From 5dcaa6d6715ba3e9fea613e72001e0186897783c Mon Sep 17 00:00:00 2001
From: Jade <spacey-sooty@proton.me>
Date: Sun, 28 Jul 2024 11:20:08 +0800
Subject: [PATCH] [wpilibc] Add FRC_ReportWarning (#6681)

---
 ntcoreffi/src/main/native/cpp/DataLogManager.cpp |  1 -
 wpilibc/src/main/native/cpp/DataLogManager.cpp   | 10 +++++-----
 wpilibc/src/main/native/cpp/I2C.cpp              |  8 ++++----
 wpilibc/src/main/native/cpp/Tracer.cpp           |  2 +-
 wpilibc/src/main/native/cpp/Watchdog.cpp         |  4 ++--
 wpilibc/src/main/native/cppcs/RobotBase.cpp      |  3 +--
 wpilibc/src/main/native/include/frc/Errors.h     | 11 +++++++++++
 7 files changed, 24 insertions(+), 15 deletions(-)

diff --git a/ntcoreffi/src/main/native/cpp/DataLogManager.cpp b/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
index 2692b8781b..d8543482fe 100644
--- a/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
+++ b/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
@@ -18,7 +18,6 @@
 #include <wpi/StringExtras.h>
 #include <wpi/fs.h>
 #include <wpi/print.h>
-#include <wpi/timestamp.h>
 
 #ifdef __FRC_ROBORIO__
 #include <FRC_NetworkCommunication/FRCComm.h>
diff --git a/wpilibc/src/main/native/cpp/DataLogManager.cpp b/wpilibc/src/main/native/cpp/DataLogManager.cpp
index 43870728d4..dc9d3d7387 100644
--- a/wpilibc/src/main/native/cpp/DataLogManager.cpp
+++ b/wpilibc/src/main/native/cpp/DataLogManager.cpp
@@ -73,9 +73,9 @@ static std::string MakeLogDir(std::string_view dir) {
     return "/u/logs";
   }
   if (RobotBase::GetRuntimeType() == kRoboRIO) {
-    FRC_ReportError(warn::Warning,
-                    "DataLogManager: Logging to RoboRIO 1 internal storage is "
-                    "not recommended! Plug in a FAT32 formatted flash drive!");
+    FRC_ReportWarning(
+        "DataLogManager: Logging to RoboRIO 1 internal storage is "
+        "not recommended! Plug in a FAT32 formatted flash drive!");
   }
   fs::create_directory("/home/lvuser/logs", ec);
   return "/home/lvuser/logs";
@@ -151,8 +151,8 @@ void Thread::Main() {
         }
         auto size = entry.file_size();
         if (fs::remove(entry.path(), ec)) {
-          FRC_ReportError(warn::Warning, "DataLogManager: Deleted {}",
-                          entry.path().string());
+          FRC_ReportWarning("DataLogManager: Deleted {}",
+                            entry.path().string());
           freeSpace += size;
           if (freeSpace >= kFreeSpaceThreshold) {
             break;
diff --git a/wpilibc/src/main/native/cpp/I2C.cpp b/wpilibc/src/main/native/cpp/I2C.cpp
index 232a47f0f1..dbc624dcc1 100644
--- a/wpilibc/src/main/native/cpp/I2C.cpp
+++ b/wpilibc/src/main/native/cpp/I2C.cpp
@@ -19,10 +19,10 @@ I2C::I2C(Port port, int deviceAddress)
   int32_t status = 0;
 
   if (port == I2C::Port::kOnboard) {
-    FRC_ReportError(warn::Warning,
-                    "Onboard I2C port is subject to system lockups. See Known "
-                    "Issues page for "
-                    "details");
+    FRC_ReportWarning(
+        "Onboard I2C port is subject to system lockups. See Known "
+        "Issues page for "
+        "details");
   }
 
   HAL_InitializeI2C(m_port, &status);
diff --git a/wpilibc/src/main/native/cpp/Tracer.cpp b/wpilibc/src/main/native/cpp/Tracer.cpp
index 1375411ff1..41b0863e47 100644
--- a/wpilibc/src/main/native/cpp/Tracer.cpp
+++ b/wpilibc/src/main/native/cpp/Tracer.cpp
@@ -36,7 +36,7 @@ void Tracer::PrintEpochs() {
   wpi::raw_svector_ostream os(buf);
   PrintEpochs(os);
   if (!buf.empty()) {
-    FRC_ReportError(warn::Warning, "{}", buf.c_str());
+    FRC_ReportWarning("{}", buf.c_str());
   }
 }
 
diff --git a/wpilibc/src/main/native/cpp/Watchdog.cpp b/wpilibc/src/main/native/cpp/Watchdog.cpp
index 37e253616e..e626d27352 100644
--- a/wpilibc/src/main/native/cpp/Watchdog.cpp
+++ b/wpilibc/src/main/native/cpp/Watchdog.cpp
@@ -113,8 +113,8 @@ void Watchdog::Impl::Main() {
     if (now - watchdog->m_lastTimeoutPrintTime > kMinPrintPeriod) {
       watchdog->m_lastTimeoutPrintTime = now;
       if (!watchdog->m_suppressTimeoutMessage) {
-        FRC_ReportError(warn::Warning, "Watchdog not fed within {:.6f}s",
-                        watchdog->m_timeout.value());
+        FRC_ReportWarning("Watchdog not fed within {:.6f}s",
+                          watchdog->m_timeout.value());
       }
     }
 
diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp
index c4052ac6e0..da75ad4c87 100644
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -47,8 +47,7 @@ int frc::RunHALInitialization() {
              HALUsageReporting::kLanguage_CPlusPlus, 0, GetWPILibVersion());
 
   if (!frc::Notifier::SetHALThreadPriority(true, 40)) {
-    FRC_ReportError(warn::Warning,
-                    "Setting HAL Notifier RT priority to 40 failed\n");
+    FRC_ReportWarning("Setting HAL Notifier RT priority to 40 failed\n");
   }
 
   std::puts("\n********** Robot program starting **********");
diff --git a/wpilibc/src/main/native/include/frc/Errors.h b/wpilibc/src/main/native/include/frc/Errors.h
index 4dae6c94bb..44c02b11d5 100644
--- a/wpilibc/src/main/native/include/frc/Errors.h
+++ b/wpilibc/src/main/native/include/frc/Errors.h
@@ -142,6 +142,17 @@ namespace warn {
     }                                                                    \
   } while (0)
 
+/**
+ * Reports a warning to the driver station (using HAL_SendError).
+ *
+ * @param[in]  format error message format
+ */
+#define FRC_ReportWarning(format, ...)                                  \
+  do {                                                                  \
+    ::frc::ReportError(warn::Warning, __FILE__, __LINE__, __FUNCTION__, \
+                       FMT_STRING(format) __VA_OPT__(, ) __VA_ARGS__);  \
+  } while (0)
+
 /**
  * Makes a runtime error exception object. This object should be thrown
  * by the caller.