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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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23
wpilibc/src/main/native/cpp/DigitalInput.cpp
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@@ -11,8 +11,8 @@
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -20,40 +20,27 @@ using namespace frc;
DigitalInput::DigitalInput(int channel) {
if (!SensorUtil::CheckDigitalChannel(channel)) {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
"Digital Channel " + wpi::Twine(channel));
m_channel = std::numeric_limits<int>::max();
return;
throw FRC_MakeError(err::ChannelIndexOutOfRange,
"Digital Channel " + wpi::Twine{channel});
}
m_channel = channel;
int32_t status = 0;
m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), true, &status);
if (status != 0) {
wpi_setHALErrorWithRange(status, 0, HAL_GetNumDigitalChannels(), channel);
m_handle = HAL_kInvalidHandle;
m_channel = std::numeric_limits<int>::max();
return;
}
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{channel});
HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel + 1);
SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
}
DigitalInput::~DigitalInput() {
if (StatusIsFatal()) {
return;
}
HAL_FreeDIOPort(m_handle);
}
bool DigitalInput::Get() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value = HAL_GetDIO(m_handle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Get");
return value;
}