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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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41
wpilibc/src/main/native/cpp/Solenoid.cpp
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@@ -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"
@@ -24,24 +24,19 @@ Solenoid::Solenoid(int channel)
Solenoid::Solenoid(int moduleNumber, int channel)
: SolenoidBase(moduleNumber), m_channel(channel) {
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_channel)) {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
"Solenoid Channel " + wpi::Twine(m_channel));
return;
throw FRC_MakeError(err::ChannelIndexOutOfRange,
"Solenoid Channel " + wpi::Twine{m_channel});
}
int32_t status = 0;
m_solenoidHandle = HAL_InitializeSolenoidPort(
HAL_GetPortWithModule(moduleNumber, channel), &status);
if (status != 0) {
wpi_setHALErrorWithRange(status, 0, HAL_GetNumSolenoidChannels(), channel);
m_solenoidHandle = HAL_kInvalidHandle;
return;
}
FRC_CheckErrorStatus(status, "Solenoid Module " + wpi::Twine{m_moduleNumber} +
" Channel " + wpi::Twine{m_channel});
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
m_moduleNumber + 1);
@@ -54,23 +49,15 @@ Solenoid::~Solenoid() {
}
void Solenoid::Set(bool on) {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetSolenoid(m_solenoidHandle, on, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Set");
}
bool Solenoid::Get() const {
if (StatusIsFatal()) {
return false;
}
int32_t status = 0;
bool value = HAL_GetSolenoid(m_solenoidHandle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "Get");
return value;
}
@@ -90,21 +77,15 @@ bool Solenoid::IsBlackListed() const {
void Solenoid::SetPulseDuration(double durationSeconds) {
int32_t durationMS = durationSeconds * 1000;
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_SetOneShotDuration(m_solenoidHandle, durationMS, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "SetPulseDuration");
}
void Solenoid::StartPulse() {
if (StatusIsFatal()) {
return;
}
int32_t status = 0;
HAL_FireOneShot(m_solenoidHandle, &status);
wpi_setHALError(status);
FRC_CheckErrorStatus(status, "StartPulse");
}
void Solenoid::InitSendable(SendableBuilder& builder) {