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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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4
wpilibc/src/main/native/include/frc/ADXL345_I2C.h
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@@ -6,7 +6,6 @@
#include <hal/SimDevice.h>
#include "frc/ErrorBase.h"
#include "frc/I2C.h"
#include "frc/interfaces/Accelerometer.h"
#include "frc/smartdashboard/Sendable.h"
@@ -23,8 +22,7 @@ class SendableBuilder;
* an I2C bus. This class assumes the default (not alternate) sensor address of
* 0x1D (7-bit address).
*/
class ADXL345_I2C : public ErrorBase,
public Accelerometer,
class ADXL345_I2C : public Accelerometer,
public Sendable,
public SendableHelper<ADXL345_I2C> {
public:

4
wpilibc/src/main/native/include/frc/ADXL345_SPI.h
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@@ -6,7 +6,6 @@
#include <hal/SimDevice.h>
#include "frc/ErrorBase.h"
#include "frc/SPI.h"
#include "frc/interfaces/Accelerometer.h"
#include "frc/smartdashboard/Sendable.h"
@@ -20,8 +19,7 @@ namespace frc {
* This class allows access to an Analog Devices ADXL345 3-axis accelerometer
* via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
*/
class ADXL345_SPI : public ErrorBase,
public Accelerometer,
class ADXL345_SPI : public Accelerometer,
public Sendable,
public SendableHelper<ADXL345_SPI> {
public:

4
wpilibc/src/main/native/include/frc/ADXL362.h
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@@ -6,7 +6,6 @@
#include <hal/SimDevice.h>
#include "frc/ErrorBase.h"
#include "frc/SPI.h"
#include "frc/interfaces/Accelerometer.h"
#include "frc/smartdashboard/Sendable.h"
@@ -21,8 +20,7 @@ class SendableBuilder;
*
* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
*/
class ADXL362 : public ErrorBase,
public Accelerometer,
class ADXL362 : public Accelerometer,
public Sendable,
public SendableHelper<ADXL362> {
public:

2
wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
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@@ -8,7 +8,6 @@
#include <hal/SimDevice.h>
#include "frc/ErrorBase.h"
#include "frc/SPI.h"
#include "frc/interfaces/Gyro.h"
#include "frc/smartdashboard/Sendable.h"
@@ -30,7 +29,6 @@ namespace frc {
* Only one instance of an ADXRS Gyro is supported.
*/
class ADXRS450_Gyro : public Gyro,
public ErrorBase,
public Sendable,
public SendableHelper<ADXRS450_Gyro> {
public:

5
wpilibc/src/main/native/include/frc/AddressableLED.h
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@@ -11,7 +11,6 @@
#include <units/time.h>
#include <wpi/ArrayRef.h>
#include "frc/ErrorBase.h"
#include "util/Color.h"
#include "util/Color8Bit.h"
@@ -22,7 +21,7 @@ namespace frc {
*
* <p>Only 1 LED driver is currently supported by the roboRIO.
*/
class AddressableLED : public ErrorBase {
class AddressableLED {
public:
class LEDData : public HAL_AddressableLEDData {
public:
@@ -86,7 +85,7 @@ class AddressableLED : public ErrorBase {
*/
explicit AddressableLED(int port);
~AddressableLED() override;
~AddressableLED();
/**
* Sets the length of the LED strip.

4
wpilibc/src/main/native/include/frc/AnalogAccelerometer.h
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@@ -7,7 +7,6 @@
#include <memory>
#include "frc/AnalogInput.h"
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -22,8 +21,7 @@ class SendableBuilder;
* sensors have multiple axis and can be treated as multiple devices. Each is
* calibrated by finding the center value over a period of time.
*/
class AnalogAccelerometer : public ErrorBase,
public Sendable,
class AnalogAccelerometer : public Sendable,
public SendableHelper<AnalogAccelerometer> {
public:
/**

5
wpilibc/src/main/native/include/frc/AnalogEncoder.h
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@@ -12,7 +12,6 @@
#include "frc/AnalogTrigger.h"
#include "frc/Counter.h"
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -22,9 +21,7 @@ class AnalogInput;
/**
* Class for supporting continuous analog encoders, such as the US Digital MA3.
*/
class AnalogEncoder : public ErrorBase,
public Sendable,
public SendableHelper<AnalogEncoder> {
class AnalogEncoder : public Sendable, public SendableHelper<AnalogEncoder> {
public:
/**
* Construct a new AnalogEncoder attached to a specific AnalogInput.

2
wpilibc/src/main/native/include/frc/AnalogGyro.h
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@@ -8,7 +8,6 @@
#include <hal/Types.h>
#include "frc/ErrorBase.h"
#include "frc/interfaces/Gyro.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -31,7 +30,6 @@ class AnalogInput;
* This class is for gyro sensors that connect to an analog input.
*/
class AnalogGyro : public Gyro,
public ErrorBase,
public Sendable,
public SendableHelper<AnalogGyro> {
public:

5
wpilibc/src/main/native/include/frc/AnalogInput.h
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@@ -8,7 +8,6 @@
#include <hal/Types.h>
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -30,9 +29,7 @@ class DMASample;
* are divided by the number of samples to retain the resolution, but get more
* stable values.
*/
class AnalogInput : public ErrorBase,
public Sendable,
public SendableHelper<AnalogInput> {
class AnalogInput : public Sendable, public SendableHelper<AnalogInput> {
friend class AnalogTrigger;
friend class AnalogGyro;
friend class DMA;

5
wpilibc/src/main/native/include/frc/AnalogOutput.h
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@@ -6,7 +6,6 @@
#include <hal/Types.h>
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -17,9 +16,7 @@ class SendableBuilder;
/**
* MXP analog output class.
*/
class AnalogOutput : public ErrorBase,
public Sendable,
public SendableHelper<AnalogOutput> {
class AnalogOutput : public Sendable, public SendableHelper<AnalogOutput> {
public:
/**
* Construct an analog output on the given channel.

4
wpilibc/src/main/native/include/frc/AnalogPotentiometer.h
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@@ -7,7 +7,6 @@
#include <memory>
#include "frc/AnalogInput.h"
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -21,8 +20,7 @@ class SendableBuilder;
* units you choose, by way of the scaling and offset constants passed to the
* constructor.
*/
class AnalogPotentiometer : public ErrorBase,
public Sendable,
class AnalogPotentiometer : public Sendable,
public SendableHelper<AnalogPotentiometer> {
public:
/**

5
wpilibc/src/main/native/include/frc/AnalogTrigger.h
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@@ -9,7 +9,6 @@
#include <hal/Types.h>
#include "frc/AnalogTriggerOutput.h"
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -19,9 +18,7 @@ class AnalogInput;
class DutyCycle;
class SendableBuilder;
class AnalogTrigger : public ErrorBase,
public Sendable,
public SendableHelper<AnalogTrigger> {
class AnalogTrigger : public Sendable, public SendableHelper<AnalogTrigger> {
friend class AnalogTriggerOutput;
public:

4
wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
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@@ -4,7 +4,6 @@
#pragma once
#include "frc/ErrorBase.h"
#include "frc/interfaces/Accelerometer.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -18,8 +17,7 @@ class SendableBuilder;
*
* This class allows access to the roboRIO's internal accelerometer.
*/
class BuiltInAccelerometer : public ErrorBase,
public Accelerometer,
class BuiltInAccelerometer : public Accelerometer,
public Sendable,
public SendableHelper<BuiltInAccelerometer> {
public:

6
wpilibc/src/main/native/include/frc/CAN.h
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@@ -8,8 +8,6 @@
#include <hal/CANAPITypes.h>
#include "frc/ErrorBase.h"
namespace frc {
struct CANData {
uint8_t data[8];
@@ -27,7 +25,7 @@ struct CANData {
* All methods are thread save, however the buffer objects passed in
* by the user need to not be modified for the duration of their calls.
*/
class CAN : public ErrorBase {
class CAN {
public:
/**
* Create a new CAN communication interface with the specific device ID.
@@ -52,7 +50,7 @@ class CAN : public ErrorBase {
/**
* Closes the CAN communication.
*/
~CAN() override;
~CAN();
CAN(CAN&&) = default;
CAN& operator=(CAN&&) = default;

5
wpilibc/src/main/native/include/frc/Compressor.h
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@@ -6,7 +6,6 @@
#include <hal/Types.h>
#include "frc/ErrorBase.h"
#include "frc/SensorUtil.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -30,9 +29,7 @@ class SendableBuilder;
* loop control. You can only turn off closed loop control, thereby stopping
* the compressor from operating.
*/
class Compressor : public ErrorBase,
public Sendable,
public SendableHelper<Compressor> {
class Compressor : public Sendable, public SendableHelper<Compressor> {
public:
/**
* Constructor. The default PCM ID is 0.

4
wpilibc/src/main/native/include/frc/Counter.h
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@@ -10,7 +10,6 @@
#include "frc/AnalogTrigger.h"
#include "frc/CounterBase.h"
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -31,8 +30,7 @@ class DMASample;
* All counters will immediately start counting - Reset() them if you need them
* to be zeroed before use.
*/
class Counter : public ErrorBase,
public CounterBase,
class Counter : public CounterBase,
public Sendable,
public SendableHelper<Counter> {
friend class DMA;

6
wpilibc/src/main/native/include/frc/DMA.h
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@@ -6,8 +6,6 @@
#include <hal/Types.h>
#include "frc/ErrorBase.h"
namespace frc {
class Encoder;
class Counter;
@@ -16,12 +14,12 @@ class DutyCycle;
class AnalogInput;
class DMASample;
class DMA : public ErrorBase {
class DMA {
friend class DMASample;
public:
DMA();
~DMA() override;
~DMA();
DMA& operator=(DMA&& other) = default;
DMA(DMA&& other) = default;

4
wpilibc/src/main/native/include/frc/DigitalGlitchFilter.h
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@@ -11,7 +11,6 @@
#include <wpi/mutex.h>
#include "frc/DigitalSource.h"
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -27,8 +26,7 @@ class Counter;
* filter. The filter lets the user configure the time that an input must remain
* high or low before it is classified as high or low.
*/
class DigitalGlitchFilter : public ErrorBase,
public Sendable,
class DigitalGlitchFilter : public Sendable,
public SendableHelper<DigitalGlitchFilter> {
public:
DigitalGlitchFilter();

6
wpilibc/src/main/native/include/frc/DriverStation.h
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@@ -15,8 +15,6 @@
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include "frc/ErrorBase.h"
namespace frc {
class MatchDataSender;
@@ -25,12 +23,12 @@ class MatchDataSender;
* Provide access to the network communication data to / from the Driver
* Station.
*/
class DriverStation : public ErrorBase {
class DriverStation {
public:
enum Alliance { kRed, kBlue, kInvalid };
enum MatchType { kNone, kPractice, kQualification, kElimination };
~DriverStation() override;
~DriverStation();
DriverStation(const DriverStation&) = delete;
DriverStation& operator=(const DriverStation&) = delete;

5
wpilibc/src/main/native/include/frc/DutyCycle.h
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@@ -8,7 +8,6 @@
#include <hal/Types.h>
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -29,9 +28,7 @@ class DMASample;
* order to implement rollover checking.
*
*/
class DutyCycle : public ErrorBase,
public Sendable,
public SendableHelper<DutyCycle> {
class DutyCycle : public Sendable, public SendableHelper<DutyCycle> {
friend class AnalogTrigger;
friend class DMA;
friend class DMASample;

4
wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
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@@ -12,7 +12,6 @@
#include "frc/AnalogTrigger.h"
#include "frc/Counter.h"
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -25,8 +24,7 @@ class DigitalSource;
* PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag
* Encoder.
*/
class DutyCycleEncoder : public ErrorBase,
public Sendable,
class DutyCycleEncoder : public Sendable,
public SendableHelper<DutyCycleEncoder> {
public:
/**

4
wpilibc/src/main/native/include/frc/Encoder.h
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@@ -10,7 +10,6 @@
#include "frc/Counter.h"
#include "frc/CounterBase.h"
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -37,8 +36,7 @@ class DMASample;
* All encoders will immediately start counting - Reset() them if you need them
* to be zeroed before use.
*/
class Encoder : public ErrorBase,
public CounterBase,
class Encoder : public CounterBase,
public Sendable,
public SendableHelper<Encoder> {
friend class DMA;

63
wpilibc/src/main/native/include/frc/Error.h
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@@ -1,63 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <string>
#include <wpi/StringRef.h>
#include <wpi/Twine.h>
#ifdef _WIN32
#pragma push_macro("GetMessage")
#undef GetMessage
#endif
namespace frc {
class ErrorBase;
/**
* Error object represents a library error.
*/
class Error {
public:
using Code = int;
Error() = default;
Error(Code code, const wpi::Twine& contextMessage, wpi::StringRef filename,
wpi::StringRef function, int lineNumber,
const ErrorBase* originatingObject);
bool operator<(const Error& rhs) const;
Code GetCode() const;
std::string GetMessage() const;
std::string GetFilename() const;
std::string GetFunction() const;
int GetLineNumber() const;
const ErrorBase* GetOriginatingObject() const;
double GetTimestamp() const;
void Clear();
void Set(Code code, const wpi::Twine& contextMessage, wpi::StringRef filename,
wpi::StringRef function, int lineNumber,
const ErrorBase* originatingObject);
private:
void Report();
Code m_code = 0;
std::string m_message;
std::string m_filename;
std::string m_function;
int m_lineNumber = 0;
const ErrorBase* m_originatingObject = nullptr;
double m_timestamp = 0.0;
};
} // namespace frc
#ifdef _WIN32
#pragma pop_macro("GetMessage")
#endif

239
wpilibc/src/main/native/include/frc/ErrorBase.h
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@@ -1,239 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <vector>
#include <wpi/StringRef.h>
#include <wpi/Twine.h>
#include "frc/Error.h"
// Forward declared manually to avoid needing to pull in entire HAL header.
extern "C" const char* HAL_GetErrorMessage(int32_t code);
#define wpi_setErrnoErrorWithContext(context) \
this->SetErrnoError((context), __FILE__, __FUNCTION__, __LINE__)
#define wpi_setErrnoError() wpi_setErrnoErrorWithContext("")
#define wpi_setImaqErrorWithContext(code, context) \
do { \
if ((code) != 0) \
this->SetImaqError((code), (context), __FILE__, __FUNCTION__, __LINE__); \
} while (0)
#define wpi_setErrorWithContext(code, context) \
do { \
if ((code) != 0) \
this->SetError((code), (context), __FILE__, __FUNCTION__, __LINE__); \
} while (0)
#define wpi_setErrorWithContextRange(code, min, max, req, context) \
do { \
if ((code) != 0) \
this->SetErrorRange((code), (min), (max), (req), (context), __FILE__, \
__FUNCTION__, __LINE__); \
} while (0)
#define wpi_setHALError(code) \
do { \
if ((code) != 0) \
this->SetError((code), HAL_GetErrorMessage(code), __FILE__, \
__FUNCTION__, __LINE__); \
} while (0)
#define wpi_setHALErrorWithRange(code, min, max, req) \
do { \
if ((code) != 0) \
this->SetErrorRange((code), (min), (max), (req), \
HAL_GetErrorMessage(code), __FILE__, __FUNCTION__, \
__LINE__); \
} while (0)
#define wpi_setError(code) wpi_setErrorWithContext(code, "")
#define wpi_setStaticErrorWithContext(object, code, context) \
do { \
if ((code) != 0) \
object->SetError((code), (context), __FILE__, __FUNCTION__, __LINE__); \
} while (0)
#define wpi_setStaticError(object, code) \
wpi_setStaticErrorWithContext(object, code, "")
#define wpi_setGlobalErrorWithContext(code, context) \
do { \
if ((code) != 0) \
::frc::ErrorBase::SetGlobalError((code), (context), __FILE__, \
__FUNCTION__, __LINE__); \
} while (0)
#define wpi_setGlobalHALError(code) \
do { \
if ((code) != 0) \
::frc::ErrorBase::SetGlobalError((code), HAL_GetErrorMessage(code), \
__FILE__, __FUNCTION__, __LINE__); \
} while (0)
#define wpi_setGlobalError(code) wpi_setGlobalErrorWithContext(code, "")
#define wpi_setWPIErrorWithContext(error, context) \
this->SetWPIError(wpi_error_s_##error(), wpi_error_value_##error(), \
(context), __FILE__, __FUNCTION__, __LINE__)
#define wpi_setWPIError(error) (wpi_setWPIErrorWithContext(error, ""))
#define wpi_setStaticWPIErrorWithContext(object, error, context) \
object->SetWPIError(wpi_error_s_##error(), (context), __FILE__, \
__FUNCTION__, __LINE__)
#define wpi_setStaticWPIError(object, error) \
wpi_setStaticWPIErrorWithContext(object, error, "")
#define wpi_setGlobalWPIErrorWithContext(error, context) \
::frc::ErrorBase::SetGlobalWPIError(wpi_error_s_##error(), (context), \
__FILE__, __FUNCTION__, __LINE__)
#define wpi_setGlobalWPIError(error) wpi_setGlobalWPIErrorWithContext(error, "")
namespace frc {
/**
* Base class for most objects.
*
* ErrorBase is the base class for most objects since it holds the generated
* error for that object. In addition, there is a single instance of a global
* error object.
*/
class ErrorBase {
// TODO: Consider initializing instance variables and cleanup in destructor
public:
ErrorBase();
virtual ~ErrorBase() = default;
ErrorBase(const ErrorBase&) = default;
ErrorBase& operator=(const ErrorBase&) = default;
ErrorBase(ErrorBase&&) = default;
ErrorBase& operator=(ErrorBase&&) = default;
/**
* @brief Retrieve the current error.
*
* Get the current error information associated with this sensor.
*/
virtual Error& GetError();
/**
* @brief Retrieve the current error.
*
* Get the current error information associated with this sensor.
*/
virtual const Error& GetError() const;
/**
* @brief Clear the current error information associated with this sensor.
*/
virtual void ClearError() const;
/**
* @brief Set error information associated with a C library call that set an
* error to the "errno" global variable.
*
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
virtual void SetErrnoError(const wpi::Twine& contextMessage,
wpi::StringRef filename, wpi::StringRef function,
int lineNumber) const;
/**
* @brief Set the current error information associated from the nivision Imaq
* API.
*
* @param success The return from the function
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
virtual void SetImaqError(int success, const wpi::Twine& contextMessage,
wpi::StringRef filename, wpi::StringRef function,
int lineNumber) const;
/**
* @brief Set the current error information associated with this sensor.
*
* @param code The error code
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
virtual void SetError(Error::Code code, const wpi::Twine& contextMessage,
wpi::StringRef filename, wpi::StringRef function,
int lineNumber) const;
/**
* @brief Set the current error information associated with this sensor.
* Range versions use for initialization code.
*
* @param code The error code
* @param minRange The minimum allowed allocation range
* @param maxRange The maximum allowed allocation range
* @param requestedValue The requested value to allocate
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
virtual void SetErrorRange(Error::Code code, int32_t minRange,
int32_t maxRange, int32_t requestedValue,
const wpi::Twine& contextMessage,
wpi::StringRef filename, wpi::StringRef function,
int lineNumber) const;
/**
* @brief Set the current error information associated with this sensor.
*
* @param errorMessage The error message from WPIErrors.h
* @param contextMessage A custom message from the code that set the error.
* @param filename Filename of the error source
* @param function Function of the error source
* @param lineNumber Line number of the error source
*/
virtual void SetWPIError(const wpi::Twine& errorMessage, Error::Code code,
const wpi::Twine& contextMessage,
wpi::StringRef filename, wpi::StringRef function,
int lineNumber) const;
virtual void CloneError(const ErrorBase& rhs) const;
/**
* @brief Check if the current error code represents a fatal error.
*
* @return true if the current error is fatal.
*/
virtual bool StatusIsFatal() const;
static void SetGlobalError(Error::Code code, const wpi::Twine& contextMessage,
wpi::StringRef filename, wpi::StringRef function,
int lineNumber);
static void SetGlobalWPIError(const wpi::Twine& errorMessage,
const wpi::Twine& contextMessage,
wpi::StringRef filename,
wpi::StringRef function, int lineNumber);
/**
* Retrieve the last global error.
*/
static Error GetGlobalError();
/**
* Retrieve all global errors.
*/
static std::vector<Error> GetGlobalErrors();
/**
* Clear global errors.
*/
void ClearGlobalErrors();
protected:
mutable Error m_error;
};
} // namespace frc

139
wpilibc/src/main/native/include/frc/Errors.h Normal file
View File

@@ -0,0 +1,139 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <stdint.h>
#include <memory>
#include <stdexcept>
#include <string>
#include <wpi/Twine.h>
namespace frc {
/**
* Runtime error exception.
*/
class RuntimeError : public std::runtime_error {
public:
RuntimeError(int32_t code, const wpi::Twine& message, const wpi::Twine& loc,
wpi::StringRef stack);
RuntimeError(int32_t code, const wpi::Twine& message, const char* fileName,
int lineNumber, const char* funcName, wpi::StringRef stack);
int32_t code() const noexcept { return m_data->code; }
const char* loc() const noexcept { return m_data->loc.c_str(); }
const char* stack() const noexcept { return m_data->stack.c_str(); }
/**
* Reports error to Driver Station (using HAL_SendError).
*/
void Report() const;
private:
struct Data {
int32_t code;
std::string loc;
std::string stack;
};
std::shared_ptr<Data> m_data;
};
/**
* Gets error message string for an error code.
*/
const char* GetErrorMessage(int32_t code);
/**
* Reports an error to the driver station (using HAL_SendError).
* Generally the FRC_ReportError wrapper macro should be used instead.
*
* @param status error code
* @param message error message details
* @param fileName source file name
* @param lineNumber source line number
* @param funcName source function name
*/
void ReportError(int32_t status, const wpi::Twine& message,
const char* fileName, int lineNumber, const char* funcName);
/**
* Makes a runtime error exception object. This object should be thrown
* by the caller. Generally the FRC_MakeError wrapper macro should be used
* instead.
*
* @param status error code
* @param message error message details
* @param fileName source file name
* @param lineNumber source line number
* @param funcName source function name
* @return runtime error object
*/
[[nodiscard]] RuntimeError MakeError(int32_t status, const wpi::Twine& message,
const char* fileName, int lineNumber,
const char* funcName);
namespace err {
#define S(label, offset, message) inline constexpr int label = offset;
#include "frc/WPIErrors.mac"
#undef S
} // namespace err
namespace warn {
#define S(label, offset, message) inline constexpr int label = offset;
#include "frc/WPIWarnings.mac"
#undef S
} // namespace warn
} // namespace frc
/**
* Reports an error to the driver station (using HAL_SendError).
*
* @param status error code
* @param message error message details
*/
#define FRC_ReportError(status, message) \
do { \
if ((status) != 0) { \
::frc::ReportError(status, message, __FILE__, __LINE__, __FUNCTION__); \
} \
} while (0)
/**
* Makes a runtime error exception object. This object should be thrown
* by the caller.
*
* @param status error code
* @param message error message details
* @return runtime error object
*/
#define FRC_MakeError(status, message) \
::frc::MakeError(status, message, __FILE__, __LINE__, __FUNCTION__)
/**
* Checks a status code and depending on its value, either throws a
* RuntimeError exception, calls ReportError, or does nothing (if no error).
*
* @param status error code
* @param message error message details
*/
#define FRC_CheckErrorStatus(status, message) \
do { \
if ((status) < 0) { \
throw FRC_MakeError(status, message); \
} else if ((status) > 0) { \
FRC_ReportError(status, message); \
} \
} while (0)
#define FRC_AssertMessage(condition, message) \
do { \
if (!(condition)) { \
throw FRC_MakeError(err::AssertionFailure, message); \
} \
} while (0)
#define FRC_Assert(condition) FRC_AssertMessage(condition, #condition)

6
wpilibc/src/main/native/include/frc/GenericHID.h
View File

@@ -8,8 +8,6 @@
#include <string>
#include "frc/ErrorBase.h"
namespace frc {
class DriverStation;
@@ -17,7 +15,7 @@ class DriverStation;
/**
* GenericHID Interface.
*/
class GenericHID : public ErrorBase {
class GenericHID {
public:
enum RumbleType { kLeftRumble, kRightRumble };
@@ -44,7 +42,7 @@ class GenericHID : public ErrorBase {
enum JoystickHand { kLeftHand = 0, kRightHand = 1 };
explicit GenericHID(int port);
~GenericHID() override = default;
virtual ~GenericHID() = default;
GenericHID(GenericHID&&) = default;
GenericHID& operator=(GenericHID&&) = default;

6
wpilibc/src/main/native/include/frc/I2C.h
View File

@@ -8,8 +8,6 @@
#include <hal/I2CTypes.h>
#include "frc/ErrorBase.h"
namespace frc {
/**
@@ -18,7 +16,7 @@ namespace frc {
* This class is intended to be used by sensor (and other I2C device) drivers.
* It probably should not be used directly.
*/
class I2C : public ErrorBase {
class I2C {
public:
enum Port { kOnboard = 0, kMXP };
@@ -30,7 +28,7 @@ class I2C : public ErrorBase {
*/
I2C(Port port, int deviceAddress);
~I2C() override;
~I2C();
I2C(I2C&&) = default;
I2C& operator=(I2C&&) = default;

5
wpilibc/src/main/native/include/frc/InterruptableSensorBase.h
View File

@@ -10,11 +10,10 @@
#include <hal/Interrupts.h>
#include "frc/AnalogTriggerType.h"
#include "frc/ErrorBase.h"
namespace frc {
class InterruptableSensorBase : public ErrorBase {
class InterruptableSensorBase {
public:
enum WaitResult {
kTimeout = 0x0,
@@ -35,7 +34,7 @@ class InterruptableSensorBase : public ErrorBase {
/**
* Free the resources for an interrupt event.
*/
~InterruptableSensorBase() override;
virtual ~InterruptableSensorBase();
InterruptableSensorBase(InterruptableSensorBase&&) = default;
InterruptableSensorBase& operator=(InterruptableSensorBase&&) = default;

5
wpilibc/src/main/native/include/frc/MotorSafety.h
View File

@@ -6,7 +6,6 @@
#include <wpi/mutex.h>
#include "frc/ErrorBase.h"
#include "frc/Timer.h"
namespace wpi {
@@ -21,10 +20,10 @@ namespace frc {
*
* The subclass should call Feed() whenever the motor value is updated.
*/
class MotorSafety : public ErrorBase {
class MotorSafety {
public:
MotorSafety();
~MotorSafety() override;
virtual ~MotorSafety();
MotorSafety(MotorSafety&& rhs);
MotorSafety& operator=(MotorSafety&& rhs);

6
wpilibc/src/main/native/include/frc/Notifier.h
View File

@@ -18,11 +18,9 @@
#include <wpi/deprecated.h>
#include <wpi/mutex.h>
#include "frc/ErrorBase.h"
namespace frc {
class Notifier : public ErrorBase {
class Notifier {
public:
/**
* Create a Notifier for timer event notification.
@@ -63,7 +61,7 @@ class Notifier : public ErrorBase {
/**
* Free the resources for a timer event.
*/
~Notifier() override;
~Notifier();
Notifier(Notifier&& rhs);
Notifier& operator=(Notifier&& rhs);

3
wpilibc/src/main/native/include/frc/PWM.h
View File

@@ -8,7 +8,6 @@
#include <hal/Types.h>
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -33,7 +32,7 @@ class SendableBuilder;
* - 1 = minimum pulse width (currently 0.5ms)
* - 0 = disabled (i.e. PWM output is held low)
*/
class PWM : public ErrorBase, public Sendable, public SendableHelper<PWM> {
class PWM : public Sendable, public SendableHelper<PWM> {
public:
friend class AddressableLED;
/**

4
wpilibc/src/main/native/include/frc/PowerDistributionPanel.h
View File

@@ -6,7 +6,6 @@
#include <hal/Types.h>
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -18,8 +17,7 @@ class SendableBuilder;
* Class for getting voltage, current, temperature, power and energy from the
* CAN PDP.
*/
class PowerDistributionPanel : public ErrorBase,
public Sendable,
class PowerDistributionPanel : public Sendable,
public SendableHelper<PowerDistributionPanel> {
public:
PowerDistributionPanel();

6
wpilibc/src/main/native/include/frc/Preferences.h
View File

@@ -12,8 +12,6 @@
#include <networktables/NetworkTable.h>
#include "frc/ErrorBase.h"
namespace frc {
/**
@@ -30,7 +28,7 @@ namespace frc {
* This will also interact with {@link NetworkTable} by creating a table called
* "Preferences" with all the key-value pairs.
*/
class Preferences : public ErrorBase {
class Preferences {
public:
/**
* Get the one and only {@link Preferences} object.
@@ -226,7 +224,7 @@ class Preferences : public ErrorBase {
protected:
Preferences();
~Preferences() override;
~Preferences();
Preferences(Preferences&&) = default;
Preferences& operator=(Preferences&&) = default;

1
wpilibc/src/main/native/include/frc/Relay.h
View File

@@ -9,7 +9,6 @@
#include <hal/Types.h>
#include <wpi/raw_ostream.h>
#include "frc/ErrorBase.h"
#include "frc/MotorSafety.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"

6
wpilibc/src/main/native/include/frc/Resource.h
View File

@@ -12,8 +12,6 @@
#include <wpi/mutex.h>
#include "frc/ErrorBase.h"
namespace frc {
/**
@@ -26,9 +24,9 @@ namespace frc {
* resources; it just tracks which indices were marked in use by Allocate and
* not yet freed by Free.
*/
class Resource : public ErrorBase {
class Resource {
public:
~Resource() override = default;
virtual ~Resource() = default;
/**
* Factory method to create a Resource allocation-tracker *if* needed.

16
wpilibc/src/main/native/include/frc/RobotBase.h
View File

@@ -14,6 +14,7 @@
#include <wpi/raw_ostream.h>
#include "frc/Base.h"
#include "frc/Errors.h"
namespace frc {
@@ -25,12 +26,17 @@ namespace impl {
template <class Robot>
void RunRobot(wpi::mutex& m, Robot** robot) {
static Robot theRobot;
{
std::scoped_lock lock{m};
*robot = &theRobot;
try {
static Robot theRobot;
{
std::scoped_lock lock{m};
*robot = &theRobot;
}
theRobot.StartCompetition();
} catch (const frc::RuntimeError& e) {
e.Report();
throw;
}
theRobot.StartCompetition();
}
} // namespace impl

6
wpilibc/src/main/native/include/frc/SPI.h
View File

@@ -13,8 +13,6 @@
#include <wpi/ArrayRef.h>
#include <wpi/deprecated.h>
#include "frc/ErrorBase.h"
namespace frc {
class DigitalSource;
@@ -26,7 +24,7 @@ class DigitalSource;
* It probably should not be used directly.
*
*/
class SPI : public ErrorBase {
class SPI {
public:
enum Port { kOnboardCS0 = 0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
@@ -37,7 +35,7 @@ class SPI : public ErrorBase {
*/
explicit SPI(Port port);
~SPI() override;
~SPI();
SPI(SPI&&) = default;
SPI& operator=(SPI&&) = default;

6
wpilibc/src/main/native/include/frc/SerialPort.h
View File

@@ -11,8 +11,6 @@
#include <wpi/Twine.h>
#include <wpi/deprecated.h>
#include "frc/ErrorBase.h"
namespace frc {
/**
@@ -27,7 +25,7 @@ namespace frc {
* and the NI-VISA Programmer's Reference Manual here:
* http://www.ni.com/pdf/manuals/370132c.pdf
*/
class SerialPort : public ErrorBase {
class SerialPort {
public:
enum Parity {
kParity_None = 0,
@@ -88,7 +86,7 @@ class SerialPort : public ErrorBase {
int dataBits = 8, Parity parity = kParity_None,
StopBits stopBits = kStopBits_One);
~SerialPort() override;
~SerialPort();
SerialPort(SerialPort&& rhs) = default;
SerialPort& operator=(SerialPort&& rhs) = default;

6
wpilibc/src/main/native/include/frc/SolenoidBase.h
View File

@@ -4,16 +4,16 @@
#pragma once
#include "frc/ErrorBase.h"
namespace frc {
/**
* SolenoidBase class is the common base class for the Solenoid and
* DoubleSolenoid classes.
*/
class SolenoidBase : public ErrorBase {
class SolenoidBase {
public:
virtual ~SolenoidBase() = default;
/**
* Get the CAN ID of the module this solenoid is connected to.
*

3
wpilibc/src/main/native/include/frc/TimedRobot.h
View File

@@ -14,7 +14,6 @@
#include <wpi/deprecated.h>
#include <wpi/priority_queue.h>
#include "frc/ErrorBase.h"
#include "frc/IterativeRobotBase.h"
#include "frc2/Timer.h"
@@ -29,7 +28,7 @@ namespace frc {
* Periodic() functions from the base class are called on an interval by a
* Notifier instance.
*/
class TimedRobot : public IterativeRobotBase, public ErrorBase {
class TimedRobot : public IterativeRobotBase {
public:
static constexpr units::second_t kDefaultPeriod = 20_ms;

5
wpilibc/src/main/native/include/frc/Ultrasonic.h
View File

@@ -12,7 +12,6 @@
#include <hal/SimDevice.h>
#include "frc/Counter.h"
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -33,9 +32,7 @@ class DigitalOutput;
* received. The time that the line is high determines the round trip distance
* (time of flight).
*/
class Ultrasonic : public ErrorBase,
public Sendable,
public SendableHelper<Ultrasonic> {
class Ultrasonic : public Sendable, public SendableHelper<Ultrasonic> {
public:
/**
* Create an instance of the Ultrasonic Sensor.

63
wpilibc/src/main/native/include/frc/WPIErrors.h → wpilibc/src/main/native/include/frc/WPIErrors.mac
View File

@@ -2,18 +2,9 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <stdint.h>
#define S(label, offset, message) \
constexpr inline const char* wpi_error_s_##label() { return message; } \
constexpr inline int wpi_error_value_##label() { return offset; }
// Fatal errors
S(ModuleIndexOutOfRange, -1,
"Allocating module that is out of range or not found")
S(ChannelIndexOutOfRange, -1, "Allocating channel that is out of range")
S(ChannelIndexOutOfRange, -45, "Allocating channel that is out of range")
S(NotAllocated, -2, "Attempting to free unallocated resource")
S(ResourceAlreadyAllocated, -3, "Attempted to reuse an allocated resource")
S(NoAvailableResources, -4, "No available resources to allocate")
@@ -26,13 +17,13 @@ S(IncompatibleMode, -9, "The object is in an incompatible mode")
S(AnalogTriggerLimitOrderError, -10,
"AnalogTrigger limits error. Lower limit > Upper Limit")
S(AnalogTriggerPulseOutputError, -11,
"Attempted to read AnalogTrigger pulse output.")
"Attempted to read AnalogTrigger pulse output")
S(TaskError, -12, "Task can't be started")
S(TaskIDError, -13, "Task error: Invalid ID.")
S(TaskDeletedError, -14, "Task error: Task already deleted.")
S(TaskOptionsError, -15, "Task error: Invalid options.")
S(TaskMemoryError, -16, "Task can't be started due to insufficient memory.")
S(TaskPriorityError, -17, "Task error: Invalid priority [1-255].")
S(TaskIDError, -13, "Task error: Invalid ID")
S(TaskDeletedError, -14, "Task error: Task already deleted")
S(TaskOptionsError, -15, "Task error: Invalid options")
S(TaskMemoryError, -16, "Task can't be started due to insufficient memory")
S(TaskPriorityError, -17, "Task error: Invalid priority [1-255]")
S(DriveUninitialized, -18, "RobotDrive not initialized for the C interface")
S(CompressorNonMatching, -19,
"Compressor slot/channel doesn't match previous instance")
@@ -41,19 +32,19 @@ S(CompressorUndefined, -21,
"Using compressor functions without defining compressor")
S(InconsistentArrayValueAdded, -22,
"When packing data into an array to the dashboard, not all values added were "
"of the same type.")
"of the same type")
S(MismatchedComplexTypeClose, -23,
"When packing data to the dashboard, a Close for a complex type was called "
"without a matching Open.")
"without a matching Open")
S(DashboardDataOverflow, -24,
"When packing data to the dashboard, too much data was packed and the buffer "
"overflowed.")
"overflowed")
S(DashboardDataCollision, -25,
"The same buffer was used for packing data and for printing.")
S(EnhancedIOMissing, -26, "IO is not attached or Enhanced IO is not enabled.")
"The same buffer was used for packing data and for printing")
S(EnhancedIOMissing, -26, "IO is not attached or Enhanced IO is not enabled")
S(LineNotOutput, -27,
"Cannot SetDigitalOutput for a line not configured for output.")
S(ParameterOutOfRange, -28, "A parameter is out of range.")
"Cannot SetDigitalOutput for a line not configured for output")
S(ParameterOutOfRange, -28, "A parameter is out of range")
S(SPIClockRateTooLow, -29, "SPI clock rate was below the minimum supported")
S(JaguarVersionError, -30, "Jaguar firmware version error")
S(JaguarMessageNotFound, -31, "Jaguar message not found")
@@ -62,31 +53,9 @@ S(NetworkTablesBufferFull, -41, "Buffer full writing to NetworkTables socket")
S(NetworkTablesWrongType, -42,
"The wrong type was read from the NetworkTables entry")
S(NetworkTablesCorrupt, -43, "NetworkTables data stream is corrupt")
S(SmartDashboardMissingKey, -43, "SmartDashboard data does not exist")
S(SmartDashboardMissingKey, -44, "SmartDashboard data does not exist")
S(CommandIllegalUse, -50, "Illegal use of Command")
S(UnsupportedInSimulation, -80, "Unsupported in simulation")
S(CameraServerError, -90, "CameraServer error")
S(InvalidParameter, -100, "Invalid parameter value")
// Warnings
S(SampleRateTooHigh, 1, "Analog module sample rate is too high")
S(VoltageOutOfRange, 2,
"Voltage to convert to raw value is out of range [-10; 10]")
S(CompressorTaskError, 3, "Compressor task won't start")
S(LoopTimingError, 4, "Digital module loop timing is not the expected value")
S(NonBinaryDigitalValue, 5, "Digital output value is not 0 or 1")
S(IncorrectBatteryChannel, 6,
"Battery measurement channel is not correct value")
S(BadJoystickIndex, 7, "Joystick index is out of range, should be 0-3")
S(BadJoystickAxis, 8, "Joystick axis or POV is out of range")
S(InvalidMotorIndex, 9, "Motor index is out of range, should be 0-3")
S(DriverStationTaskError, 10, "Driver Station task won't start")
S(EnhancedIOPWMPeriodOutOfRange, 11,
"Driver Station Enhanced IO PWM Output period out of range.")
S(SPIWriteNoMOSI, 12, "Cannot write to SPI port with no MOSI output")
S(SPIReadNoMISO, 13, "Cannot read from SPI port with no MISO input")
S(SPIReadNoData, 14, "No data available to read from SPI")
S(IncompatibleState, 15,
"Incompatible State: The operation cannot be completed")
#undef S
S(AssertionFailure, -110, "Assertion failed")

23
wpilibc/src/main/native/include/frc/WPIWarnings.mac Normal file
View File

@@ -0,0 +1,23 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
S(SampleRateTooHigh, 1, "Analog module sample rate is too high")
S(VoltageOutOfRange, 2,
"Voltage to convert to raw value is out of range [-10; 10]")
S(CompressorTaskError, 3, "Compressor task won't start")
S(LoopTimingError, 4, "Digital module loop timing is not the expected value")
S(NonBinaryDigitalValue, 5, "Digital output value is not 0 or 1")
S(IncorrectBatteryChannel, 6,
"Battery measurement channel is not correct value")
S(BadJoystickIndex, 7, "Joystick index is out of range, should be 0-3")
S(BadJoystickAxis, 8, "Joystick axis or POV is out of range")
S(InvalidMotorIndex, 9, "Motor index is out of range, should be 0-3")
S(DriverStationTaskError, 10, "Driver Station task won't start")
S(EnhancedIOPWMPeriodOutOfRange, 11,
"Driver Station Enhanced IO PWM Output period out of range")
S(SPIWriteNoMOSI, 12, "Cannot write to SPI port with no MOSI output")
S(SPIReadNoMISO, 13, "Cannot read from SPI port with no MISO input")
S(SPIReadNoData, 14, "No data available to read from SPI")
S(IncompatibleState, 15,
"Incompatible State: The operation cannot be completed")

1
wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h
View File

@@ -5,7 +5,6 @@
#pragma once
#include "frc/DigitalOutput.h"
#include "frc/ErrorBase.h"
#include "frc/MotorSafety.h"
#include "frc/PWM.h"
#include "frc/motorcontrol/MotorController.h"

6
wpilibc/src/main/native/include/frc/romi/RomiGyro.h
View File

@@ -6,7 +6,6 @@
#include <hal/SimDevice.h>
#include "frc/ErrorBase.h"
#include "frc/interfaces/Gyro.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -19,10 +18,7 @@ namespace frc {
* This class is for the Romi onboard gyro, and will only work in
* simulation/Romi mode. Only one instance of a RomiGyro is supported.
*/
class RomiGyro : public Gyro,
public ErrorBase,
public Sendable,
public SendableHelper<RomiGyro> {
class RomiGyro : public Gyro, public Sendable, public SendableHelper<RomiGyro> {
public:
RomiGyro();

5
wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h
View File

@@ -16,8 +16,6 @@
#include <wpi/StringMap.h>
#include <wpi/Twine.h>
#include "frc/ErrorBase.h"
#include "frc/WPIErrors.h"
#include "frc/shuffleboard/BuiltInLayouts.h"
#include "frc/shuffleboard/LayoutType.h"
#include "frc/shuffleboard/ShuffleboardComponentBase.h"
@@ -38,8 +36,7 @@ class SimpleWidget;
/**
* Common interface for objects that can contain shuffleboard components.
*/
class ShuffleboardContainer : public virtual ShuffleboardValue,
public ErrorBase {
class ShuffleboardContainer : public virtual ShuffleboardValue {
public:
explicit ShuffleboardContainer(const wpi::Twine& title);

5
wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h
View File

@@ -11,16 +11,13 @@
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableValue.h>
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/ListenerExecutor.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class SmartDashboard : public ErrorBase,
public Sendable,
public SendableHelper<SmartDashboard> {
class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
public:
static void init();