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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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36
wpilibc/src/main/native/cpp/SPI.cpp
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@@ -14,8 +14,8 @@
#include <wpi/mutex.h>
#include "frc/DigitalSource.h"
#include "frc/Errors.h"
#include "frc/Notifier.h"
#include "frc/WPIErrors.h"
using namespace frc;
@@ -77,9 +77,7 @@ void SPI::Accumulator::Update() {
// get amount of data available
int32_t numToRead =
HAL_ReadSPIAutoReceivedData(m_port, m_buf, 0, 0, &status);
if (status != 0) {
return; // error reading
}
FRC_CheckErrorStatus(status, "ReadSPIAutoReceivedData");
// only get whole responses; +1 is for timestamp
numToRead -= numToRead % m_xferSize;
@@ -93,9 +91,7 @@ void SPI::Accumulator::Update() {
// read buffered data
HAL_ReadSPIAutoReceivedData(m_port, m_buf, numToRead, 0, &status);
if (status != 0) {
return; // error reading
}
FRC_CheckErrorStatus(status, "ReadSPIAutoReceivedData");
// loop over all responses
for (int32_t off = 0; off < numToRead; off += m_xferSize) {
@@ -162,7 +158,7 @@ void SPI::Accumulator::Update() {
SPI::SPI(Port port) : m_port(static_cast<HAL_SPIPort>(port)) {
int32_t status = 0;
HAL_InitializeSPI(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "InitializeSPI");
HAL_Report(HALUsageReporting::kResourceType_SPI,
static_cast<uint8_t>(port) + 1);
@@ -219,13 +215,13 @@ void SPI::SetClockActiveHigh() {
void SPI::SetChipSelectActiveHigh() {
int32_t status = 0;
HAL_SetSPIChipSelectActiveHigh(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetChipSelectActiveHigh");
}
void SPI::SetChipSelectActiveLow() {
int32_t status = 0;
HAL_SetSPIChipSelectActiveLow(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetChipSelectActiveLow");
}
int SPI::Write(uint8_t* data, int size) {
@@ -255,26 +251,26 @@ int SPI::Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size) {
void SPI::InitAuto(int bufferSize) {
int32_t status = 0;
HAL_InitSPIAuto(m_port, bufferSize, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "InitAuto");
}
void SPI::FreeAuto() {
int32_t status = 0;
HAL_FreeSPIAuto(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "FreeAuto");
}
void SPI::SetAutoTransmitData(wpi::ArrayRef<uint8_t> dataToSend, int zeroSize) {
int32_t status = 0;
HAL_SetSPIAutoTransmitData(m_port, dataToSend.data(), dataToSend.size(),
zeroSize, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetAutoTransmitData");
}
void SPI::StartAutoRate(units::second_t period) {
int32_t status = 0;
HAL_StartSPIAutoRate(m_port, period.to<double>(), &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "StartAutoRate");
}
void SPI::StartAutoRate(double period) {
@@ -287,19 +283,19 @@ void SPI::StartAutoTrigger(DigitalSource& source, bool rising, bool falling) {
static_cast<HAL_AnalogTriggerType>(
source.GetAnalogTriggerTypeForRouting()),
rising, falling, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "StartAutoTrigger");
}
void SPI::StopAuto() {
int32_t status = 0;
HAL_StopSPIAuto(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "StopAuto");
}
void SPI::ForceAutoRead() {
int32_t status = 0;
HAL_ForceSPIAutoRead(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "ForceAutoRead");
}
int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead,
@@ -307,7 +303,7 @@ int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead,
int32_t status = 0;
int32_t val = HAL_ReadSPIAutoReceivedData(m_port, buffer, numToRead,
timeout.to<double>(), &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "ReadAutoReceivedData");
return val;
}
@@ -318,7 +314,7 @@ int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead, double timeout) {
int SPI::GetAutoDroppedCount() {
int32_t status = 0;
int32_t val = HAL_GetSPIAutoDroppedCount(m_port, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "GetAutoDroppedCount");
return val;
}
@@ -327,7 +323,7 @@ void SPI::ConfigureAutoStall(HAL_SPIPort port, int csToSclkTicks,
int32_t status = 0;
HAL_ConfigureSPIAutoStall(m_port, csToSclkTicks, stallTicks, pow2BytesPerRead,
&status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "ConfigureAutoStall");
}
void SPI::InitAccumulator(units::second_t period, int cmd, int xferSize,