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[hal] Add HAL_GetLastError to enable better error messages from HAL calls (#3320)

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This uses thread local storage so a full error string can be provided, not just an error code.
This commit is contained in:
Thad House
2021-04-29 09:56:54 -07:00
committed by GitHub
parent ced654880c
commit 5127380727
10 changed files with 81 additions and 13 deletions
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2
hal/src/main/native/athena/HAL.cpp
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@@ -233,6 +233,8 @@ const char* HAL_GetErrorMessage(int32_t code) {
return HAL_CAN_BUFFER_OVERRUN_MESSAGE;
case HAL_LED_CHANNEL_ERROR:
return HAL_LED_CHANNEL_ERROR_MESSAGE;
case HAL_USE_LAST_ERROR:
return HAL_USE_LAST_ERROR_MESSAGE;
default:
return "Unknown error status";
}

4
hal/src/main/native/athena/HALInternal.h
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@@ -6,7 +6,9 @@
#include <stdint.h>
#include <wpi/Twine.h>
namespace hal {
void ReleaseFPGAInterrupt(int32_t interruptNumber);
void SetLastError(int32_t status, const wpi::Twine& value);
} // namespace hal

41
hal/src/main/native/cpp/ErrorHandling.cpp Normal file
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@@ -0,0 +1,41 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <wpi/SmallString.h>
#include <wpi/Twine.h>
#include "hal/Errors.h"
#include "hal/HALBase.h"
namespace {
struct LastErrorStorage {
int32_t status;
wpi::SmallString<512> message;
};
} // namespace
static LastErrorStorage& GetThreadLastError() {
thread_local LastErrorStorage lastError;
return lastError;
}
namespace hal {
void SetLastError(int32_t status, const wpi::Twine& value) {
LastErrorStorage& lastError = GetThreadLastError();
lastError.message.clear();
value.toVector(lastError.message);
lastError.status = status;
}
} // namespace hal
extern "C" {
const char* HAL_GetLastError(int32_t* status) {
if (*status == HAL_USE_LAST_ERROR) {
LastErrorStorage& lastError = GetThreadLastError();
*status = lastError.status;
return lastError.message.c_str();
}
return HAL_GetErrorMessage(*status);
}
} // extern "C"

12
hal/src/main/native/cpp/jni/HALUtil.cpp
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@@ -85,7 +85,7 @@ void ThrowUncleanStatusException(JNIEnv* env, wpi::StringRef msg,
void ThrowAllocationException(JNIEnv* env, int32_t minRange, int32_t maxRange,
int32_t requestedValue, int32_t status) {
const char* message = HAL_GetErrorMessage(status);
const char* message = HAL_GetLastError(&status);
wpi::SmallString<1024> buf;
wpi::raw_svector_ostream oss(buf);
oss << " Code: " << status << ". " << message
@@ -96,7 +96,7 @@ void ThrowAllocationException(JNIEnv* env, int32_t minRange, int32_t maxRange,
}
void ThrowHalHandleException(JNIEnv* env, int32_t status) {
const char* message = HAL_GetErrorMessage(status);
const char* message = HAL_GetLastError(&status);
wpi::SmallString<1024> buf;
wpi::raw_svector_ostream oss(buf);
oss << " Code: " << status << ". " << message;
@@ -110,7 +110,7 @@ void ReportError(JNIEnv* env, int32_t status, bool doThrow) {
if (status == HAL_HANDLE_ERROR) {
ThrowHalHandleException(env, status);
}
const char* message = HAL_GetErrorMessage(status);
const char* message = HAL_GetLastError(&status);
if (doThrow && status < 0) {
wpi::SmallString<1024> buf;
wpi::raw_svector_ostream oss(buf);
@@ -119,7 +119,11 @@ void ReportError(JNIEnv* env, int32_t status, bool doThrow) {
} else {
std::string func;
auto stack = GetJavaStackTrace(env, &func, "edu.wpi.first");
HAL_SendError(1, status, 0, message, func.c_str(), stack.c_str(), 1);
// Make a copy of message for safety, calling back into the HAL might
// invalidate the string.
wpi::SmallString<256> lastMessage{wpi::StringRef{message}};
HAL_SendError(1, status, 0, lastMessage.c_str(), func.c_str(),
stack.c_str(), 1);
}
}

4
hal/src/main/native/include/hal/Errors.h
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@@ -125,6 +125,10 @@
#define HAL_SIM_NOT_SUPPORTED -1155
#define HAL_SIM_NOT_SUPPORTED_MESSAGE "HAL: Method not supported in sim"
#define HAL_USE_LAST_ERROR -1156
#define HAL_USE_LAST_ERROR_MESSAGE \
"HAL: Use HAL_GetLastError(status) to get last error"
#define HAL_CAN_BUFFER_OVERRUN -35007
#define HAL_CAN_BUFFER_OVERRUN_MESSAGE \
"HAL: CAN Output Buffer Full. Ensure a device is attached"

13
hal/src/main/native/include/hal/HALBase.h
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@@ -22,6 +22,19 @@ HAL_ENUM(HAL_RuntimeType) { HAL_Athena, HAL_Mock };
extern "C" {
#endif
/**
* Gets the last error set on this thread, or the message for the status code.
*
* If passed HAL_USE_LAST_ERROR, the last error set on the thread will be
* returned.
*
* @param code the status code, set to the error status code if input is
* HAL_USE_LAST_ERROR
* @return the error message for the code. This does not need to be freed,
* but can be overwritten by another hal call on the same thread.
*/
const char* HAL_GetLastError(int32_t* status);
/**
* Gets the error message for a specific status code.
*

2
hal/src/main/native/sim/HAL.cpp
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@@ -250,6 +250,8 @@ const char* HAL_GetErrorMessage(int32_t code) {
return HAL_CAN_BUFFER_OVERRUN_MESSAGE;
case HAL_LED_CHANNEL_ERROR:
return HAL_LED_CHANNEL_ERROR_MESSAGE;
case HAL_USE_LAST_ERROR:
return HAL_USE_LAST_ERROR_MESSAGE;
default:
return "Unknown error status";
}

10
wpilibc/src/main/native/cpp/Errors.cpp
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@@ -36,10 +36,10 @@ void RuntimeError::Report() const {
m_data->stack.c_str(), 1);
}
const char* frc::GetErrorMessage(int32_t code) {
const char* frc::GetErrorMessage(int32_t* code) {
using namespace err;
using namespace warn;
switch (code) {
switch (*code) {
#define S(label, offset, message) \
case label: \
return message;
@@ -47,7 +47,7 @@ const char* frc::GetErrorMessage(int32_t code) {
#include "frc/WPIWarnings.mac"
#undef S
default:
return HAL_GetErrorMessage(code);
return HAL_GetLastError(code);
}
}
@@ -57,7 +57,7 @@ void frc::ReportError(int32_t status, const wpi::Twine& message,
if (status == 0) {
return;
}
const char* statusMessage = GetErrorMessage(status);
const char* statusMessage = GetErrorMessage(&status);
auto stack = wpi::GetStackTrace(2);
wpi::SmallString<128> buf;
HAL_SendError(status < 0, status, 0,
@@ -70,7 +70,7 @@ void frc::ReportError(int32_t status, const wpi::Twine& message,
RuntimeError frc::MakeError(int32_t status, const wpi::Twine& message,
const char* fileName, int lineNumber,
const char* funcName) {
const char* statusMessage = GetErrorMessage(status);
const char* statusMessage = GetErrorMessage(&status);
auto stack = wpi::GetStackTrace(2);
return RuntimeError{status, statusMessage + wpi::Twine{": "} + message,
fileName, lineNumber,

2
wpilibc/src/main/native/include/frc/Errors.h
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@@ -45,7 +45,7 @@ class RuntimeError : public std::runtime_error {
/**
* Gets error message string for an error code.
*/
const char* GetErrorMessage(int32_t code);
const char* GetErrorMessage(int32_t* code);
/**
* Reports an error to the driver station (using HAL_SendError).

4
wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
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@@ -65,7 +65,7 @@ int main(void) {
HAL_DigitalHandle pwmPort = HAL_InitializePWMPort(HAL_GetPort(2), &status);
if (status != 0) {
const char* message = HAL_GetErrorMessage(status);
const char* message = HAL_GetLastError(&status);
printf("%s\n", message);
return 1;
}
@@ -78,7 +78,7 @@ int main(void) {
HAL_DigitalHandle dio = HAL_InitializeDIOPort(HAL_GetPort(2), 1, &status);
if (status != 0) {
const char* message = HAL_GetErrorMessage(status);
const char* message = HAL_GetLastError(&status);
printf("%s\n", message);
status = 0;
HAL_FreePWMPort(pwmPort, &status);