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Allowed sharing of common C++ code between RoboRIO and Simulation.

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Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8
This commit is contained in:
Alex Henning
2014-08-08 17:05:49 -04:00
committed by Thomas Clark
parent b371600f0f
commit 7c8124d76c
242 changed files with 536 additions and 4710 deletions
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205
wpilibc/wpilibC++/src/ErrorBase.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#include "ErrorBase.h"
#include "HAL/cpp/Synchronized.hpp"
#define WPI_ERRORS_DEFINE_STRINGS
#include "WPIErrors.h"
#include <errno.h>
#include <cstring>
#include <cstdio>
MUTEX_ID ErrorBase::_globalErrorMutex = initializeMutexNormal();
Error ErrorBase::_globalError;
/**
* @brief Initialize the instance status to 0 for now.
*/
ErrorBase::ErrorBase()
{}
ErrorBase::~ErrorBase()
{}
/**
* @brief Retrieve the current error.
* Get the current error information associated with this sensor.
*/
Error& ErrorBase::GetError()
{
return m_error;
}
const Error& ErrorBase::GetError() const
{
return m_error;
}
/**
* @brief Clear the current error information associated with this sensor.
*/
void ErrorBase::ClearError() const
{
m_error.Clear();
}
/**
* @brief Set error information associated with a C library call that set an error to the "errno" global variable.
*
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
void ErrorBase::SetErrnoError(const char *contextMessage,
const char* filename, const char* function, uint32_t lineNumber) const
{
char err[256];
int errNo = errno;
if (errNo == 0)
{
sprintf(err, "OK: %s", contextMessage);
}
else
{
snprintf(err, 256, "%s (0x%08X): %s", strerror(errNo), errNo, contextMessage);
}
// Set the current error information for this object.
m_error.Set(-1, err, filename, function, lineNumber, this);
// Update the global error if there is not one already set.
Synchronized mutex(_globalErrorMutex);
if (_globalError.GetCode() == 0) {
_globalError.Clone(m_error);
}
}
/**
* @brief Set the current error information associated from the nivision Imaq API.
*
* @param success The return from the function
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
void ErrorBase::SetImaqError(int success, const char *contextMessage, const char* filename, const char* function, uint32_t lineNumber) const
{
// If there was an error
if (success <= 0) {
//TODO: ??? char err[256];
// XXX: sprintf(err, "%s: %s", contextMessage, imaqGetErrorText(imaqGetLastError()));
// Set the current error information for this object.
// XXX: m_error.Set(imaqGetLastError(), err, filename, function, lineNumber, this);
// Update the global error if there is not one already set.
Synchronized mutex(_globalErrorMutex);
if (_globalError.GetCode() == 0) {
_globalError.Clone(m_error);
}
}
}
/**
* @brief Set the current error information associated with this sensor.
*
* @param code The error code
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
void ErrorBase::SetError(Error::Code code, const char *contextMessage,
const char* filename, const char* function, uint32_t lineNumber) const
{
// If there was an error
if (code != 0) {
// Set the current error information for this object.
m_error.Set(code, contextMessage, filename, function, lineNumber, this);
// Update the global error if there is not one already set.
Synchronized mutex(_globalErrorMutex);
if (_globalError.GetCode() == 0) {
_globalError.Clone(m_error);
}
}
}
/**
* @brief Set the current error information associated with this sensor.
*
* @param errorMessage The error message from WPIErrors.h
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
void ErrorBase::SetWPIError(const char *errorMessage, Error::Code code , const char *contextMessage,
const char* filename, const char* function, uint32_t lineNumber) const
{
char err[256];
sprintf(err, "%s: %s", errorMessage, contextMessage);
// Set the current error information for this object.
m_error.Set(code, err, filename, function, lineNumber, this);
// Update the global error if there is not one already set.
Synchronized mutex(_globalErrorMutex);
if (_globalError.GetCode() == 0) {
_globalError.Clone(m_error);
}
}
void ErrorBase::CloneError(ErrorBase *rhs) const
{
m_error.Clone(rhs->GetError());
}
/**
@brief Check if the current error code represents a fatal error.
@return true if the current error is fatal.
*/
bool ErrorBase::StatusIsFatal() const
{
return m_error.GetCode() < 0;
}
void ErrorBase::SetGlobalError(Error::Code code, const char *contextMessage,
const char* filename, const char* function, uint32_t lineNumber)
{
// If there was an error
if (code != 0) {
Synchronized mutex(_globalErrorMutex);
// Set the current error information for this object.
_globalError.Set(code, contextMessage, filename, function, lineNumber, NULL);
}
}
void ErrorBase::SetGlobalWPIError(const char *errorMessage, const char *contextMessage,
const char* filename, const char* function, uint32_t lineNumber)
{
char err[256];
sprintf(err, "%s: %s", errorMessage, contextMessage);
Synchronized mutex(_globalErrorMutex);
if (_globalError.GetCode() != 0) {
_globalError.Clear();
}
_globalError.Set(-1, err, filename, function, lineNumber, NULL);
}
/**
* Retrieve the current global error.
*/
Error& ErrorBase::GetGlobalError()
{
Synchronized mutex(_globalErrorMutex);
return _globalError;
}