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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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20
wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
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@@ -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);