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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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163
wpilibc/src/main/native/cpp/Compressor.cpp
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@@ -9,7 +9,7 @@
#include <hal/Ports.h>
#include <hal/Solenoid.h>
#include "frc/WPIErrors.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -18,10 +18,7 @@ using namespace frc;
Compressor::Compressor(int pcmID) : m_module(pcmID) {
int32_t status = 0;
m_compressorHandle = HAL_InitializeCompressor(m_module, &status);
if (status != 0) {
wpi_setHALErrorWithRange(status, 0, HAL_GetNumPCMModules(), pcmID);
return;
}
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
SetClosedLoopControl(true);
HAL_Report(HALUsageReporting::kResourceType_Compressor, pcmID + 1);
@@ -29,204 +26,96 @@ Compressor::Compressor(int pcmID) : m_module(pcmID) {
}
void Compressor::Start() {
if (StatusIsFatal()) {
return;
}
SetClosedLoopControl(true);
}
void Compressor::Stop() {
if (StatusIsFatal()) {
return;
}
SetClosedLoopControl(false);
}
bool Compressor::Enabled() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value;
value = HAL_GetCompressor(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
}
bool value = HAL_GetCompressor(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
return value;
}
bool Compressor::GetPressureSwitchValue() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value;
value = HAL_GetCompressorPressureSwitch(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
}
bool value = HAL_GetCompressorPressureSwitch(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
return value;
}
double Compressor::GetCompressorCurrent() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
double value;
value = HAL_GetCompressorCurrent(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
}
double value = HAL_GetCompressorCurrent(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
return value;
}
void Compressor::SetClosedLoopControl(bool on) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetCompressorClosedLoopControl(m_compressorHandle, on, &status);
if (status) {
wpi_setWPIError(Timeout);
}
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
}
bool Compressor::GetClosedLoopControl() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value;
value = HAL_GetCompressorClosedLoopControl(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
}
bool value = HAL_GetCompressorClosedLoopControl(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
return value;
}
bool Compressor::GetCompressorCurrentTooHighFault() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value;
value = HAL_GetCompressorCurrentTooHighFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
}
bool value =
HAL_GetCompressorCurrentTooHighFault(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
return value;
}
bool Compressor::GetCompressorCurrentTooHighStickyFault() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value;
value =
bool value =
HAL_GetCompressorCurrentTooHighStickyFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
}
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
return value;
}
bool Compressor::GetCompressorShortedStickyFault() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value;
value = HAL_GetCompressorShortedStickyFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
}
bool value = HAL_GetCompressorShortedStickyFault(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
return value;
}
bool Compressor::GetCompressorShortedFault() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value;
value = HAL_GetCompressorShortedFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
}
bool value = HAL_GetCompressorShortedFault(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
return value;
}
bool Compressor::GetCompressorNotConnectedStickyFault() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value;
value = HAL_GetCompressorNotConnectedStickyFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
}
bool value =
HAL_GetCompressorNotConnectedStickyFault(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
return value;
}
bool Compressor::GetCompressorNotConnectedFault() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value;
value = HAL_GetCompressorNotConnectedFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
}
bool value = HAL_GetCompressorNotConnectedFault(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
return value;
}
void Compressor::ClearAllPCMStickyFaults() {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_ClearAllPCMStickyFaults(m_module, &status);
if (status) {
wpi_setWPIError(Timeout);
}
FRC_CheckErrorStatus(status, "Module " + wpi::Twine{m_module});
}
int Compressor::GetModule() const {