LOG(inst, ::wpi::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
#define WPI_WARNING(inst, format, ...) \
WPI_LOG(inst, ::wpi::WPI_LOG_WARNING, format, __VA_ARGS__)
WPI_LOG(inst, ::wpi::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
#define WPI_INFO(inst, format, ...) \
WPI_LOG(inst, ::wpi::WPI_LOG_INFO, format, __VA_ARGS__)
WPI_LOG(inst, ::wpi::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
#ifdef NDEBUG
#define WPI_DEBUG(inst, format, ...) \
@@ -91,15 +98,15 @@ class Logger {
} while (0)
#else
#define WPI_DEBUG(inst, format, ...) \
WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG, format, __VA_ARGS__)
WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
#define WPI_DEBUG1(inst, format, ...) \
WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG1, format, __VA_ARGS__)
WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
#define WPI_DEBUG2(inst, format, ...) \
WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG2, format, __VA_ARGS__)
WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
#define WPI_DEBUG3(inst, format, ...) \
WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG3, format, __VA_ARGS__)
WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
#define WPI_DEBUG4(inst, format, ...) \
WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG4, format, __VA_ARGS__)
WPI_LOG(inst, ::wpi::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
#endif
} // namespace wpi

2
wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/ErrorHandling.cpp vendored
View File

@@ -163,7 +163,7 @@ void wpi::wpi_unreachable_internal(const char *msg, const char *file,
std::fputs("UNREACHABLE executed", stderr);
if (file)
fmt::print(stderr, " at {}:{}", file, line);
fmt::print(stderr, "{}", "!\n");
fmt::print(stderr, "!\n");
abort();
#ifdef LLVM_BUILTIN_UNREACHABLE
// Windows systems and possibly others don't declare abort() to be noreturn,