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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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125
wpilibc/src/main/native/cpp/AnalogInput.cpp
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@@ -10,9 +10,9 @@
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/Timer.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -20,9 +20,8 @@ using namespace frc;
AnalogInput::AnalogInput(int channel) {
if (!SensorUtil::CheckAnalogInputChannel(channel)) {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
"Analog Input " + wpi::Twine(channel));
return;
throw FRC_MakeError(err::ChannelIndexOutOfRange,
"Analog Input " + wpi::Twine{channel});
}
m_channel = channel;
@@ -30,12 +29,7 @@ AnalogInput::AnalogInput(int channel) {
HAL_PortHandle port = HAL_GetPort(channel);
int32_t status = 0;
m_port = HAL_InitializeAnalogInputPort(port, &status);
if (status != 0) {
wpi_setHALErrorWithRange(status, 0, HAL_GetNumAnalogInputs(), channel);
m_channel = std::numeric_limits<int>::max();
m_port = HAL_kInvalidHandle;
return;
}
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{channel});
HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel + 1);
@@ -47,210 +41,151 @@ AnalogInput::~AnalogInput() {
}
int AnalogInput::GetValue() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
int value = HAL_GetAnalogValue(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
return value;
}
int AnalogInput::GetAverageValue() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
int value = HAL_GetAnalogAverageValue(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
return value;
}
double AnalogInput::GetVoltage() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double voltage = HAL_GetAnalogVoltage(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
return voltage;
}
double AnalogInput::GetAverageVoltage() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double voltage = HAL_GetAnalogAverageVoltage(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
return voltage;
}
int AnalogInput::GetChannel() const {
if (StatusIsFatal()) {
return 0;
}
return m_channel;
}
void AnalogInput::SetAverageBits(int bits) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetAnalogAverageBits(m_port, bits, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
}
int AnalogInput::GetAverageBits() const {
int32_t status = 0;
int averageBits = HAL_GetAnalogAverageBits(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
return averageBits;
}
void AnalogInput::SetOversampleBits(int bits) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetAnalogOversampleBits(m_port, bits, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
}
int AnalogInput::GetOversampleBits() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
int oversampleBits = HAL_GetAnalogOversampleBits(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
return oversampleBits;
}
int AnalogInput::GetLSBWeight() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
return lsbWeight;
}
int AnalogInput::GetOffset() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
int offset = HAL_GetAnalogOffset(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
return offset;
}
bool AnalogInput::IsAccumulatorChannel() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool isAccum = HAL_IsAccumulatorChannel(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
return isAccum;
}
void AnalogInput::InitAccumulator() {
if (StatusIsFatal()) {
return;
}
m_accumulatorOffset = 0;
int32_t status = 0;
HAL_InitAccumulator(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
}
void AnalogInput::SetAccumulatorInitialValue(int64_t initialValue) {
if (StatusIsFatal()) {
return;
}
m_accumulatorOffset = initialValue;
}
void AnalogInput::ResetAccumulator() {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_ResetAccumulator(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
if (!StatusIsFatal()) {
// Wait until the next sample, so the next call to GetAccumulator*()
// won't have old values.
const double sampleTime = 1.0 / GetSampleRate();
const double overSamples = 1 << GetOversampleBits();
const double averageSamples = 1 << GetAverageBits();
Wait(sampleTime * overSamples * averageSamples);
}
// Wait until the next sample, so the next call to GetAccumulator*()
// won't have old values.
const double sampleTime = 1.0 / GetSampleRate();
const double overSamples = 1 << GetOversampleBits();
const double averageSamples = 1 << GetAverageBits();
Wait(sampleTime * overSamples * averageSamples);
}
void AnalogInput::SetAccumulatorCenter(int center) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetAccumulatorCenter(m_port, center, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
}
void AnalogInput::SetAccumulatorDeadband(int deadband) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetAccumulatorDeadband(m_port, deadband, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
}
int64_t AnalogInput::GetAccumulatorValue() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
int64_t value = HAL_GetAccumulatorValue(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
return value + m_accumulatorOffset;
}
int64_t AnalogInput::GetAccumulatorCount() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
int64_t count = HAL_GetAccumulatorCount(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
return count;
}
void AnalogInput::GetAccumulatorOutput(int64_t& value, int64_t& count) const {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_GetAccumulatorOutput(m_port, &value, &count, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Analog Input " + wpi::Twine{m_channel});
value += m_accumulatorOffset;
}
void AnalogInput::SetSampleRate(double samplesPerSecond) {
int32_t status = 0;
HAL_SetAnalogSampleRate(samplesPerSecond, &status);
wpi_setGlobalHALError(status);
FRC_CheckErrorStatus(status, "SetSampleRate");
}
double AnalogInput::GetSampleRate() {
int32_t status = 0;
double sampleRate = HAL_GetAnalogSampleRate(&status);
wpi_setGlobalHALError(status);
FRC_CheckErrorStatus(status, "GetSampleRate");
return sampleRate;
}