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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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116
wpilibc/src/main/native/cpp/Encoder.cpp
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@@ -11,7 +11,7 @@
#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"
@@ -31,11 +31,13 @@ Encoder::Encoder(DigitalSource* aSource, DigitalSource* bSource,
bool reverseDirection, EncodingType encodingType)
: m_aSource(aSource, NullDeleter<DigitalSource>()),
m_bSource(bSource, NullDeleter<DigitalSource>()) {
if (m_aSource == nullptr || m_bSource == nullptr) {
wpi_setWPIError(NullParameter);
} else {
InitEncoder(reverseDirection, encodingType);
if (!m_aSource) {
throw FRC_MakeError(err::NullParameter, "aSource");
}
if (!m_bSource) {
throw FRC_MakeError(err::NullParameter, "bSource");
}
InitEncoder(reverseDirection, encodingType);
}
Encoder::Encoder(DigitalSource& aSource, DigitalSource& bSource,
@@ -49,167 +51,130 @@ Encoder::Encoder(std::shared_ptr<DigitalSource> aSource,
std::shared_ptr<DigitalSource> bSource, bool reverseDirection,
EncodingType encodingType)
: m_aSource(std::move(aSource)), m_bSource(std::move(bSource)) {
if (m_aSource == nullptr || m_bSource == nullptr) {
wpi_setWPIError(NullParameter);
} else {
InitEncoder(reverseDirection, encodingType);
if (!m_aSource) {
throw FRC_MakeError(err::NullParameter, "aSource");
}
if (!m_bSource) {
throw FRC_MakeError(err::NullParameter, "bSource");
}
InitEncoder(reverseDirection, encodingType);
}
Encoder::~Encoder() {
int32_t status = 0;
HAL_FreeEncoder(m_encoder, &status);
wpi_setHALError(status);
FRC_ReportError(status, "FreeEncoder");
}
int Encoder::Get() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
int value = HAL_GetEncoder(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Get");
return value;
}
void Encoder::Reset() {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_ResetEncoder(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Reset");
}
double Encoder::GetPeriod() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double value = HAL_GetEncoderPeriod(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetPeriod");
return value;
}
void Encoder::SetMaxPeriod(double maxPeriod) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetMaxPeriod");
}
bool Encoder::GetStopped() const {
if (StatusIsFatal()) {
return true;
}
int32_t status = 0;
bool value = HAL_GetEncoderStopped(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetStopped");
return value;
}
bool Encoder::GetDirection() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value = HAL_GetEncoderDirection(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetDirection");
return value;
}
int Encoder::GetRaw() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
int value = HAL_GetEncoderRaw(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetRaw");
return value;
}
int Encoder::GetEncodingScale() const {
int32_t status = 0;
int val = HAL_GetEncoderEncodingScale(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetEncodingScale");
return val;
}
double Encoder::GetDistance() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double value = HAL_GetEncoderDistance(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetDistance");
return value;
}
double Encoder::GetRate() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double value = HAL_GetEncoderRate(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetRate");
return value;
}
void Encoder::SetMinRate(double minRate) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetEncoderMinRate(m_encoder, minRate, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetMinRate");
}
void Encoder::SetDistancePerPulse(double distancePerPulse) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetEncoderDistancePerPulse(m_encoder, distancePerPulse, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetDistancePerPulse");
}
double Encoder::GetDistancePerPulse() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double distancePerPulse = HAL_GetEncoderDistancePerPulse(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetDistancePerPulse");
return distancePerPulse;
}
void Encoder::SetReverseDirection(bool reverseDirection) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetEncoderReverseDirection(m_encoder, reverseDirection, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetReverseDirection");
}
void Encoder::SetSamplesToAverage(int samplesToAverage) {
if (samplesToAverage < 1 || samplesToAverage > 127) {
wpi_setWPIErrorWithContext(
ParameterOutOfRange,
"Average counter values must be between 1 and 127");
return;
throw FRC_MakeError(
err::ParameterOutOfRange,
"Average counter values must be between 1 and 127, got " +
wpi::Twine{samplesToAverage});
}
int32_t status = 0;
HAL_SetEncoderSamplesToAverage(m_encoder, samplesToAverage, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetSamplesToAverage");
}
int Encoder::GetSamplesToAverage() const {
int32_t status = 0;
int result = HAL_GetEncoderSamplesToAverage(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetSamplesToAverage");
return result;
}
@@ -228,7 +193,7 @@ void Encoder::SetIndexSource(const DigitalSource& source,
source.GetAnalogTriggerTypeForRouting()),
static_cast<HAL_EncoderIndexingType>(type),
&status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetIndexSource");
}
void Encoder::SetSimDevice(HAL_SimDeviceHandle device) {
@@ -238,14 +203,14 @@ void Encoder::SetSimDevice(HAL_SimDeviceHandle device) {
int Encoder::GetFPGAIndex() const {
int32_t status = 0;
int val = HAL_GetEncoderFPGAIndex(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetFPGAIndex");
return val;
}
void Encoder::InitSendable(SendableBuilder& builder) {
int32_t status = 0;
HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetEncodingType");
if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
builder.SetSmartDashboardType("Quadrature Encoder");
} else {
@@ -271,7 +236,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
m_bSource->GetAnalogTriggerTypeForRouting()),
reverseDirection, static_cast<HAL_EncoderEncodingType>(encodingType),
&status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "InitEncoder");
HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1,
encodingType);
@@ -280,11 +245,8 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
}
double Encoder::DecodingScaleFactor() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double val = HAL_GetEncoderDecodingScaleFactor(m_encoder, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "DecodingScaleFactor");
return val;
}