[wpilibc] Errors: Use fmtlib

wpilibOldCommands/src/main/native/cpp/commands/Command.cpp

@@ -32,7 +32,7 @@ Command::Command(Subsystem& subsystem) : Command("", -1.0) {
 Command::Command(const wpi::Twine& name, double timeout) {
   // We use -1.0 to indicate no timeout.
   if (timeout < 0.0 && timeout != -1.0) {
-    throw FRC_MakeError(err::ParameterOutOfRange, "timeout < 0.0");
+    throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0.0", timeout);
   }
 
   m_timeout = timeout;
@@ -77,7 +77,7 @@ void Command::Requires(Subsystem* subsystem) {
   if (subsystem != nullptr) {
     m_requirements.insert(subsystem);
   } else {
-    throw FRC_MakeError(err::NullParameter, "subsystem");
+    throw FRC_MakeError(err::NullParameter, "{}", "subsystem");
   }
 }
 
@@ -85,7 +85,7 @@ void Command::Start() {
   LockChanges();
   if (m_parent != nullptr) {
     throw FRC_MakeError(
-        err::CommandIllegalUse,
+        err::CommandIllegalUse, "{}",
         "Can not start a command that is part of a command group");
   }
 
@@ -116,7 +116,7 @@ bool Command::Run() {
 void Command::Cancel() {
   if (m_parent != nullptr) {
     throw FRC_MakeError(
-        err::CommandIllegalUse,
+        err::CommandIllegalUse, "{}",
         "Can not cancel a command that is part of a command group");
   }
 
@@ -173,7 +173,7 @@ int Command::GetID() const {
 
 void Command::SetTimeout(double timeout) {
   if (timeout < 0.0) {
-    throw FRC_MakeError(err::ParameterOutOfRange, "timeout < 0.0");
+    throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0.0", timeout);
   } else {
     m_timeout = timeout;
   }
@@ -187,18 +187,16 @@ bool Command::AssertUnlocked(const std::string& message) {
   if (m_locked) {
     throw FRC_MakeError(
         err::CommandIllegalUse,
-        message +
-            wpi::Twine{
-                " after being started or being added to a command group"});
+        "{} after being started or being added to a command group", message);
   }
   return true;
 }
 
 void Command::SetParent(CommandGroup* parent) {
   if (parent == nullptr) {
-    throw FRC_MakeError(err::NullParameter, "parent");
+    throw FRC_MakeError(err::NullParameter, "{}", "parent");
   } else if (m_parent != nullptr) {
-    throw FRC_MakeError(err::CommandIllegalUse,
+    throw FRC_MakeError(err::CommandIllegalUse, "{}",
                         "Can not give command to a command group after "
                         "already being put in a command group");
   } else {

wpilibOldCommands/src/main/native/cpp/commands/CommandGroup.cpp

@@ -12,7 +12,7 @@ CommandGroup::CommandGroup(const wpi::Twine& name) : Command(name) {}
 
 void CommandGroup::AddSequential(Command* command) {
   if (!command) {
-    throw FRC_MakeError(err::NullParameter, "command");
+    throw FRC_MakeError(err::NullParameter, "{}", "command");
   }
   if (!AssertUnlocked("Cannot add new command to command group")) {
     return;
@@ -31,13 +31,13 @@ void CommandGroup::AddSequential(Command* command) {
 
 void CommandGroup::AddSequential(Command* command, double timeout) {
   if (!command) {
-    throw FRC_MakeError(err::NullParameter, "command");
+    throw FRC_MakeError(err::NullParameter, "{}", "command");
   }
   if (!AssertUnlocked("Cannot add new command to command group")) {
     return;
   }
   if (timeout < 0.0) {
-    throw FRC_MakeError(err::ParameterOutOfRange, "timeout < 0.0");
+    throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0.0", timeout);
   }
 
   m_commands.emplace_back(command, CommandGroupEntry::kSequence_InSequence,
@@ -54,7 +54,7 @@ void CommandGroup::AddSequential(Command* command, double timeout) {
 
 void CommandGroup::AddParallel(Command* command) {
   if (!command) {
-    throw FRC_MakeError(err::NullParameter, "command");
+    throw FRC_MakeError(err::NullParameter, "{}", "command");
     return;
   }
   if (!AssertUnlocked("Cannot add new command to command group")) {
@@ -74,13 +74,13 @@ void CommandGroup::AddParallel(Command* command) {
 
 void CommandGroup::AddParallel(Command* command, double timeout) {
   if (!command) {
-    throw FRC_MakeError(err::NullParameter, "command");
+    throw FRC_MakeError(err::NullParameter, "{}", "command");
   }
   if (!AssertUnlocked("Cannot add new command to command group")) {
     return;
   }
   if (timeout < 0.0) {
-    throw FRC_MakeError(err::ParameterOutOfRange, "timeout < 0.0");
+    throw FRC_MakeError(err::ParameterOutOfRange, "timeout {} < 0.0", timeout);
   }
 
   m_commands.emplace_back(command, CommandGroupEntry::kSequence_BranchChild,

wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp

@@ -65,7 +65,7 @@ void Scheduler::AddButton(ButtonScheduler* button) {
 
 void Scheduler::RegisterSubsystem(Subsystem* subsystem) {
   if (!subsystem) {
-    throw FRC_MakeError(err::NullParameter, "subsystem");
+    throw FRC_MakeError(err::NullParameter, "{}", "subsystem");
   }
   m_impl->subsystems.insert(subsystem);
 }
@@ -108,7 +108,7 @@ void Scheduler::Run() {
     for (auto& addition : m_impl->additions) {
       // Check to make sure no adding during adding
       if (m_impl->adding) {
-        FRC_ReportError(warn::IncompatibleState,
+        FRC_ReportError(warn::IncompatibleState, "{}",
                         "Can not start command from cancel method");
       } else {
         m_impl->ProcessCommandAddition(addition);
@@ -121,7 +121,7 @@ void Scheduler::Run() {
   for (auto& subsystem : m_impl->subsystems) {
     if (subsystem->GetCurrentCommand() == nullptr) {
       if (m_impl->adding) {
-        FRC_ReportError(warn::IncompatibleState,
+        FRC_ReportError(warn::IncompatibleState, "{}",
                         "Can not start command from cancel method");
       } else {
         m_impl->ProcessCommandAddition(subsystem->GetDefaultCommand());
@@ -133,7 +133,7 @@ void Scheduler::Run() {
 
 void Scheduler::Remove(Command* command) {
   if (!command) {
-    throw FRC_MakeError(err::NullParameter, "command");
+    throw FRC_MakeError(err::NullParameter, "{}", "command");
   }
 
   m_impl->Remove(command);

wpilibOldCommands/src/main/native/cpp/commands/Subsystem.cpp

@@ -24,7 +24,7 @@ void Subsystem::SetDefaultCommand(Command* command) {
   } else {
     const auto& reqs = command->GetRequirements();
     if (std::find(reqs.begin(), reqs.end(), this) == reqs.end()) {
-      throw FRC_MakeError(err::CommandIllegalUse,
+      throw FRC_MakeError(err::CommandIllegalUse, "{}",
                           "A default command must require the subsystem");
     }