Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilibc] Remove ErrorBase (#3306)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

33
wpilibc/src/main/native/cpp/CAN.cpp
View File

@@ -11,17 +11,15 @@
#include <hal/Errors.h>
#include <hal/FRCUsageReporting.h>
#include "frc/Errors.h"
using namespace frc;
CAN::CAN(int deviceId) {
int32_t status = 0;
m_handle =
HAL_InitializeCAN(kTeamManufacturer, deviceId, kTeamDeviceType, &status);
if (status != 0) {
wpi_setHALError(status);
m_handle = HAL_kInvalidHandle;
return;
}
FRC_CheckErrorStatus(status, "device id " + wpi::Twine{deviceId});
HAL_Report(HALUsageReporting::kResourceType_CAN, deviceId + 1);
}
@@ -31,19 +29,14 @@ CAN::CAN(int deviceId, int deviceManufacturer, int deviceType) {
m_handle = HAL_InitializeCAN(
static_cast<HAL_CANManufacturer>(deviceManufacturer), deviceId,
static_cast<HAL_CANDeviceType>(deviceType), &status);
if (status != 0) {
wpi_setHALError(status);
m_handle = HAL_kInvalidHandle;
return;
}
FRC_CheckErrorStatus(status, "device id " + wpi::Twine{deviceId} + " mfg " +
wpi::Twine{deviceManufacturer} + " type " +
wpi::Twine{deviceType});
HAL_Report(HALUsageReporting::kResourceType_CAN, deviceId + 1);
}
CAN::~CAN() {
if (StatusIsFatal()) {
return;
}
if (m_handle != HAL_kInvalidHandle) {
HAL_CleanCAN(m_handle);
m_handle = HAL_kInvalidHandle;
@@ -53,20 +46,20 @@ CAN::~CAN() {
void CAN::WritePacket(const uint8_t* data, int length, int apiId) {
int32_t status = 0;
HAL_WriteCANPacket(m_handle, data, length, apiId, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "WritePacket");
}
void CAN::WritePacketRepeating(const uint8_t* data, int length, int apiId,
int repeatMs) {
int32_t status = 0;
HAL_WriteCANPacketRepeating(m_handle, data, length, apiId, repeatMs, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "WritePacketRepeating");
}
void CAN::WriteRTRFrame(int length, int apiId) {
int32_t status = 0;
HAL_WriteCANRTRFrame(m_handle, length, apiId, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "WriteRTRFrame");
}
int CAN::WritePacketNoError(const uint8_t* data, int length, int apiId) {
@@ -91,7 +84,7 @@ int CAN::WriteRTRFrameNoError(int length, int apiId) {
void CAN::StopPacketRepeating(int apiId) {
int32_t status = 0;
HAL_StopCANPacketRepeating(m_handle, apiId, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "StopPacketRepeating");
}
bool CAN::ReadPacketNew(int apiId, CANData* data) {
@@ -102,7 +95,7 @@ bool CAN::ReadPacketNew(int apiId, CANData* data) {
return false;
}
if (status != 0) {
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "ReadPacketNew");
return false;
} else {
return true;
@@ -117,7 +110,7 @@ bool CAN::ReadPacketLatest(int apiId, CANData* data) {
return false;
}
if (status != 0) {
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "ReadPacketLatest");
return false;
} else {
return true;
@@ -133,7 +126,7 @@ bool CAN::ReadPacketTimeout(int apiId, int timeoutMs, CANData* data) {
return false;
}
if (status != 0) {
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "ReadPacketTimeout");
return false;
} else {
return true;