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[wpilibc] Errors: Use fmtlib

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This commit is contained in:
Peter Johnson
2021-05-23 19:33:33 -07:00
parent 87603e400d
commit 831c10bdfc
55 changed files with 551 additions and 533 deletions
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43
wpilibc/src/main/native/cpp/PWM.cpp
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@@ -21,24 +21,22 @@ using namespace frc;
PWM::PWM(int channel, bool registerSendable) {
if (!SensorUtil::CheckPWMChannel(channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange,
"PWM Channel " + wpi::Twine{channel});
return;
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
}
auto stack = wpi::GetStackTrace(1);
int32_t status = 0;
m_handle =
HAL_InitializePWMPort(HAL_GetPort(channel), stack.c_str(), &status);
FRC_CheckErrorStatus(status, "PWM Channel " + wpi::Twine{channel});
FRC_CheckErrorStatus(status, "Channel {}", channel);
m_channel = channel;
HAL_SetPWMDisabled(m_handle, &status);
FRC_CheckErrorStatus(status, "SetPWMDisabled");
FRC_CheckErrorStatus(status, "Channel {}", channel);
status = 0;
HAL_SetPWMEliminateDeadband(m_handle, false, &status);
FRC_CheckErrorStatus(status, "SetPWMEliminateDeadband");
FRC_CheckErrorStatus(status, "Channel {}", channel);
HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
if (registerSendable) {
@@ -50,22 +48,22 @@ PWM::~PWM() {
int32_t status = 0;
HAL_SetPWMDisabled(m_handle, &status);
FRC_ReportError(status, "SetPWMDisabled");
FRC_ReportError(status, "Channel {}", m_channel);
HAL_FreePWMPort(m_handle, &status);
FRC_ReportError(status, "FreePWM");
FRC_ReportError(status, "Channel {}", m_channel);
}
void PWM::SetRaw(uint16_t value) {
int32_t status = 0;
HAL_SetPWMRaw(m_handle, value, &status);
FRC_CheckErrorStatus(status, "SetRaw");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
uint16_t PWM::GetRaw() const {
int32_t status = 0;
uint16_t value = HAL_GetPWMRaw(m_handle, &status);
FRC_CheckErrorStatus(status, "GetRaw");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return value;
}
@@ -73,33 +71,33 @@ uint16_t PWM::GetRaw() const {
void PWM::SetPosition(double pos) {
int32_t status = 0;
HAL_SetPWMPosition(m_handle, pos, &status);
FRC_CheckErrorStatus(status, "SetPosition");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
double PWM::GetPosition() const {
int32_t status = 0;
double position = HAL_GetPWMPosition(m_handle, &status);
FRC_CheckErrorStatus(status, "GetPosition");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return position;
}
void PWM::SetSpeed(double speed) {
int32_t status = 0;
HAL_SetPWMSpeed(m_handle, speed, &status);
FRC_CheckErrorStatus(status, "SetSpeed");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
double PWM::GetSpeed() const {
int32_t status = 0;
double speed = HAL_GetPWMSpeed(m_handle, &status);
FRC_CheckErrorStatus(status, "GetSpeed");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return speed;
}
void PWM::SetDisabled() {
int32_t status = 0;
HAL_SetPWMDisabled(m_handle, &status);
FRC_CheckErrorStatus(status, "SetDisabled");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
@@ -118,22 +116,23 @@ void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
HAL_SetPWMPeriodScale(m_handle, 0, &status); // Don't squelch any outputs
break;
default:
throw FRC_MakeError(err::InvalidParameter, "PeriodMultiplier value");
throw FRC_MakeError(err::InvalidParameter, "PeriodMultiplier value {}",
mult);
}
FRC_CheckErrorStatus(status, "SetPeriodMultiplier");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void PWM::SetZeroLatch() {
int32_t status = 0;
HAL_LatchPWMZero(m_handle, &status);
FRC_CheckErrorStatus(status, "SetZeroLatch");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
int32_t status = 0;
HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
FRC_CheckErrorStatus(status, "EnableDeadbandElimination");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void PWM::SetBounds(double max, double deadbandMax, double center,
@@ -141,7 +140,7 @@ void PWM::SetBounds(double max, double deadbandMax, double center,
int32_t status = 0;
HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
FRC_CheckErrorStatus(status, "SetBounds");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
@@ -149,7 +148,7 @@ void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
int32_t status = 0;
HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
FRC_CheckErrorStatus(status, "SetRawBounds");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
@@ -157,7 +156,7 @@ void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
int32_t status = 0;
HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
FRC_CheckErrorStatus(status, "GetRawBounds");
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
int PWM::GetChannel() const {