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[wpilibc] Remove ErrorBase (#3306)

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Replace with new exception-based error reporting, consistent with Java.
This also builds stacktraces into the reporting/exceptions.
This commit is contained in:
Peter Johnson
2021-04-18 20:35:29 -07:00
committed by GitHub
parent 0abf6c9045
commit 8d961dfd25
113 changed files with 993 additions and 2200 deletions
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33
wpilibOldCommands/src/main/native/cpp/commands/Command.cpp
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@@ -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;