[wpilibc] Remove ErrorBase (#3306)

Replace with new exception-based error reporting, consistent with Java.
This also builds stacktraces into the reporting/exceptions.

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

@@ -6,9 +6,9 @@
 
 #include <typeinfo>
 
+#include "frc/Errors.h"
 #include "frc/RobotState.h"
 #include "frc/Timer.h"
-#include "frc/WPIErrors.h"
 #include "frc/commands/CommandGroup.h"
 #include "frc/commands/Scheduler.h"
 #include "frc/livewindow/LiveWindow.h"
@@ -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) {
-    wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
+    throw FRC_MakeError(err::ParameterOutOfRange, "timeout < 0.0");
   }
 
   m_timeout = timeout;
@@ -77,15 +77,15 @@ void Command::Requires(Subsystem* subsystem) {
   if (subsystem != nullptr) {
     m_requirements.insert(subsystem);
   } else {
-    wpi_setWPIErrorWithContext(NullParameter, "subsystem");
+    throw FRC_MakeError(err::NullParameter, "subsystem");
   }
 }
 
 void Command::Start() {
   LockChanges();
   if (m_parent != nullptr) {
-    wpi_setWPIErrorWithContext(
-        CommandIllegalUse,
+    throw FRC_MakeError(
+        err::CommandIllegalUse,
         "Can not start a command that is part of a command group");
   }
 
@@ -115,8 +115,8 @@ bool Command::Run() {
 
 void Command::Cancel() {
   if (m_parent != nullptr) {
-    wpi_setWPIErrorWithContext(
-        CommandIllegalUse,
+    throw FRC_MakeError(
+        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) {
-    wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
+    throw FRC_MakeError(err::ParameterOutOfRange, "timeout < 0.0");
   } else {
     m_timeout = timeout;
   }
@@ -185,21 +185,22 @@ bool Command::IsTimedOut() const {
 
 bool Command::AssertUnlocked(const std::string& message) {
   if (m_locked) {
-    std::string buf =
-        message + " after being started or being added to a command group";
-    wpi_setWPIErrorWithContext(CommandIllegalUse, buf);
-    return false;
+    throw FRC_MakeError(
+        err::CommandIllegalUse,
+        message +
+            wpi::Twine{
+                " after being started or being added to a command group"});
   }
   return true;
 }
 
 void Command::SetParent(CommandGroup* parent) {
   if (parent == nullptr) {
-    wpi_setWPIErrorWithContext(NullParameter, "parent");
+    throw FRC_MakeError(err::NullParameter, "parent");
   } else if (m_parent != nullptr) {
-    wpi_setWPIErrorWithContext(CommandIllegalUse,
-                               "Can not give command to a command group after "
-                               "already being put in a command group");
+    throw FRC_MakeError(err::CommandIllegalUse,
+                        "Can not give command to a command group after "
+                        "already being put in a command group");
   } else {
     LockChanges();
     m_parent = parent;

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

@@ -4,16 +4,15 @@
 
 #include "frc/commands/CommandGroup.h"
 
-#include "frc/WPIErrors.h"
+#include "frc/Errors.h"
 
 using namespace frc;
 
 CommandGroup::CommandGroup(const wpi::Twine& name) : Command(name) {}
 
 void CommandGroup::AddSequential(Command* command) {
-  if (command == nullptr) {
-    wpi_setWPIErrorWithContext(NullParameter, "command");
-    return;
+  if (!command) {
+    throw FRC_MakeError(err::NullParameter, "command");
   }
   if (!AssertUnlocked("Cannot add new command to command group")) {
     return;
@@ -31,16 +30,14 @@ void CommandGroup::AddSequential(Command* command) {
 }
 
 void CommandGroup::AddSequential(Command* command, double timeout) {
-  if (command == nullptr) {
-    wpi_setWPIErrorWithContext(NullParameter, "command");
-    return;
+  if (!command) {
+    throw FRC_MakeError(err::NullParameter, "command");
   }
   if (!AssertUnlocked("Cannot add new command to command group")) {
     return;
   }
   if (timeout < 0.0) {
-    wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
-    return;
+    throw FRC_MakeError(err::ParameterOutOfRange, "timeout < 0.0");
   }
 
   m_commands.emplace_back(command, CommandGroupEntry::kSequence_InSequence,
@@ -56,8 +53,8 @@ void CommandGroup::AddSequential(Command* command, double timeout) {
 }
 
 void CommandGroup::AddParallel(Command* command) {
-  if (command == nullptr) {
-    wpi_setWPIErrorWithContext(NullParameter, "command");
+  if (!command) {
+    throw FRC_MakeError(err::NullParameter, "command");
     return;
   }
   if (!AssertUnlocked("Cannot add new command to command group")) {
@@ -76,16 +73,14 @@ void CommandGroup::AddParallel(Command* command) {
 }
 
 void CommandGroup::AddParallel(Command* command, double timeout) {
-  if (command == nullptr) {
-    wpi_setWPIErrorWithContext(NullParameter, "command");
-    return;
+  if (!command) {
+    throw FRC_MakeError(err::NullParameter, "command");
   }
   if (!AssertUnlocked("Cannot add new command to command group")) {
     return;
   }
   if (timeout < 0.0) {
-    wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
-    return;
+    throw FRC_MakeError(err::ParameterOutOfRange, "timeout < 0.0");
   }
 
   m_commands.emplace_back(command, CommandGroupEntry::kSequence_BranchChild,

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

@@ -13,7 +13,7 @@
 #include <networktables/NetworkTableEntry.h>
 #include <wpi/mutex.h>
 
-#include "frc/WPIErrors.h"
+#include "frc/Errors.h"
 #include "frc/buttons/ButtonScheduler.h"
 #include "frc/commands/Command.h"
 #include "frc/commands/Subsystem.h"
@@ -64,9 +64,8 @@ void Scheduler::AddButton(ButtonScheduler* button) {
 }
 
 void Scheduler::RegisterSubsystem(Subsystem* subsystem) {
-  if (subsystem == nullptr) {
-    wpi_setWPIErrorWithContext(NullParameter, "subsystem");
-    return;
+  if (!subsystem) {
+    throw FRC_MakeError(err::NullParameter, "subsystem");
   }
   m_impl->subsystems.insert(subsystem);
 }
@@ -109,8 +108,8 @@ void Scheduler::Run() {
     for (auto& addition : m_impl->additions) {
       // Check to make sure no adding during adding
       if (m_impl->adding) {
-        wpi_setWPIErrorWithContext(IncompatibleState,
-                                   "Can not start command from cancel method");
+        FRC_ReportError(warn::IncompatibleState,
+                        "Can not start command from cancel method");
       } else {
         m_impl->ProcessCommandAddition(addition);
       }
@@ -122,8 +121,8 @@ void Scheduler::Run() {
   for (auto& subsystem : m_impl->subsystems) {
     if (subsystem->GetCurrentCommand() == nullptr) {
       if (m_impl->adding) {
-        wpi_setWPIErrorWithContext(IncompatibleState,
-                                   "Can not start command from cancel method");
+        FRC_ReportError(warn::IncompatibleState,
+                        "Can not start command from cancel method");
       } else {
         m_impl->ProcessCommandAddition(subsystem->GetDefaultCommand());
       }
@@ -133,9 +132,8 @@ void Scheduler::Run() {
 }
 
 void Scheduler::Remove(Command* command) {
-  if (command == nullptr) {
-    wpi_setWPIErrorWithContext(NullParameter, "command");
-    return;
+  if (!command) {
+    throw FRC_MakeError(err::NullParameter, "command");
   }
 
   m_impl->Remove(command);

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

@@ -4,7 +4,7 @@
 
 #include "frc/commands/Subsystem.h"
 
-#include "frc/WPIErrors.h"
+#include "frc/Errors.h"
 #include "frc/commands/Command.h"
 #include "frc/commands/Scheduler.h"
 #include "frc/livewindow/LiveWindow.h"
@@ -24,9 +24,8 @@ void Subsystem::SetDefaultCommand(Command* command) {
   } else {
     const auto& reqs = command->GetRequirements();
     if (std::find(reqs.begin(), reqs.end(), this) == reqs.end()) {
-      wpi_setWPIErrorWithContext(
-          CommandIllegalUse, "A default command must require the subsystem");
-      return;
+      throw FRC_MakeError(err::CommandIllegalUse,
+                          "A default command must require the subsystem");
     }
 
     m_defaultCommand = command;