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

59
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
View File

@@ -11,8 +11,8 @@
#include <hal/Ports.h>
#include <hal/Solenoid.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -28,42 +28,31 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
m_forwardChannel(forwardChannel),
m_reverseChannel(reverseChannel) {
if (!SensorUtil::CheckSolenoidModule(m_moduleNumber)) {
wpi_setWPIErrorWithContext(ModuleIndexOutOfRange,
"Solenoid Module " + wpi::Twine(m_moduleNumber));
return;
throw FRC_MakeError(err::ModuleIndexOutOfRange,
"Solenoid Module " + wpi::Twine{m_moduleNumber});
}
if (!SensorUtil::CheckSolenoidChannel(m_forwardChannel)) {
wpi_setWPIErrorWithContext(
ChannelIndexOutOfRange,
"Solenoid Channel " + wpi::Twine(m_forwardChannel));
return;
throw FRC_MakeError(err::ChannelIndexOutOfRange,
"Solenoid Channel " + wpi::Twine{m_forwardChannel});
}
if (!SensorUtil::CheckSolenoidChannel(m_reverseChannel)) {
wpi_setWPIErrorWithContext(
ChannelIndexOutOfRange,
"Solenoid Channel " + wpi::Twine(m_reverseChannel));
return;
throw FRC_MakeError(err::ChannelIndexOutOfRange,
"Solenoid Channel " + wpi::Twine{m_reverseChannel});
}
int32_t status = 0;
m_forwardHandle = HAL_InitializeSolenoidPort(
HAL_GetPortWithModule(moduleNumber, m_forwardChannel), &status);
if (status != 0) {
wpi_setHALErrorWithRange(status, 0, HAL_GetNumSolenoidChannels(),
forwardChannel);
m_forwardHandle = HAL_kInvalidHandle;
m_reverseHandle = HAL_kInvalidHandle;
return;
}
FRC_CheckErrorStatus(status, "Solenoid Module " + wpi::Twine{m_moduleNumber} +
" Channel " + wpi::Twine{m_forwardChannel});
m_reverseHandle = HAL_InitializeSolenoidPort(
HAL_GetPortWithModule(moduleNumber, m_reverseChannel), &status);
if (status != 0) {
wpi_setHALErrorWithRange(status, 0, HAL_GetNumSolenoidChannels(),
reverseChannel);
// free forward solenoid
HAL_FreeSolenoidPort(m_forwardHandle);
m_forwardHandle = HAL_kInvalidHandle;
m_reverseHandle = HAL_kInvalidHandle;
FRC_CheckErrorStatus(status, "Solenoid Module " +
wpi::Twine{m_moduleNumber} + " Channel " +
wpi::Twine{m_reverseChannel});
return;
}
@@ -85,10 +74,6 @@ DoubleSolenoid::~DoubleSolenoid() {
}
void DoubleSolenoid::Set(Value value) {
if (StatusIsFatal()) {
return;
}
bool forward = false;
bool reverse = false;
@@ -112,22 +97,26 @@ void DoubleSolenoid::Set(Value value) {
int rstatus = 0;
HAL_SetSolenoid(m_reverseHandle, reverse, &rstatus);
wpi_setHALError(fstatus);
wpi_setHALError(rstatus);
FRC_CheckErrorStatus(fstatus, "Solenoid Module " +
wpi::Twine{m_moduleNumber} + " Channel " +
wpi::Twine{m_forwardChannel});
FRC_CheckErrorStatus(rstatus, "Solenoid Module " +
wpi::Twine{m_moduleNumber} + " Channel " +
wpi::Twine{m_reverseChannel});
}
DoubleSolenoid::Value DoubleSolenoid::Get() const {
if (StatusIsFatal()) {
return kOff;
}
int fstatus = 0;
int rstatus = 0;
bool valueForward = HAL_GetSolenoid(m_forwardHandle, &fstatus);
bool valueReverse = HAL_GetSolenoid(m_reverseHandle, &rstatus);
wpi_setHALError(fstatus);
wpi_setHALError(rstatus);
FRC_CheckErrorStatus(fstatus, "Solenoid Module " +
wpi::Twine{m_moduleNumber} + " Channel " +
wpi::Twine{m_forwardChannel});
FRC_CheckErrorStatus(rstatus, "Solenoid Module " +
wpi::Twine{m_moduleNumber} + " Channel " +
wpi::Twine{m_reverseChannel});
if (valueForward) {
return kForward;