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

90
wpilibc/src/main/native/cpp/PWM.cpp
View File

@@ -11,9 +11,9 @@
#include <hal/PWM.h>
#include <hal/Ports.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/Utility.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -21,27 +21,22 @@ using namespace frc;
PWM::PWM(int channel, bool registerSendable) {
if (!SensorUtil::CheckPWMChannel(channel)) {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
"PWM Channel " + wpi::Twine(channel));
throw FRC_MakeError(err::ChannelIndexOutOfRange,
"PWM Channel " + wpi::Twine{channel});
return;
}
int32_t status = 0;
m_handle = HAL_InitializePWMPort(HAL_GetPort(channel), &status);
if (status != 0) {
wpi_setHALErrorWithRange(status, 0, HAL_GetNumPWMChannels(), channel);
m_channel = std::numeric_limits<int>::max();
m_handle = HAL_kInvalidHandle;
return;
}
FRC_CheckErrorStatus(status, "PWM Channel " + wpi::Twine{channel});
m_channel = channel;
HAL_SetPWMDisabled(m_handle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetPWMDisabled");
status = 0;
HAL_SetPWMEliminateDeadband(m_handle, false, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetPWMEliminateDeadband");
HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
if (registerSendable) {
@@ -53,88 +48,59 @@ PWM::~PWM() {
int32_t status = 0;
HAL_SetPWMDisabled(m_handle, &status);
wpi_setHALError(status);
FRC_ReportError(status, "SetPWMDisabled");
HAL_FreePWMPort(m_handle, &status);
wpi_setHALError(status);
FRC_ReportError(status, "FreePWM");
}
void PWM::SetRaw(uint16_t value) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetPWMRaw(m_handle, value, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetRaw");
}
uint16_t PWM::GetRaw() const {
if (StatusIsFatal()) {
return 0;
}
int32_t status = 0;
uint16_t value = HAL_GetPWMRaw(m_handle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetRaw");
return value;
}
void PWM::SetPosition(double pos) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetPWMPosition(m_handle, pos, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetPosition");
}
double PWM::GetPosition() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double position = HAL_GetPWMPosition(m_handle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetPosition");
return position;
}
void PWM::SetSpeed(double speed) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetPWMSpeed(m_handle, speed, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetSpeed");
}
double PWM::GetSpeed() const {
if (StatusIsFatal()) {
return 0.0;
}
int32_t status = 0;
double speed = HAL_GetPWMSpeed(m_handle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetSpeed");
return speed;
}
void PWM::SetDisabled() {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetPWMDisabled(m_handle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetDisabled");
}
void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
switch (mult) {
@@ -153,49 +119,35 @@ void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
wpi_assert(false);
}
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetPeriodMultiplier");
}
void PWM::SetZeroLatch() {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_LatchPWMZero(m_handle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetZeroLatch");
}
void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "EnableDeadbandElimination");
}
void PWM::SetBounds(double max, double deadbandMax, double center,
double deadbandMin, double min) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetBounds");
}
void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
int min) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetRawBounds");
}
void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
@@ -203,7 +155,7 @@ void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
int32_t status = 0;
HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetRawBounds");
}
int PWM::GetChannel() const {