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Merge "Added stack traces and better error reporting in C++"

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This commit is contained in:
Alex Henning (WPI)
2014-07-29 07:27:12 -07:00
committed by Gerrit Code Review
parent 06d59447be 89fe909ae6
commit 78d2ccd299
9 changed files with 162 additions and 156 deletions
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1
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
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@@ -58,6 +58,7 @@
</option>
<option id="gnu.cpp.link.option.flags.1747959472" name="Linker flags" superClass="gnu.cpp.link.option.flags" value="-Wl,-rpath-link,$cpp-location/lib" valueType="string"/>
<option id="gnu.cpp.link.option.other.1891020896" name="Other options (-Xlinker [option])" superClass="gnu.cpp.link.option.other" valueType="stringList">
<listOptionValue builtIn="false" value="-export-dynamic"/>
</option>
<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1757265359" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>

12
hal/include/HAL/cpp/StackTrace.hpp
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@@ -1,12 +0,0 @@
#pragma once
#ifdef __vxworks
#include <vxWorks.h>
#else
#include <stdint.h>
#endif
extern "C"
{
void printCurrentStackTrace();
}

9
hal/lib/Athena/cpp/StackTrace.cpp
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@@ -1,9 +0,0 @@
#include "HAL/cpp/StackTrace.hpp"
#include <stdio.h>
void printCurrentStackTrace() {
// TODO: Implement
}

5
wpilibc/wpilibC++/include/Error.h
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@@ -33,10 +33,6 @@ public:
void Clear();
void Set(Code code, const char* contextMessage, const char* filename, const char *function,
uint32_t lineNumber, const ErrorBase* originatingObject);
static void EnableStackTrace(bool enable)
{
m_stackTraceEnabled = enable;
}
static void EnableSuspendOnError(bool enable)
{
m_suspendOnErrorEnabled = enable;
@@ -53,6 +49,5 @@ private:
const ErrorBase* m_originatingObject;
double m_timestamp;
static bool m_stackTraceEnabled;
static bool m_suspendOnErrorEnabled;DISALLOW_COPY_AND_ASSIGN(Error);
};

16
wpilibc/wpilibC++/include/Utility.h
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@@ -6,22 +6,22 @@
#pragma once
#include "HAL/HAL.hpp"
#include <string>
#define wpi_assert(condition) wpi_assert_impl(condition, #condition, NULL, __FILE__, __LINE__, __FUNCTION__)
#define wpi_assertWithMessage(condition, message) wpi_assert_impl(condition, #condition, message, __FILE__, __LINE__, __FUNCTION__)
#define wpi_assertEqual(a, b) wpi_assertEqual_impl(a, b, NULL, __FILE__, __LINE__, __FUNCTION__)
#define wpi_assertEqualWithMessage(a, b, message) wpi_assertEqual_impl(a, b, message, __FILE__, __LINE__, __FUNCTION__)
#define wpi_assertEqual(a, b) wpi_assertEqual_impl(a, b, #a, #b, NULL, __FILE__, __LINE__, __FUNCTION__)
#define wpi_assertEqualWithMessage(a, b, message) wpi_assertEqual_impl(a, b, #a, #b, message, __FILE__, __LINE__, __FUNCTION__)
#define wpi_assertNotEqual(a, b) wpi_assertNotEqual_impl(a, b, NULL, __FILE__, __LINE__, __FUNCTION__)
#define wpi_assertNotEqualWithMessage(a, b, message) wpi_assertNotEqual_impl(a, b, message, __FILE__, __LINE__, __FUNCTION__)
#define wpi_assertNotEqual(a, b) wpi_assertNotEqual_impl(a, b, #a, #b, NULL, __FILE__, __LINE__, __FUNCTION__)
#define wpi_assertNotEqualWithMessage(a, b, message) wpi_assertNotEqual_impl(a, b, #a, #b, message, __FILE__, __LINE__, __FUNCTION__)
bool wpi_assert_impl(bool conditionValue, const char *conditionText, const char *message, const char *fileName, uint32_t lineNumber, const char *funcName);
bool wpi_assertEqual_impl(int valueA, int valueB, const char *message, const char *fileName,uint32_t lineNumber, const char *funcName);
bool wpi_assertNotEqual_impl(int valueA, int valueB, const char *message, const char *fileName,uint32_t lineNumber, const char *funcName);
bool wpi_assertEqual_impl(int valueA, int valueB, const char *valueAString, const char *valueBString, const char *message, const char *fileName,uint32_t lineNumber, const char *funcName);
bool wpi_assertNotEqual_impl(int valueA, int valueB, const char *valueAString, const char *valueBString, const char *message, const char *fileName,uint32_t lineNumber, const char *funcName);
void wpi_suspendOnAssertEnabled(bool enabled);
void wpi_stackTraceOnAssertEnable(bool enabled);
uint16_t GetFPGAVersion();
uint32_t GetFPGARevision();
@@ -33,4 +33,4 @@ int32_t ToggleRIOUserLED();
void SetRIO_FPGA_LED(uint32_t state);
int32_t GetRIO_FPGA_LED();
int32_t ToggleRIO_FPGA_LED();
std::string GetStackTrace(uint32_t offset);

45
wpilibc/wpilibC++/lib/Error.cpp
View File

@@ -6,14 +6,15 @@
#include "Error.h"
#include "HAL/cpp/StackTrace.hpp"
#include <iostream>
#include <sstream>
#include <cstdio>
#include <cstring>
#include <cstdlib>
//#include "NetworkCommunication/FRCComm.h"
#include "Timer.h"
#include "Utility.h"
bool Error::m_stackTraceEnabled = false;
bool Error::m_suspendOnErrorEnabled = false;
Error::Error()
@@ -75,39 +76,18 @@ void Error::Set(Code code, const char* contextMessage, const char* filename, con
void Error::Report()
{
// Error string buffers
char *error = new char[256];
char *error_with_code = new char[256];
std::stringstream errorStream;
// Build error strings
if (m_code != -1)
{
snprintf(error, 256, "%s: status = %d (0x%08X) %s ...in %s() in %s at line %d\n",
m_code < 0 ? "ERROR" : "WARNING", (int32_t)m_code, (uint32_t)m_code, m_message.c_str(),
m_function.c_str(), m_filename.c_str(), m_lineNumber);
sprintf(error_with_code,"<Code>%d %s", (int32_t)m_code, error);
} else {
snprintf(error, 256, "ERROR: %s ...in %s() in %s at line %d\n", m_message.c_str(),
m_function.c_str(), m_filename.c_str(), m_lineNumber);
strcpy(error_with_code, error);
}
// TODO: Add logging to disk
errorStream << "Error on line " << m_lineNumber << " ";
errorStream << "of "<< basename(m_filename.c_str()) << ": ";
errorStream << m_message << std::endl;
errorStream << GetStackTrace(4);
// Send to the DriverStation
HALSetErrorData(error_with_code, strlen(error_with_code), 100);
std::string error = errorStream.str();
delete [] error_with_code;
// Print to console
printf("\n\n>>>>%s", error);
delete [] error;
if (m_stackTraceEnabled)
{
printf("-----------<Stack Trace>----------------\n");
printCurrentStackTrace();
}
// Print the error and send it to the DriverStation
std::cout << error << std::endl;
HALSetErrorData(error.c_str(), error.size(), 100);
}
void Error::Clear()
@@ -120,4 +100,3 @@ void Error::Clear()
m_originatingObject = NULL;
m_timestamp = 0.0;
}

1
wpilibc/wpilibC++/lib/ErrorBase.cpp
View File

@@ -6,7 +6,6 @@
#include "ErrorBase.h"
#include "HAL/cpp/Synchronized.hpp"
#include "HAL/cpp/StackTrace.hpp"
#include "nivision.h"
#define WPI_ERRORS_DEFINE_STRINGS
#include "WPIErrors.h"

221
wpilibc/wpilibC++/lib/Utility.cpp
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@@ -8,23 +8,18 @@
//#include "NetworkCommunication/FRCComm.h"
#include "HAL/HAL.hpp"
#include "HAL/cpp/StackTrace.hpp"
#include "Task.h"
#include <stdio.h>
#include <string.h>
#include <iostream>
#include <sstream>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <execinfo.h>
#include <cxxabi.h>
#include "nivision.h"
static bool stackTraceEnabled = false;
static bool suspendOnAssertEnabled = false;
/**
* Enable Stack trace after asserts.
*/
void wpi_stackTraceOnAssertEnable(bool enabled)
{
stackTraceEnabled = enabled;
}
/**
* Enable suspend on asssert.
* If enabled, the user task will be suspended whenever an assert fails. This
@@ -36,50 +31,46 @@ void wpi_suspendOnAssertEnabled(bool enabled)
suspendOnAssertEnabled = enabled;
}
static void wpi_handleTracing()
{
if (stackTraceEnabled)
{
printf("\n-----------<Stack Trace>----------------\n");
printCurrentStackTrace();
}
printf("\n");
}
/**
* Assert implementation.
* This allows breakpoints to be set on an assert.
* The users don't call this, but instead use the wpi_assert macros in Utility.h.
*/
bool wpi_assert_impl(bool conditionValue,
const char *conditionText,
const char *message,
const char *fileName,
uint32_t lineNumber,
const char *funcName)
bool wpi_assert_impl(bool conditionValue,
const char *conditionText,
const char *message,
const char *fileName,
uint32_t lineNumber,
const char *funcName)
{
if (!conditionValue)
{
// Error string buffer
char error[256];
// If an error message was specified, include it
// Build error string
if(message != NULL) {
sprintf(error, "Assertion failed: \"%s\", \"%s\" failed in %s() in %s at line %dd\n",
message, conditionText, funcName, fileName, lineNumber);
} else {
sprintf(error, "Assertion failed: \"%s\" in %s() in %s at line %dd\n",
conditionText, funcName, fileName, lineNumber);
if(!conditionValue)
{
std::stringstream errorStream;
errorStream << "Assertion \"" << conditionText << "\" ";
errorStream << "on line " << lineNumber << " ";
errorStream << "of "<< basename(fileName) << " ";
if(message)
{
errorStream << "failed: " << message << std::endl;
}
// Print to console and send to remote dashboard
printf("\n\n>>>>%s", error);
HALSetErrorData(error, strlen(error), 100);
wpi_handleTracing();
else
{
errorStream << "failed." << std::endl;
}
errorStream << GetStackTrace(2);
std::string error = errorStream.str();
// Print the error and send it to the DriverStation
std::cout << error << std::endl;
HALSetErrorData(error.c_str(), error.size(), 100);
if (suspendOnAssertEnabled) suspendTask(0);
}
return conditionValue;
}
@@ -88,32 +79,37 @@ bool wpi_assert_impl(bool conditionValue,
* This should not be called directly; it should only be used by wpi_assertEqual_impl
* and wpi_assertNotEqual_impl.
*/
void wpi_assertEqual_common_impl(int valueA,
int valueB,
const char *equalityType,
const char *message,
const char *fileName,
uint32_t lineNumber,
const char *funcName)
void wpi_assertEqual_common_impl(const char *valueA,
const char *valueB,
const char *equalityType,
const char *message,
const char *fileName,
uint32_t lineNumber,
const char *funcName)
{
// Error string buffer
char error[256];
// If an error message was specified, include it
// Build error string
if(message != NULL) {
sprintf(error, "Assertion failed: \"%s\", \"%d\" %s \"%d\" in %s() in %s at line %d\n",
message, valueA, equalityType, valueB, funcName, fileName, lineNumber);
} else {
sprintf(error, "Assertion failed: \"%d\" %s \"%d\" in %s() in %s at line %d\n",
valueA, equalityType, valueB, funcName, fileName, lineNumber);
std::stringstream errorStream;
errorStream << "Assertion \"" << valueA << " " << equalityType << " " << valueB << "\" ";
errorStream << "on line " << lineNumber << " ";
errorStream << "of "<< basename(fileName) << " ";
if(message)
{
errorStream << "failed: " << message << std::endl;
}
// Print to console and send to remote dashboard
printf("\n\n>>>>%s", error);
HALSetErrorData(error, strlen(error), 100);
wpi_handleTracing();
else
{
errorStream << "failed." << std::endl;
}
errorStream << GetStackTrace(3);
std::string error = errorStream.str();
// Print the error and send it to the DriverStation
std::cout << error << std::endl;
HALSetErrorData(error.c_str(), error.size(), 100);
if (suspendOnAssertEnabled) suspendTask(0);
}
@@ -124,15 +120,18 @@ void wpi_assertEqual_common_impl(int valueA,
* The users don't call this, but instead use the wpi_assertEqual macros in Utility.h.
*/
bool wpi_assertEqual_impl(int valueA,
int valueB,
const char *message,
const char *fileName,
uint32_t lineNumber,
const char *funcName)
int valueB,
const char *valueAString,
const char *valueBString,
const char *message,
const char *fileName,
uint32_t lineNumber,
const char *funcName)
{
if(!(valueA == valueB))
{
wpi_assertEqual_common_impl(valueA, valueB, "!=", message, fileName, lineNumber, funcName);
wpi_assertEqual_common_impl(valueAString, valueBString,
"==", message, fileName, lineNumber, funcName);
}
return valueA == valueB;
}
@@ -144,15 +143,18 @@ bool wpi_assertEqual_impl(int valueA,
* The users don't call this, but instead use the wpi_assertNotEqual macros in Utility.h.
*/
bool wpi_assertNotEqual_impl(int valueA,
int valueB,
const char *message,
const char *fileName,
uint32_t lineNumber,
const char *funcName)
int valueB,
const char *valueAString,
const char *valueBString,
const char *message,
const char *fileName,
uint32_t lineNumber,
const char *funcName)
{
if(!(valueA != valueB))
{
wpi_assertEqual_common_impl(valueA, valueB, "==", message, fileName, lineNumber, funcName);
wpi_assertEqual_common_impl(valueAString, valueBString,
"!=", message, fileName, lineNumber, funcName);
}
return valueA != valueB;
}
@@ -189,7 +191,7 @@ uint32_t GetFPGARevision()
/**
* Read the microsecond-resolution timer on the FPGA.
*
*
* @return The current time in microseconds according to the FPGA (since FPGA reset).
*/
uint32_t GetFPGATime()
@@ -279,4 +281,55 @@ int32_t ToggleRIO_FPGA_LED()
return ledState;
}
/**
* Demangle a C++ symbol, used for printing stack traces.
*/
static std::string demangle(char const *mangledSymbol)
{
char buffer[256];
size_t length;
int status;
if(sscanf(mangledSymbol, "%*[^(]%*[^_]%255[^)+]", buffer))
{
char *symbol = abi::__cxa_demangle(buffer, NULL, &length, &status);
if(status == 0)
{
return symbol;
}
else
{
// If the symbol couldn't be demangled, it's probably a C function,
// so just return it as-is.
return buffer;
}
}
// If everything else failed, just return the mangled symbol
return mangledSymbol;
}
/**
* Get a stack trace, ignoring the first "offset" symbols.
*/
std::string GetStackTrace(uint32_t offset)
{
void *stackTrace[128];
int stackSize = backtrace(stackTrace, 128);
char **mangledSymbols = backtrace_symbols(stackTrace, stackSize);
std::stringstream trace;
for(int i = offset; i < stackSize; i++)
{
// Only print recursive functions once in a row.
if(i == 0 ||stackTrace[i] != stackTrace[i - 1])
{
trace << "\tat " << demangle(mangledSymbols[i]) << std::endl;
}
}
free(mangledSymbols);
return trace.str();
}

8
wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp
View File

@@ -80,7 +80,7 @@ protected:
* causes a ResourceAlreadyAllocated error.
*/
TEST_F(CANJaguarTest, AlreadyAllocatedError) {
std::cout << "The following errors are expected.";
std::cout << "The following errors are expected." << std::endl << std::endl;
CANJaguar jaguar(TestBench::kCANJaguarID);
EXPECT_EQ(wpi_error_value_ResourceAlreadyAllocated, jaguar.GetError().GetCode())
@@ -92,7 +92,7 @@ TEST_F(CANJaguarTest, AlreadyAllocatedError) {
* out-of-range error.
*/
TEST_F(CANJaguarTest, 64OutOfRangeError) {
std::cout << "The following errors are expected.";
std::cout << "The following errors are expected." << std::endl << std::endl;
CANJaguar jaguar(64);
EXPECT_EQ(wpi_error_value_ChannelIndexOutOfRange, jaguar.GetError().GetCode())
@@ -104,7 +104,7 @@ TEST_F(CANJaguarTest, 64OutOfRangeError) {
* error.
*/
TEST_F(CANJaguarTest, 0OutOfRangeError) {
std::cout << "The following errors are expected.";
std::cout << "The following errors are expected." << std::endl << std::endl;
CANJaguar jaguar(0);
EXPECT_EQ(wpi_error_value_ChannelIndexOutOfRange, jaguar.GetError().GetCode())
@@ -143,7 +143,7 @@ TEST_F(CANJaguarTest, Disable) {
m_jaguar->DisableControl();
double initialPosition = m_jaguar->GetPosition();
SetJaguar(kMotorTime, 1.0f);
m_jaguar->Set(0.0f);