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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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93
wpilibc/src/main/native/cpp/AnalogGyro.cpp
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@@ -13,8 +13,8 @@
#include "frc/AnalogInput.h"
#include "frc/Base.h"
#include "frc/Errors.h"
#include "frc/Timer.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -31,12 +31,11 @@ AnalogGyro::AnalogGyro(AnalogInput* channel)
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
: m_analog(channel) {
if (channel == nullptr) {
wpi_setWPIError(NullParameter);
} else {
InitGyro();
Calibrate();
if (!channel) {
throw FRC_MakeError(err::NullParameter, "channel");
}
InitGyro();
Calibrate();
}
AnalogGyro::AnalogGyro(int channel, int center, double offset)
@@ -47,20 +46,15 @@ AnalogGyro::AnalogGyro(int channel, int center, double offset)
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
double offset)
: m_analog(channel) {
if (channel == nullptr) {
wpi_setWPIError(NullParameter);
} else {
InitGyro();
int32_t status = 0;
HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
offset, center, &status);
if (status != 0) {
wpi_setHALError(status);
m_gyroHandle = HAL_kInvalidHandle;
return;
}
Reset();
if (!channel) {
throw FRC_MakeError(err::NullParameter, "channel");
}
InitGyro();
int32_t status = 0;
HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond,
offset, center, &status);
FRC_CheckErrorStatus(status, "SetAnalogGyroParameters");
Reset();
}
AnalogGyro::~AnalogGyro() {
@@ -68,42 +62,30 @@ AnalogGyro::~AnalogGyro() {
}
double AnalogGyro::GetAngle() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetAngle");
return value;
}
double AnalogGyro::GetRate() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetRate");
return value;
}
int AnalogGyro::GetCenter() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
int value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetCenter");
return value;
}
double AnalogGyro::GetOffset() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetOffset");
return value;
}
@@ -111,57 +93,35 @@ void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) {
int32_t status = 0;
HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle,
voltsPerDegreePerSecond, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetSensitivity");
}
void AnalogGyro::SetDeadband(double volts) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetDeadband");
}
void AnalogGyro::Reset() {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_ResetAnalogGyro(m_gyroHandle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Reset");
}
void AnalogGyro::InitGyro() {
if (StatusIsFatal()) {
return;
}
if (m_gyroHandle == HAL_kInvalidHandle) {
int32_t status = 0;
m_gyroHandle = HAL_InitializeAnalogGyro(m_analog->m_port, &status);
if (status == PARAMETER_OUT_OF_RANGE) {
wpi_setWPIErrorWithContext(ParameterOutOfRange,
" channel (must be accumulator channel)");
m_analog = nullptr;
m_gyroHandle = HAL_kInvalidHandle;
return;
}
if (status != 0) {
wpi_setHALError(status);
m_analog = nullptr;
m_gyroHandle = HAL_kInvalidHandle;
return;
throw FRC_MakeError(err::ParameterOutOfRange,
"channel must be accumulator channel");
}
FRC_CheckErrorStatus(status, "InitializeAnalogGyro");
}
int32_t status = 0;
HAL_SetupAnalogGyro(m_gyroHandle, &status);
if (status != 0) {
wpi_setHALError(status);
m_analog = nullptr;
m_gyroHandle = HAL_kInvalidHandle;
return;
}
FRC_CheckErrorStatus(status, "SetupAnalogGyro");
HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel() + 1);
@@ -170,12 +130,9 @@ void AnalogGyro::InitGyro() {
}
void AnalogGyro::Calibrate() {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_CalibrateAnalogGyro(m_gyroHandle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Calibrate");
}
std::shared_ptr<AnalogInput> AnalogGyro::GetAnalogInput() const {