Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +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

82
wpilibc/src/main/native/cpp/DigitalOutput.cpp
View File

@@ -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"
@@ -21,54 +21,40 @@ using namespace frc;
DigitalOutput::DigitalOutput(int channel) {
m_pwmGenerator = HAL_kInvalidHandle;
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), false, &status);
if (status != 0) {
wpi_setHALErrorWithRange(status, 0, HAL_GetNumDigitalChannels(), channel);
m_channel = std::numeric_limits<int>::max();
m_handle = HAL_kInvalidHandle;
return;
}
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{channel});
HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel + 1);
SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
}
DigitalOutput::~DigitalOutput() {
if (StatusIsFatal()) {
return;
}
// Disable the PWM in case it was running.
DisablePWM();
try {
DisablePWM();
} catch (const RuntimeError& e) {
e.Report();
}
HAL_FreeDIOPort(m_handle);
}
void DigitalOutput::Set(bool value) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetDIO(m_handle, value, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{m_channel});
}
bool DigitalOutput::Get() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool val = HAL_GetDIO(m_handle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{m_channel});
return val;
}
@@ -89,34 +75,22 @@ int DigitalOutput::GetChannel() const {
}
void DigitalOutput::Pulse(double length) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_Pulse(m_handle, length, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{m_channel});
}
bool DigitalOutput::IsPulsing() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value = HAL_IsPulsing(m_handle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{m_channel});
return value;
}
void DigitalOutput::SetPWMRate(double rate) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetDigitalPWMRate(rate, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{m_channel});
}
void DigitalOutput::EnablePWM(double initialDutyCycle) {
@@ -126,29 +100,17 @@ void DigitalOutput::EnablePWM(double initialDutyCycle) {
int32_t status = 0;
if (StatusIsFatal()) {
return;
}
m_pwmGenerator = HAL_AllocateDigitalPWM(&status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{m_channel});
if (StatusIsFatal()) {
return;
}
HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{m_channel});
if (StatusIsFatal()) {
return;
}
HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{m_channel});
}
void DigitalOutput::DisablePWM() {
if (StatusIsFatal()) {
return;
}
if (m_pwmGenerator == HAL_kInvalidHandle) {
return;
}
@@ -158,22 +120,18 @@ void DigitalOutput::DisablePWM() {
// Disable the output by routing to a dead bit.
HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, SensorUtil::kDigitalChannels,
&status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{m_channel});
HAL_FreeDigitalPWM(m_pwmGenerator, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{m_channel});
m_pwmGenerator = HAL_kInvalidHandle;
}
void DigitalOutput::UpdateDutyCycle(double dutyCycle) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Digital Channel " + wpi::Twine{m_channel});
}
void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {