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

172
wpilibc/src/main/native/cpp/Counter.cpp
View File

@@ -12,7 +12,7 @@
#include "frc/AnalogTrigger.h"
#include "frc/Base.h"
#include "frc/DigitalInput.h"
#include "frc/WPIErrors.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -22,7 +22,7 @@ Counter::Counter(Mode mode) {
int32_t status = 0;
m_counter = HAL_InitializeCounter(static_cast<HAL_Counter_Mode>(mode),
&m_index, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "InitializeCounter");
SetMaxPeriod(0.5);
@@ -64,10 +64,8 @@ Counter::Counter(EncodingType encodingType,
std::shared_ptr<DigitalSource> downSource, bool inverted)
: Counter(kExternalDirection) {
if (encodingType != k1X && encodingType != k2X) {
wpi_setWPIErrorWithContext(
ParameterOutOfRange,
"Counter only supports 1X and 2X quadrature decoding.");
return;
throw FRC_MakeError(err::ParameterOutOfRange,
"Counter only supports 1X and 2X quadrature decoding.");
}
SetUpSource(upSource);
SetDownSource(downSource);
@@ -81,22 +79,23 @@ Counter::Counter(EncodingType encodingType,
HAL_SetCounterAverageSize(m_counter, 2, &status);
}
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Counter constructor");
SetDownSourceEdge(inverted, true);
}
Counter::~Counter() {
SetUpdateWhenEmpty(true);
try {
SetUpdateWhenEmpty(true);
} catch (const RuntimeError& e) {
e.Report();
}
int32_t status = 0;
HAL_FreeCounter(m_counter, &status);
wpi_setHALError(status);
FRC_ReportError(status, "Counter destructor");
}
void Counter::SetUpSource(int channel) {
if (StatusIsFatal()) {
return;
}
SetUpSource(std::make_shared<DigitalInput>(channel));
SendableRegistry::GetInstance().AddChild(this, m_upSource.get());
}
@@ -110,9 +109,6 @@ void Counter::SetUpSource(AnalogTrigger* analogTrigger,
void Counter::SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
AnalogTriggerType triggerType) {
if (StatusIsFatal()) {
return;
}
SetUpSource(analogTrigger->CreateOutput(triggerType));
}
@@ -122,20 +118,13 @@ void Counter::SetUpSource(DigitalSource* source) {
}
void Counter::SetUpSource(std::shared_ptr<DigitalSource> source) {
if (StatusIsFatal()) {
return;
}
m_upSource = source;
if (m_upSource->StatusIsFatal()) {
CloneError(*m_upSource);
} else {
int32_t status = 0;
HAL_SetCounterUpSource(m_counter, source->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
source->GetAnalogTriggerTypeForRouting()),
&status);
wpi_setHALError(status);
}
int32_t status = 0;
HAL_SetCounterUpSource(m_counter, source->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
source->GetAnalogTriggerTypeForRouting()),
&status);
FRC_CheckErrorStatus(status, "SetUpSource");
}
void Counter::SetUpSource(DigitalSource& source) {
@@ -144,33 +133,24 @@ void Counter::SetUpSource(DigitalSource& source) {
}
void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) {
if (StatusIsFatal()) {
return;
}
if (m_upSource == nullptr) {
wpi_setWPIErrorWithContext(
NullParameter,
throw FRC_MakeError(
err::NullParameter,
"Must set non-nullptr UpSource before setting UpSourceEdge");
}
int32_t status = 0;
HAL_SetCounterUpSourceEdge(m_counter, risingEdge, fallingEdge, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetUpSourceEdge");
}
void Counter::ClearUpSource() {
if (StatusIsFatal()) {
return;
}
m_upSource.reset();
int32_t status = 0;
HAL_ClearCounterUpSource(m_counter, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "ClearUpSource");
}
void Counter::SetDownSource(int channel) {
if (StatusIsFatal()) {
return;
}
SetDownSource(std::make_shared<DigitalInput>(channel));
SendableRegistry::GetInstance().AddChild(this, m_downSource.get());
}
@@ -184,9 +164,6 @@ void Counter::SetDownSource(AnalogTrigger* analogTrigger,
void Counter::SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
AnalogTriggerType triggerType) {
if (StatusIsFatal()) {
return;
}
SetDownSource(analogTrigger->CreateOutput(triggerType));
}
@@ -201,106 +178,82 @@ void Counter::SetDownSource(DigitalSource& source) {
}
void Counter::SetDownSource(std::shared_ptr<DigitalSource> source) {
if (StatusIsFatal()) {
return;
}
m_downSource = source;
if (m_downSource->StatusIsFatal()) {
CloneError(*m_downSource);
} else {
int32_t status = 0;
HAL_SetCounterDownSource(m_counter, source->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
source->GetAnalogTriggerTypeForRouting()),
&status);
wpi_setHALError(status);
}
int32_t status = 0;
HAL_SetCounterDownSource(m_counter, source->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
source->GetAnalogTriggerTypeForRouting()),
&status);
FRC_CheckErrorStatus(status, "SetDownSource");
}
void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) {
if (StatusIsFatal()) {
return;
}
if (m_downSource == nullptr) {
wpi_setWPIErrorWithContext(
NullParameter,
throw FRC_MakeError(
err::NullParameter,
"Must set non-nullptr DownSource before setting DownSourceEdge");
}
int32_t status = 0;
HAL_SetCounterDownSourceEdge(m_counter, risingEdge, fallingEdge, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetDownSourceEdge");
}
void Counter::ClearDownSource() {
if (StatusIsFatal()) {
return;
}
m_downSource.reset();
int32_t status = 0;
HAL_ClearCounterDownSource(m_counter, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "ClearDownSource");
}
void Counter::SetUpDownCounterMode() {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetCounterUpDownMode(m_counter, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetUpDownCounterMode");
}
void Counter::SetExternalDirectionMode() {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetCounterExternalDirectionMode(m_counter, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetExternalDirectionMode");
}
void Counter::SetSemiPeriodMode(bool highSemiPeriod) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetCounterSemiPeriodMode(m_counter, highSemiPeriod, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(
status,
"SetSemiPeriodMode to " + wpi::Twine{highSemiPeriod ? "true" : "false"});
}
void Counter::SetPulseLengthMode(double threshold) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetCounterPulseLengthMode(m_counter, threshold, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetPulseLengthMode");
}
void Counter::SetReverseDirection(bool reverseDirection) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetCounterReverseDirection(m_counter, reverseDirection, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status,
"SetReverseDirection to " +
wpi::Twine{reverseDirection ? "true" : "false"});
}
void Counter::SetSamplesToAverage(int samplesToAverage) {
if (samplesToAverage < 1 || samplesToAverage > 127) {
wpi_setWPIErrorWithContext(
ParameterOutOfRange,
"Average counter values must be between 1 and 127");
throw FRC_MakeError(err::ParameterOutOfRange,
"Average counter values must be between 1 and 127");
}
int32_t status = 0;
HAL_SetCounterSamplesToAverage(m_counter, samplesToAverage, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(
status, "SetSamplesToAverage to " + wpi::Twine{samplesToAverage});
}
int Counter::GetSamplesToAverage() const {
int32_t status = 0;
int samples = HAL_GetCounterSamplesToAverage(m_counter, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetSamplesToAverage");
return samples;
}
@@ -309,69 +262,48 @@ int Counter::GetFPGAIndex() const {
}
int Counter::Get() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
int value = HAL_GetCounter(m_counter, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Get");
return value;
}
void Counter::Reset() {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_ResetCounter(m_counter, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Reset");
}
double Counter::GetPeriod() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double value = HAL_GetCounterPeriod(m_counter, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetPeriod");
return value;
}
void Counter::SetMaxPeriod(double maxPeriod) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetCounterMaxPeriod(m_counter, maxPeriod, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetMaxPeriod");
}
void Counter::SetUpdateWhenEmpty(bool enabled) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetCounterUpdateWhenEmpty(m_counter, enabled, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetUpdateWhenEmpty");
}
bool Counter::GetStopped() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value = HAL_GetCounterStopped(m_counter, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetStopped");
return value;
}
bool Counter::GetDirection() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value = HAL_GetCounterDirection(m_counter, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetDirection");
return value;
}