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SCRIPT: FRC_ replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:43 -05:00
committed by Peter Johnson
parent 824f36f63a
commit 928ff20695
143 changed files with 477 additions and 477 deletions
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2
benchmark/src/main/native/thirdparty/benchmark/src/sysinfo.cpp vendored
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@@ -441,7 +441,7 @@ std::vector<CPUInfo::CacheInfo> GetCacheSizes() {
return GetCacheSizesQNX();
#elif defined(BENCHMARK_OS_QURT) || defined(__EMSCRIPTEN__)
return std::vector<CPUInfo::CacheInfo>();
#elif defined(__FRC_ROBORIO__)
#elif defined(__WPILIB_ROBORIO__)
return std::vector<CPUInfo::CacheInfo>();
#else
return GetCacheSizesFromKVFS();

2
commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp
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@@ -37,7 +37,7 @@ CommandPtr::CommandPtr(CommandPtr&& rhs) {
void CommandPtr::AssertValid() const {
if (!m_ptr) {
throw FRC_MakeError(wpi::err::CommandIllegalUse,
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Moved-from CommandPtr object used!\nMoved out at:\n{}",
m_moveOutSite);
}

6
commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -284,7 +284,7 @@ void CommandScheduler::UnregisterAllSubsystems() {
void CommandScheduler::SetDefaultCommand(Subsystem* subsystem,
CommandPtr&& defaultCommand) {
if (!defaultCommand.get()->HasRequirement(subsystem)) {
throw FRC_MakeError(wpi::err::CommandIllegalUse, "{}",
throw WPILIB_MakeError(wpi::err::CommandIllegalUse, "{}",
"Default commands must require their subsystem!");
}
RequireUngrouped(defaultCommand.get());
@@ -430,7 +430,7 @@ void CommandScheduler::OnCommandFinish(Action action) {
void CommandScheduler::RequireUngrouped(const Command* command) {
auto stacktrace = command->GetPreviousCompositionSite();
if (stacktrace.has_value()) {
throw FRC_MakeError(wpi::err::CommandIllegalUse,
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands that have been composed may not be added to "
"another composition or scheduled individually!"
"\nOriginally composed at:\n{}",
@@ -454,7 +454,7 @@ void CommandScheduler::RequireUngrouped(
void CommandScheduler::RequireUngroupedAndUnscheduled(const Command* command) {
if (IsScheduled(command)) {
throw FRC_MakeError(wpi::err::CommandIllegalUse,
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands that have been scheduled individually may "
"not be added to another composition!");
}

4
commandsv2/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
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@@ -69,7 +69,7 @@ void ParallelCommandGroup::AddCommands(
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
if (isRunning) {
throw FRC_MakeError(wpi::err::CommandIllegalUse,
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
}
@@ -85,7 +85,7 @@ void ParallelCommandGroup::AddCommands(
}
m_commands.emplace_back(std::move(command), false);
} else {
throw FRC_MakeError(wpi::err::CommandIllegalUse,
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Multiple commands in a parallel group cannot "
"require the same subsystems");
}

4
commandsv2/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
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@@ -69,7 +69,7 @@ void ParallelDeadlineGroup::AddCommands(
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
if (!m_finished) {
throw FRC_MakeError(wpi::err::CommandIllegalUse,
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
}
@@ -85,7 +85,7 @@ void ParallelDeadlineGroup::AddCommands(
}
m_commands.emplace_back(std::move(command), false);
} else {
throw FRC_MakeError(wpi::err::CommandIllegalUse,
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Multiple commands in a parallel group cannot "
"require the same subsystems");
}

4
commandsv2/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
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@@ -56,7 +56,7 @@ void ParallelRaceGroup::AddCommands(
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
if (isRunning) {
throw FRC_MakeError(wpi::err::CommandIllegalUse,
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
}
@@ -72,7 +72,7 @@ void ParallelRaceGroup::AddCommands(
}
m_commands.emplace_back(std::move(command));
} else {
throw FRC_MakeError(wpi::err::CommandIllegalUse,
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Multiple commands in a parallel group cannot "
"require the same subsystems");
}

2
commandsv2/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
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@@ -68,7 +68,7 @@ void SequentialCommandGroup::AddCommands(
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
if (m_currentCommandIndex != invalid_index) {
throw FRC_MakeError(wpi::err::CommandIllegalUse,
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Commands cannot be added to a CommandGroup "
"while the group is running");
}

2
commandsv2/src/main/native/include/wpi/commands2/CommandScheduler.hpp
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@@ -212,7 +212,7 @@ class CommandScheduler final : public wpi::util::Sendable,
template <std::derived_from<Command> T>
void SetDefaultCommand(Subsystem* subsystem, T&& defaultCommand) {
if (!defaultCommand.HasRequirement(subsystem)) {
throw FRC_MakeError(wpi::err::CommandIllegalUse,
throw WPILIB_MakeError(wpi::err::CommandIllegalUse,
"Default commands must require their subsystem!");
}
SetDefaultCommandImpl(subsystem, std::make_unique<std::decay_t<T>>(

2
hal/src/main/native/systemcore/FRCDriverStation.cpp
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@@ -40,7 +40,7 @@
#include "wpi/util/timestamp.h"
static_assert(sizeof(int32_t) >= sizeof(int),
"FRC_NetworkComm status variable is larger than 32 bits");
"WPILIB_NetworkComm status variable is larger than 32 bits");
static_assert(MRC_MAX_NUM_AXES == HAL_kMaxJoystickAxes);
static_assert(MRC_MAX_NUM_POVS == HAL_kMaxJoystickPOVs);

2
hal/src/main/native/systemcore/HAL.cpp
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@@ -303,7 +303,7 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
// return false;
// }
// FRC_NetworkCommunication_Reserve(nullptr);
// WPILIB_NetworkCommunication_Reserve(nullptr);
int32_t status = 0;

36
ntcoreffi/src/main/native/cpp/DataLogManager.cpp
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@@ -43,7 +43,7 @@ void ReportErrorV(int32_t status, const char* fileName, int lineNumber,
// fmt::format_to(fmt::appender{out}, "Warning: ");
// fmt::vformat_to(fmt::appender{out}, format, args);
// out.push_back('\0');
// FRC_NetworkCommunication_sendError(status < 0, status, 0, out.data(),
// WPILIB_NetworkCommunication_sendError(status < 0, status, 0, out.data(),
// "DataLogManager", "");
// #endif
}
@@ -57,7 +57,7 @@ inline void ReportError(int32_t status, const char* fileName, int lineNumber,
}
} // namespace frc
#define FRC_ReportError(status, format, ...) \
#define WPILIB_ReportError(status, format, ...) \
do { \
if ((status) != 0) { \
::frc::ReportError(status, __FILE__, __LINE__, __FUNCTION__, \
@@ -71,7 +71,7 @@ inline bool IsSystemTimeValid() {
// TODO when we get a proper low level library, and time setting
return false;
// uint8_t timeWasSet = 0;
// FRC_NetworkCommunication_getTimeWasSet(&timeWasSet);
// WPILIB_NetworkCommunication_getTimeWasSet(&timeWasSet);
// return timeWasSet != 0;
#else
return true;
@@ -109,7 +109,7 @@ enum MatchType { kNone, kPractice, kQualification, kElimination };
inline void UpdateMatchInfo() {
// #ifdef __FRC_SYSTEMCORE__
// gGameSpecificMessageSize = sizeof(gGameSpecificMessage);
// FRC_NetworkCommunication_getMatchInfo(gEventName, &gMatchType,
// WPILIB_NetworkCommunication_getMatchInfo(gEventName, &gMatchType,
// &gMatchNumber,
// &gReplayNumber,
// gGameSpecificMessage,
@@ -144,7 +144,7 @@ inline uint16_t GetMatchNumber() {
inline bool IsDSAttached() {
// #ifdef __FRC_SYSTEMCORE__
// struct ControlWord_t cw;
// FRC_NetworkCommunication_getControlWord(&cw);
// WPILIB_NetworkCommunication_getControlWord(&cw);
// return cw.dsAttached;
// #else
return true;
@@ -154,7 +154,7 @@ inline bool IsDSAttached() {
inline bool IsFMSAttached() {
// #ifdef __FRC_SYSTEMCORE__
// struct ControlWord_t cw;
// FRC_NetworkCommunication_getControlWord(&cw);
// WPILIB_NetworkCommunication_getControlWord(&cw);
// return cw.fmsAttached;
// #else
return false;
@@ -250,7 +250,7 @@ static std::string MakeLogFilename(std::string_view filenameOverride) {
static std::mt19937 rng(dev());
std::uniform_int_distribution<int> dist(0, 15);
const char* v = "0123456789abcdef";
std::string filename = "FRC_TBD_";
std::string filename = "WPILIB_TBD_";
for (int i = 0; i < 16; i++) {
filename += v[dist(rng)];
}
@@ -271,7 +271,7 @@ Thread::~Thread() {
}
void Thread::Main() {
// based on free disk space, scan for "old" FRC_*.wpilog files and remove
// based on free disk space, scan for "old" WPILIB_*.wpilog files and remove
{
std::error_code ec;
uintmax_t freeSpace;
@@ -282,14 +282,14 @@ void Thread::Main() {
freeSpace = UINTMAX_MAX;
}
if (freeSpace < kFreeSpaceThreshold) {
// Delete oldest FRC_*.wpilog files (ignore FRC_TBD_*.wpilog as we just
// Delete oldest WPILIB_*.wpilog files (ignore WPILIB_TBD_*.wpilog as we just
// created one)
std::vector<fs::directory_entry> entries;
for (auto&& entry : fs::directory_iterator{m_logDir, ec}) {
auto stem = entry.path().stem().string();
if (wpi::util::starts_with(stem, "FRC_") &&
if (wpi::util::starts_with(stem, "WPILIB_") &&
entry.path().extension() == ".wpilog" &&
!wpi::util::starts_with(stem, "FRC_TBD_")) {
!wpi::util::starts_with(stem, "WPILIB_TBD_")) {
entries.emplace_back(entry);
}
}
@@ -306,7 +306,7 @@ void Thread::Main() {
}
auto size = entry.file_size();
if (fs::remove(entry.path(), ec)) {
FRC_ReportError(warn::Warning, "DataLogManager: Deleted {}",
WPILIB_ReportError(warn::Warning, "DataLogManager: Deleted {}",
entry.path().string());
freeSpace += size;
if (freeSpace >= kFreeSpaceThreshold) {
@@ -318,7 +318,7 @@ void Thread::Main() {
}
}
} else if (freeSpace < 2 * kFreeSpaceThreshold) {
FRC_ReportError(
WPILIB_ReportError(
warn::Warning,
"DataLogManager: Log storage device has {} MB of free space "
"remaining! Logs will get deleted below {} MB of free space. "
@@ -376,7 +376,7 @@ void Thread::Main() {
if (RobotController::IsSystemTimeValid()) {
std::time_t now = std::time(nullptr);
auto tm = std::gmtime(&now);
m_log.SetFilename(fmt::format("FRC_{:%Y%m%d_%H%M%S}.wpilog", *tm));
m_log.SetFilename(fmt::format("WPILIB_{:%Y%m%d_%H%M%S}.wpilog", *tm));
dsRenamed = true;
} else {
dsAttachCount = 0; // wait a bit and try again
@@ -415,7 +415,7 @@ void Thread::Main() {
}
std::time_t now = std::time(nullptr);
m_log.SetFilename(
fmt::format("FRC_{:%Y%m%d_%H%M%S}_{}_{}{}.wpilog",
fmt::format("WPILIB_{:%Y%m%d_%H%M%S}_{}_{}{}.wpilog",
*std::gmtime(&now), DriverStation::GetEventName(),
matchTypeChar, DriverStation::GetMatchNumber()));
fmsRenamed = true;
@@ -456,7 +456,7 @@ void Thread::StopNTLog() {
void Thread::StartConsoleLog() {
if (!m_consoleLoggerEnabled) {
m_consoleLoggerEnabled = true;
m_consoleLogger = {"/home/systemcore/FRC_UserProgram.log", m_log, "output"};
m_consoleLogger = {"/home/systemcore/WPILIB_UserProgram.log", m_log, "output"};
}
}
@@ -469,13 +469,13 @@ void Thread::StopConsoleLog() {
Instance::Instance(std::string_view dir, std::string_view filename,
double period) {
// Delete all previously existing FRC_TBD_*.wpilog files. These only exist
// Delete all previously existing WPILIB_TBD_*.wpilog files. These only exist
// when the robot never connects to the DS, so they are very unlikely to
// have useful data and just clutter the filesystem.
auto logDir = MakeLogDir(dir);
std::error_code ec;
for (auto&& entry : fs::directory_iterator{logDir, ec}) {
if (wpi::util::starts_with(entry.path().stem().string(), "FRC_TBD_") &&
if (wpi::util::starts_with(entry.path().stem().string(), "WPILIB_TBD_") &&
entry.path().extension() == ".wpilog") {
if (!fs::remove(entry, ec)) {
wpi::util::print(stderr, "DataLogManager: could not delete {}\n",

10
ntcoreffi/src/main/native/include/DataLogManager.h
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@@ -23,14 +23,14 @@ namespace wpi {
* The data file will be saved to a USB flash drive in a folder named "logs" if
* one is attached, or to /home/systemcore/logs otherwise.
*
* Log files are initially named "FRC_TBD_{random}.wpilog" until the DS
* Log files are initially named "WPILIB_TBD_{random}.wpilog" until the DS
* connects. After the DS connects, the log file is renamed to
* "FRC_yyyyMMdd_HHmmss.wpilog" (where the date/time is UTC). If the FMS is
* "WPILIB_yyyyMMdd_HHmmss.wpilog" (where the date/time is UTC). If the FMS is
* connected and provides a match number, the log file is renamed to
* "FRC_yyyyMMdd_HHmmss_{event}_{match}.wpilog".
* "WPILIB_yyyyMMdd_HHmmss_{event}_{match}.wpilog".
*
* On startup, all existing FRC_TBD log files are deleted. If there is less than
* 50 MB of free space on the target storage, FRC_ log files are deleted (oldest
* On startup, all existing WPILIB_TBD log files are deleted. If there is less than
* 50 MB of free space on the target storage, WPILIB_ log files are deleted (oldest
* to newest) until there is 50 MB free OR there are 10 files remaining.
*
* By default, all NetworkTables value changes are stored to the data log.

8
romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp
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@@ -37,7 +37,7 @@ bool OnBoardIO::GetButtonBPressed() {
auto currentTime = wpi::Timer::GetTimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(wpi::err::Error, "{}", "Button B was not configured");
WPILIB_ReportError(wpi::err::Error, "{}", "Button B was not configured");
m_nextMessageTime = currentTime + kMessageInterval;
}
return false;
@@ -50,7 +50,7 @@ bool OnBoardIO::GetButtonCPressed() {
auto currentTime = wpi::Timer::GetTimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(wpi::err::Error, "{}", "Button C was not configured");
WPILIB_ReportError(wpi::err::Error, "{}", "Button C was not configured");
m_nextMessageTime = currentTime + kMessageInterval;
}
return false;
@@ -62,7 +62,7 @@ void OnBoardIO::SetGreenLed(bool value) {
} else {
auto currentTime = wpi::Timer::GetTimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(wpi::err::Error, "{}", "Green LED was not configured");
WPILIB_ReportError(wpi::err::Error, "{}", "Green LED was not configured");
m_nextMessageTime = currentTime + kMessageInterval;
}
}
@@ -74,7 +74,7 @@ void OnBoardIO::SetRedLed(bool value) {
} else {
auto currentTime = wpi::Timer::GetTimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(wpi::err::Error, "{}", "Red LED was not configured");
WPILIB_ReportError(wpi::err::Error, "{}", "Red LED was not configured");
m_nextMessageTime = currentTime + kMessageInterval;
}
}

2
simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
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@@ -3,7 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
/*----------------------------------------------------------------------------
** This extension reimplements enough of the FRC_Network layer to enable the
** This extension reimplements enough of the WPILIB_Network layer to enable the
** simulator to communicate with a driver station. That includes a
** simple udp layer for communication.
** The protocol does not appear to be well documented; this implementation

2
upstream_utils/benchmark_patches/0001-Add-roboRIO-benchmark-support.patch
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@@ -15,7 +15,7 @@ index 60e9e5c219a470944609f36773b4d8effa019059..86922c0da6303e1c35b4f7cb92a751fb
return GetCacheSizesQNX();
#elif defined(BENCHMARK_OS_QURT) || defined(__EMSCRIPTEN__)
return std::vector<CPUInfo::CacheInfo>();
+#elif defined(__FRC_ROBORIO__)
+#elif defined(__WPILIB_ROBORIO__)
+ return std::vector<CPUInfo::CacheInfo>();
#else
return GetCacheSizesFromKVFS();

2
wpilibc/src/main/native/cpp/ExpansionHub.cpp
View File

@@ -43,7 +43,7 @@ class ExpansionHub::DataStore {
};
std::shared_ptr<ExpansionHub::DataStore> ExpansionHub::GetForUsbId(int usbId) {
FRC_AssertMessage(usbId >= 0 && usbId < NumUsbPorts, "USB {} out of range",
WPILIB_AssertMessage(usbId >= 0 && usbId < NumUsbPorts, "USB {} out of range",
usbId);
std::scoped_lock lock{m_handleLock};
std::weak_ptr<DataStore>& weakStore = m_storeMap[usbId];

6
wpilibc/src/main/native/cpp/ExpansionHubMotor.cpp
View File

@@ -20,11 +20,11 @@ ExpansionHubMotor::ExpansionHubMotor(int usbId, int channel)
m_channel{channel},
m_velocityPidConstants{usbId, channel, true},
m_positionPidConstants{usbId, channel, false} {
FRC_AssertMessage(channel >= 0 && channel < ExpansionHub::NumMotorPorts,
WPILIB_AssertMessage(channel >= 0 && channel < ExpansionHub::NumMotorPorts,
"ExHub Motor Channel {} out of range", channel);
if (!m_hub.CheckAndReserveMotor(channel)) {
throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channel {}", channel);
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "Channel {}", channel);
}
m_hub.ReportUsage(fmt::format("ExHubServo[{}]", channel), "ExHubServo");
@@ -153,7 +153,7 @@ ExpansionHubPidConstants& ExpansionHubMotor::GetPositionPidConstants() {
void ExpansionHubMotor::Follow(const ExpansionHubMotor& leader) {
if (m_hub.GetUsbId() != leader.m_hub.GetUsbId()) {
throw FRC_MakeError(err::InvalidParameter,
throw WPILIB_MakeError(err::InvalidParameter,
"Cannot follow motor on different hub");
}
m_modePublisher.Set(kFollowerMode);

8
wpilibc/src/main/native/cpp/ExpansionHubServo.cpp
View File

@@ -11,11 +11,11 @@ using namespace wpi;
ExpansionHubServo::ExpansionHubServo(int usbId, int channel)
: m_hub{usbId}, m_channel{channel} {
FRC_AssertMessage(channel >= 0 && channel < ExpansionHub::NumServoPorts,
WPILIB_AssertMessage(channel >= 0 && channel < ExpansionHub::NumServoPorts,
"ExHub Servo Channel {} out of range", channel);
if (!m_hub.CheckAndReserveServo(channel)) {
throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channel {}", channel);
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "Channel {}", channel);
}
m_hub.ReportUsage(fmt::format("ExHubServo[{}]", channel), "ExHubServo");
@@ -97,7 +97,7 @@ wpi::units::degree_t ExpansionHubServo::GetServoAngleRange() {
void ExpansionHubServo::SetPWMRange(wpi::units::microsecond_t minPwm,
wpi::units::microsecond_t maxPwm) {
if (maxPwm <= minPwm) {
throw FRC_MakeError(err::ParameterOutOfRange,
throw WPILIB_MakeError(err::ParameterOutOfRange,
"Max PWM must be greater than Min PWM");
}
m_minPwm = minPwm;
@@ -109,7 +109,7 @@ void ExpansionHubServo::SetReversed(bool reversed) {}
void ExpansionHubServo::SetAngleRange(wpi::units::degree_t minAngle,
wpi::units::degree_t maxAngle) {
if (maxAngle <= minAngle) {
throw FRC_MakeError(err::ParameterOutOfRange,
throw WPILIB_MakeError(err::ParameterOutOfRange,
"Max angle must be greater than Min angle");
}
m_minServoAngle = minAngle;

10
wpilibc/src/main/native/cpp/counter/Tachometer.cpp
View File

@@ -21,7 +21,7 @@ Tachometer::Tachometer(int channel, EdgeConfiguration configuration)
m_handle = HAL_InitializeCounter(
channel, configuration == EdgeConfiguration::kRisingEdge,
stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "{}", channel);
WPILIB_CheckErrorStatus(status, "{}", channel);
HAL_ReportUsage("IO", channel, "Tachometer");
wpi::util::SendableRegistry::Add(this, "Tachometer", channel);
@@ -31,7 +31,7 @@ void Tachometer::SetEdgeConfiguration(EdgeConfiguration configuration) {
int32_t status = 0;
bool rising = configuration == EdgeConfiguration::kRisingEdge;
HAL_SetCounterEdgeConfiguration(m_handle, rising, &status);
FRC_CheckErrorStatus(status, "{}", m_channel);
WPILIB_CheckErrorStatus(status, "{}", m_channel);
}
wpi::units::hertz_t Tachometer::GetFrequency() const {
@@ -45,7 +45,7 @@ wpi::units::hertz_t Tachometer::GetFrequency() const {
wpi::units::second_t Tachometer::GetPeriod() const {
int32_t status = 0;
double period = HAL_GetCounterPeriod(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return wpi::units::second_t{period};
}
@@ -76,14 +76,14 @@ wpi::units::revolutions_per_minute_t Tachometer::GetRevolutionsPerMinute() const
bool Tachometer::GetStopped() const {
int32_t status = 0;
bool stopped = HAL_GetCounterStopped(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return stopped;
}
void Tachometer::SetMaxPeriod(wpi::units::second_t maxPeriod) {
int32_t status = 0;
HAL_SetCounterMaxPeriod(m_handle, maxPeriod.value(), &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
void Tachometer::InitSendable(wpi::util::SendableBuilder& builder) {

8
wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
View File

@@ -22,7 +22,7 @@ UpDownCounter::UpDownCounter(int channel, EdgeConfiguration configuration)
m_handle = HAL_InitializeCounter(
channel, configuration == EdgeConfiguration::kRisingEdge,
stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "{}", channel);
WPILIB_CheckErrorStatus(status, "{}", channel);
Reset();
@@ -33,21 +33,21 @@ UpDownCounter::UpDownCounter(int channel, EdgeConfiguration configuration)
int UpDownCounter::GetCount() const {
int32_t status = 0;
int val = HAL_GetCounter(m_handle, &status);
FRC_CheckErrorStatus(status, "{}", m_channel);
WPILIB_CheckErrorStatus(status, "{}", m_channel);
return val;
}
void UpDownCounter::Reset() {
int32_t status = 0;
HAL_ResetCounter(m_handle, &status);
FRC_CheckErrorStatus(status, "{}", m_channel);
WPILIB_CheckErrorStatus(status, "{}", m_channel);
}
void UpDownCounter::SetEdgeConfiguration(EdgeConfiguration configuration) {
int32_t status = 0;
bool rising = configuration == EdgeConfiguration::kRisingEdge;
HAL_SetCounterEdgeConfiguration(m_handle, rising, &status);
FRC_CheckErrorStatus(status, "{}", m_channel);
WPILIB_CheckErrorStatus(status, "{}", m_channel);
}
void UpDownCounter::InitSendable(wpi::util::SendableBuilder& builder) {

44
wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp
View File

@@ -202,11 +202,11 @@ Instance::~Instance() {
bool DriverStation::GetStickButton(int stick, int button) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
}
if (button < 0 || button >= 64) {
FRC_ReportError(warn::BadJoystickIndex, "button {} out of range", button);
WPILIB_ReportError(warn::BadJoystickIndex, "button {} out of range", button);
return false;
}
@@ -230,11 +230,11 @@ bool DriverStation::GetStickButton(int stick, int button) {
std::optional<bool> DriverStation::GetStickButtonIfAvailable(int stick,
int button) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
}
if (button < 0 || button >= 64) {
FRC_ReportError(warn::BadJoystickIndex, "button {} out of range", button);
WPILIB_ReportError(warn::BadJoystickIndex, "button {} out of range", button);
return false;
}
@@ -252,11 +252,11 @@ std::optional<bool> DriverStation::GetStickButtonIfAvailable(int stick,
bool DriverStation::GetStickButtonPressed(int stick, int button) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
}
if (button < 0 || button >= 64) {
FRC_ReportError(warn::BadJoystickIndex, "button {} out of range", button);
WPILIB_ReportError(warn::BadJoystickIndex, "button {} out of range", button);
return false;
}
@@ -285,11 +285,11 @@ bool DriverStation::GetStickButtonPressed(int stick, int button) {
bool DriverStation::GetStickButtonReleased(int stick, int button) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
}
if (button < 0 || button >= 64) {
FRC_ReportError(warn::BadJoystickIndex, "button {} out of range", button);
WPILIB_ReportError(warn::BadJoystickIndex, "button {} out of range", button);
return false;
}
@@ -318,11 +318,11 @@ bool DriverStation::GetStickButtonReleased(int stick, int button) {
double DriverStation::GetStickAxis(int stick, int axis) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0.0;
}
if (axis < 0 || axis >= HAL_kMaxJoystickAxes) {
FRC_ReportError(warn::BadJoystickAxis, "axis {} out of range", axis);
WPILIB_ReportError(warn::BadJoystickAxis, "axis {} out of range", axis);
return 0.0;
}
@@ -345,11 +345,11 @@ double DriverStation::GetStickAxis(int stick, int axis) {
std::optional<double> DriverStation::GetStickAxisIfAvailable(int stick,
int axis) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0.0;
}
if (axis < 0 || axis >= HAL_kMaxJoystickAxes) {
FRC_ReportError(warn::BadJoystickAxis, "axis {} out of range", axis);
WPILIB_ReportError(warn::BadJoystickAxis, "axis {} out of range", axis);
return 0.0;
}
@@ -367,11 +367,11 @@ std::optional<double> DriverStation::GetStickAxisIfAvailable(int stick,
DriverStation::POVDirection DriverStation::GetStickPOV(int stick, int pov) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return kCenter;
}
if (pov < 0 || pov >= HAL_kMaxJoystickPOVs) {
FRC_ReportError(warn::BadJoystickAxis, "POV {} out of range", pov);
WPILIB_ReportError(warn::BadJoystickAxis, "POV {} out of range", pov);
return kCenter;
}
@@ -393,7 +393,7 @@ DriverStation::POVDirection DriverStation::GetStickPOV(int stick, int pov) {
uint64_t DriverStation::GetStickButtons(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
}
@@ -409,7 +409,7 @@ int DriverStation::GetStickAxesMaximumIndex(int stick) {
int DriverStation::GetStickAxesAvailable(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
}
@@ -425,7 +425,7 @@ int DriverStation::GetStickPOVsMaximumIndex(int stick) {
int DriverStation::GetStickPOVsAvailable(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
}
@@ -441,7 +441,7 @@ int DriverStation::GetStickButtonsMaximumIndex(int stick) {
uint64_t DriverStation::GetStickButtonsAvailable(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
}
@@ -453,7 +453,7 @@ uint64_t DriverStation::GetStickButtonsAvailable(int stick) {
bool DriverStation::GetJoystickIsGamepad(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
}
@@ -465,7 +465,7 @@ bool DriverStation::GetJoystickIsGamepad(int stick) {
int DriverStation::GetJoystickType(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return -1;
}
@@ -477,7 +477,7 @@ int DriverStation::GetJoystickType(int stick) {
std::string DriverStation::GetJoystickName(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
}
HAL_JoystickDescriptor descriptor;
@@ -632,7 +632,7 @@ wpi::units::second_t DriverStation::GetMatchTime() {
double DriverStation::GetBatteryVoltage() {
int32_t status = 0;
double voltage = HAL_GetVinVoltage(&status);
FRC_CheckErrorStatus(status, "getVinVoltage");
WPILIB_CheckErrorStatus(status, "getVinVoltage");
return voltage;
}

2
wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp
View File

@@ -15,7 +15,7 @@ using namespace wpi;
GenericHID::GenericHID(int port) {
if (port < 0 || port >= DriverStation::kJoystickPorts) {
throw FRC_MakeError(warn::BadJoystickIndex, "port {} out of range", port);
throw WPILIB_MakeError(warn::BadJoystickIndex, "port {} out of range", port);
}
m_port = port;
}

4
wpilibc/src/main/native/cpp/event/EventLoop.cpp
View File

@@ -24,7 +24,7 @@ EventLoop::EventLoop() {}
void EventLoop::Bind(wpi::util::unique_function<void()> action) {
if (m_running) {
throw FRC_MakeError(err::Error,
throw WPILIB_MakeError(err::Error,
"Cannot bind EventLoop while it is running");
}
m_bindings.emplace_back(std::move(action));
@@ -39,7 +39,7 @@ void EventLoop::Poll() {
void EventLoop::Clear() {
if (m_running) {
throw FRC_MakeError(err::Error,
throw WPILIB_MakeError(err::Error,
"Cannot clear EventLoop while it is running");
}
m_bindings.clear();

4
wpilibc/src/main/native/cpp/hardware/accelerometer/AnalogAccelerometer.cpp
View File

@@ -20,7 +20,7 @@ AnalogAccelerometer::AnalogAccelerometer(int channel)
AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
: m_analogInput(channel, wpi::util::NullDeleter<AnalogInput>()) {
if (!channel) {
throw FRC_MakeError(err::NullParameter, "channel");
throw WPILIB_MakeError(err::NullParameter, "channel");
}
InitAccelerometer();
}
@@ -28,7 +28,7 @@ AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr<AnalogInput> channel)
: m_analogInput(channel) {
if (!channel) {
throw FRC_MakeError(err::NullParameter, "channel");
throw WPILIB_MakeError(err::NullParameter, "channel");
}
InitAccelerometer();
}

16
wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp
View File

@@ -22,7 +22,7 @@ CAN::CAN(int busId, int deviceId, int deviceManufacturer, int deviceType) {
m_handle = HAL_InitializeCAN(
busId, static_cast<HAL_CANManufacturer>(deviceManufacturer), deviceId,
static_cast<HAL_CANDeviceType>(deviceType), &status);
FRC_CheckErrorStatus(status, "device id {} mfg {} type {}", deviceId,
WPILIB_CheckErrorStatus(status, "device id {} mfg {} type {}", deviceId,
deviceManufacturer, deviceType);
HAL_ReportUsage(
@@ -33,20 +33,20 @@ CAN::CAN(int busId, int deviceId, int deviceManufacturer, int deviceType) {
void CAN::WritePacket(int apiId, const HAL_CANMessage& message) {
int32_t status = 0;
HAL_WriteCANPacket(m_handle, apiId, &message, &status);
FRC_CheckErrorStatus(status, "WritePacket");
WPILIB_CheckErrorStatus(status, "WritePacket");
}
void CAN::WritePacketRepeating(int apiId, const HAL_CANMessage& message,
int repeatMs) {
int32_t status = 0;
HAL_WriteCANPacketRepeating(m_handle, apiId, &message, repeatMs, &status);
FRC_CheckErrorStatus(status, "WritePacketRepeating");
WPILIB_CheckErrorStatus(status, "WritePacketRepeating");
}
void CAN::WriteRTRFrame(int apiId, const HAL_CANMessage& message) {
int32_t status = 0;
HAL_WriteCANRTRFrame(m_handle, apiId, &message, &status);
FRC_CheckErrorStatus(status, "WriteRTRFrame");
WPILIB_CheckErrorStatus(status, "WriteRTRFrame");
}
int CAN::WritePacketNoError(int apiId, const HAL_CANMessage& message) {
@@ -71,7 +71,7 @@ int CAN::WriteRTRFrameNoError(int apiId, const HAL_CANMessage& message) {
void CAN::StopPacketRepeating(int apiId) {
int32_t status = 0;
HAL_StopCANPacketRepeating(m_handle, apiId, &status);
FRC_CheckErrorStatus(status, "StopPacketRepeating");
WPILIB_CheckErrorStatus(status, "StopPacketRepeating");
}
bool CAN::ReadPacketNew(int apiId, HAL_CANReceiveMessage* data) {
@@ -81,7 +81,7 @@ bool CAN::ReadPacketNew(int apiId, HAL_CANReceiveMessage* data) {
return false;
}
if (status != 0) {
FRC_CheckErrorStatus(status, "ReadPacketNew");
WPILIB_CheckErrorStatus(status, "ReadPacketNew");
return false;
} else {
return true;
@@ -95,7 +95,7 @@ bool CAN::ReadPacketLatest(int apiId, HAL_CANReceiveMessage* data) {
return false;
}
if (status != 0) {
FRC_CheckErrorStatus(status, "ReadPacketLatest");
WPILIB_CheckErrorStatus(status, "ReadPacketLatest");
return false;
} else {
return true;
@@ -111,7 +111,7 @@ bool CAN::ReadPacketTimeout(int apiId, int timeoutMs,
return false;
}
if (status != 0) {
FRC_CheckErrorStatus(status, "ReadPacketTimeout");
WPILIB_CheckErrorStatus(status, "ReadPacketTimeout");
return false;
} else {
return true;

10
wpilibc/src/main/native/cpp/hardware/bus/I2C.cpp
View File

@@ -17,7 +17,7 @@ I2C::I2C(Port port, int deviceAddress)
int32_t status = 0;
HAL_InitializeI2C(m_port, &status);
FRC_CheckErrorStatus(status, "Port {}", static_cast<int>(port));
WPILIB_CheckErrorStatus(status, "Port {}", static_cast<int>(port));
HAL_ReportUsage(
fmt::format("I2C[{}][{}]", static_cast<int>(port), deviceAddress), "");
@@ -60,10 +60,10 @@ bool I2C::WriteBulk(uint8_t* data, int count) {
bool I2C::Read(int registerAddress, int count, uint8_t* buffer) {
if (count < 1) {
throw FRC_MakeError(err::ParameterOutOfRange, "count {}", count);
throw WPILIB_MakeError(err::ParameterOutOfRange, "count {}", count);
}
if (!buffer) {
throw FRC_MakeError(err::NullParameter, "buffer");
throw WPILIB_MakeError(err::NullParameter, "buffer");
}
uint8_t regAddr = registerAddress;
return Transaction(&regAddr, sizeof(regAddr), buffer, count);
@@ -71,10 +71,10 @@ bool I2C::Read(int registerAddress, int count, uint8_t* buffer) {
bool I2C::ReadOnly(int count, uint8_t* buffer) {
if (count < 1) {
throw FRC_MakeError(err::ParameterOutOfRange, "count {}", count);
throw WPILIB_MakeError(err::ParameterOutOfRange, "count {}", count);
}
if (!buffer) {
throw FRC_MakeError(err::NullParameter, "buffer");
throw WPILIB_MakeError(err::NullParameter, "buffer");
}
return HAL_ReadI2C(m_port, m_deviceAddress, buffer, count) < 0;
}

44
wpilibc/src/main/native/cpp/hardware/bus/SerialPort.cpp
View File

@@ -19,15 +19,15 @@ SerialPort::SerialPort(int baudRate, Port port, int dataBits,
m_portHandle =
HAL_InitializeSerialPort(static_cast<HAL_SerialPort>(port), &status);
FRC_CheckErrorStatus(status, "Port {}", static_cast<int>(port));
WPILIB_CheckErrorStatus(status, "Port {}", static_cast<int>(port));
HAL_SetSerialBaudRate(m_portHandle, baudRate, &status);
FRC_CheckErrorStatus(status, "SetSerialBaudRate {}", baudRate);
WPILIB_CheckErrorStatus(status, "SetSerialBaudRate {}", baudRate);
HAL_SetSerialDataBits(m_portHandle, dataBits, &status);
FRC_CheckErrorStatus(status, "SetSerialDataBits {}", dataBits);
WPILIB_CheckErrorStatus(status, "SetSerialDataBits {}", dataBits);
HAL_SetSerialParity(m_portHandle, parity, &status);
FRC_CheckErrorStatus(status, "SetSerialParity {}", static_cast<int>(parity));
WPILIB_CheckErrorStatus(status, "SetSerialParity {}", static_cast<int>(parity));
HAL_SetSerialStopBits(m_portHandle, stopBits, &status);
FRC_CheckErrorStatus(status, "SetSerialStopBits {}",
WPILIB_CheckErrorStatus(status, "SetSerialStopBits {}",
static_cast<int>(stopBits));
// Set the default timeout to 5 seconds.
@@ -49,15 +49,15 @@ SerialPort::SerialPort(int baudRate, std::string_view portName, Port port,
m_portHandle =
HAL_InitializeSerialPortDirect(static_cast<HAL_SerialPort>(port),
std::string(portName).c_str(), &status);
FRC_CheckErrorStatus(status, "Port {}", static_cast<int>(port));
WPILIB_CheckErrorStatus(status, "Port {}", static_cast<int>(port));
HAL_SetSerialBaudRate(m_portHandle, baudRate, &status);
FRC_CheckErrorStatus(status, "SetSerialBaudRate {}", baudRate);
WPILIB_CheckErrorStatus(status, "SetSerialBaudRate {}", baudRate);
HAL_SetSerialDataBits(m_portHandle, dataBits, &status);
FRC_CheckErrorStatus(status, "SetSerialDataBits {}", dataBits);
WPILIB_CheckErrorStatus(status, "SetSerialDataBits {}", dataBits);
HAL_SetSerialParity(m_portHandle, parity, &status);
FRC_CheckErrorStatus(status, "SetSerialParity {}", static_cast<int>(parity));
WPILIB_CheckErrorStatus(status, "SetSerialParity {}", static_cast<int>(parity));
HAL_SetSerialStopBits(m_portHandle, stopBits, &status);
FRC_CheckErrorStatus(status, "SetSerialStopBits {}",
WPILIB_CheckErrorStatus(status, "SetSerialStopBits {}",
static_cast<int>(stopBits));
// Set the default timeout to 5 seconds.
@@ -74,33 +74,33 @@ SerialPort::SerialPort(int baudRate, std::string_view portName, Port port,
void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) {
int32_t status = 0;
HAL_SetSerialFlowControl(m_portHandle, flowControl, &status);
FRC_CheckErrorStatus(status, "SetFlowControl {}",
WPILIB_CheckErrorStatus(status, "SetFlowControl {}",
static_cast<int>(flowControl));
}
void SerialPort::EnableTermination(char terminator) {
int32_t status = 0;
HAL_EnableSerialTermination(m_portHandle, terminator, &status);
FRC_CheckErrorStatus(status, "EnableTermination {}", terminator);
WPILIB_CheckErrorStatus(status, "EnableTermination {}", terminator);
}
void SerialPort::DisableTermination() {
int32_t status = 0;
HAL_DisableSerialTermination(m_portHandle, &status);
FRC_CheckErrorStatus(status, "DisableTermination");
WPILIB_CheckErrorStatus(status, "DisableTermination");
}
int SerialPort::GetBytesReceived() {
int32_t status = 0;
int retVal = HAL_GetSerialBytesReceived(m_portHandle, &status);
FRC_CheckErrorStatus(status, "GetBytesReceived");
WPILIB_CheckErrorStatus(status, "GetBytesReceived");
return retVal;
}
int SerialPort::Read(char* buffer, int count) {
int32_t status = 0;
int retVal = HAL_ReadSerial(m_portHandle, buffer, count, &status);
FRC_CheckErrorStatus(status, "Read");
WPILIB_CheckErrorStatus(status, "Read");
return retVal;
}
@@ -112,42 +112,42 @@ int SerialPort::Write(std::string_view buffer) {
int32_t status = 0;
int retVal =
HAL_WriteSerial(m_portHandle, buffer.data(), buffer.size(), &status);
FRC_CheckErrorStatus(status, "Write");
WPILIB_CheckErrorStatus(status, "Write");
return retVal;
}
void SerialPort::SetTimeout(wpi::units::second_t timeout) {
int32_t status = 0;
HAL_SetSerialTimeout(m_portHandle, timeout.value(), &status);
FRC_CheckErrorStatus(status, "SetTimeout");
WPILIB_CheckErrorStatus(status, "SetTimeout");
}
void SerialPort::SetReadBufferSize(int size) {
int32_t status = 0;
HAL_SetSerialReadBufferSize(m_portHandle, size, &status);
FRC_CheckErrorStatus(status, "SetReadBufferSize {}", size);
WPILIB_CheckErrorStatus(status, "SetReadBufferSize {}", size);
}
void SerialPort::SetWriteBufferSize(int size) {
int32_t status = 0;
HAL_SetSerialWriteBufferSize(m_portHandle, size, &status);
FRC_CheckErrorStatus(status, "SetWriteBufferSize {}", size);
WPILIB_CheckErrorStatus(status, "SetWriteBufferSize {}", size);
}
void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) {
int32_t status = 0;
HAL_SetSerialWriteMode(m_portHandle, mode, &status);
FRC_CheckErrorStatus(status, "SetWriteBufferMode {}", static_cast<int>(mode));
WPILIB_CheckErrorStatus(status, "SetWriteBufferMode {}", static_cast<int>(mode));
}
void SerialPort::Flush() {
int32_t status = 0;
HAL_FlushSerial(m_portHandle, &status);
FRC_CheckErrorStatus(status, "Flush");
WPILIB_CheckErrorStatus(status, "Flush");
}
void SerialPort::Reset() {
int32_t status = 0;
HAL_ClearSerial(m_portHandle, &status);
FRC_CheckErrorStatus(status, "Reset");
WPILIB_CheckErrorStatus(status, "Reset");
}

28
wpilibc/src/main/native/cpp/hardware/discrete/AnalogInput.cpp
View File

@@ -21,14 +21,14 @@ using namespace wpi;
AnalogInput::AnalogInput(int channel) {
if (!SensorUtil::CheckAnalogInputChannel(channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
}
m_channel = channel;
int32_t status = 0;
std::string stackTrace = wpi::util::GetStackTrace(1);
m_port = HAL_InitializeAnalogInputPort(channel, stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "Channel {}", channel);
WPILIB_CheckErrorStatus(status, "Channel {}", channel);
HAL_ReportUsage("IO", channel, "AnalogInput");
@@ -38,28 +38,28 @@ AnalogInput::AnalogInput(int channel) {
int AnalogInput::GetValue() const {
int32_t status = 0;
int value = HAL_GetAnalogValue(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return value;
}
int AnalogInput::GetAverageValue() const {
int32_t status = 0;
int value = HAL_GetAnalogAverageValue(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return value;
}
double AnalogInput::GetVoltage() const {
int32_t status = 0;
double voltage = HAL_GetAnalogVoltage(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return voltage;
}
double AnalogInput::GetAverageVoltage() const {
int32_t status = 0;
double voltage = HAL_GetAnalogAverageVoltage(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return voltage;
}
@@ -70,53 +70,53 @@ int AnalogInput::GetChannel() const {
void AnalogInput::SetAverageBits(int bits) {
int32_t status = 0;
HAL_SetAnalogAverageBits(m_port, bits, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
int AnalogInput::GetAverageBits() const {
int32_t status = 0;
int averageBits = HAL_GetAnalogAverageBits(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return averageBits;
}
void AnalogInput::SetOversampleBits(int bits) {
int32_t status = 0;
HAL_SetAnalogOversampleBits(m_port, bits, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
int AnalogInput::GetOversampleBits() const {
int32_t status = 0;
int oversampleBits = HAL_GetAnalogOversampleBits(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return oversampleBits;
}
int AnalogInput::GetLSBWeight() const {
int32_t status = 0;
int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return lsbWeight;
}
int AnalogInput::GetOffset() const {
int32_t status = 0;
int offset = HAL_GetAnalogOffset(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return offset;
}
void AnalogInput::SetSampleRate(double samplesPerSecond) {
int32_t status = 0;
HAL_SetAnalogSampleRate(samplesPerSecond, &status);
FRC_CheckErrorStatus(status, "SetSampleRate");
WPILIB_CheckErrorStatus(status, "SetSampleRate");
}
double AnalogInput::GetSampleRate() {
int32_t status = 0;
double sampleRate = HAL_GetAnalogSampleRate(&status);
FRC_CheckErrorStatus(status, "GetSampleRate");
WPILIB_CheckErrorStatus(status, "GetSampleRate");
return sampleRate;
}

6
wpilibc/src/main/native/cpp/hardware/discrete/DigitalInput.cpp
View File

@@ -20,14 +20,14 @@ using namespace wpi;
DigitalInput::DigitalInput(int channel) {
if (!SensorUtil::CheckDigitalChannel(channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
}
m_channel = channel;
int32_t status = 0;
std::string stackTrace = wpi::util::GetStackTrace(1);
m_handle = HAL_InitializeDIOPort(channel, true, stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "Channel {}", channel);
WPILIB_CheckErrorStatus(status, "Channel {}", channel);
HAL_ReportUsage("IO", channel, "DigitalInput");
wpi::util::SendableRegistry::Add(this, "DigitalInput", channel);
@@ -36,7 +36,7 @@ DigitalInput::DigitalInput(int channel) {
bool DigitalInput::Get() const {
int32_t status = 0;
bool value = HAL_GetDIO(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return value;
}

30
wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp
View File

@@ -21,14 +21,14 @@ using namespace wpi;
DigitalOutput::DigitalOutput(int channel) {
m_pwmGenerator = HAL_kInvalidHandle;
if (!SensorUtil::CheckDigitalChannel(channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
}
m_channel = channel;
int32_t status = 0;
std::string stackTrace = wpi::util::GetStackTrace(1);
m_handle = HAL_InitializeDIOPort(channel, false, stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "Channel {}", channel);
WPILIB_CheckErrorStatus(status, "Channel {}", channel);
HAL_ReportUsage("IO", channel, "DigitalOutput");
wpi::util::SendableRegistry::Add(this, "DigitalOutput", channel);
@@ -48,13 +48,13 @@ DigitalOutput::~DigitalOutput() {
void DigitalOutput::Set(bool value) {
int32_t status = 0;
HAL_SetDIO(m_handle, value, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
bool DigitalOutput::Get() const {
int32_t status = 0;
bool val = HAL_GetDIO(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return val;
}
@@ -65,20 +65,20 @@ int DigitalOutput::GetChannel() const {
void DigitalOutput::Pulse(wpi::units::second_t pulseLength) {
int32_t status = 0;
HAL_Pulse(m_handle, pulseLength.value(), &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
bool DigitalOutput::IsPulsing() const {
int32_t status = 0;
bool value = HAL_IsPulsing(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return value;
}
void DigitalOutput::SetPWMRate(double rate) {
int32_t status = 0;
HAL_SetDigitalPWMRate(rate, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
void DigitalOutput::EnablePPS(double dutyCycle) {
@@ -89,13 +89,13 @@ void DigitalOutput::EnablePPS(double dutyCycle) {
int32_t status = 0;
m_pwmGenerator = HAL_AllocateDigitalPWM(&status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
HAL_SetDigitalPWMPPS(m_pwmGenerator, dutyCycle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
void DigitalOutput::EnablePWM(double initialDutyCycle) {
@@ -106,13 +106,13 @@ void DigitalOutput::EnablePWM(double initialDutyCycle) {
int32_t status = 0;
m_pwmGenerator = HAL_AllocateDigitalPWM(&status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
void DigitalOutput::DisablePWM() {
@@ -125,7 +125,7 @@ void DigitalOutput::DisablePWM() {
// Disable the output by routing to a dead bit.
HAL_SetDigitalPWMOutputChannel(m_pwmGenerator,
SensorUtil::GetNumDigitalChannels(), &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
HAL_FreeDigitalPWM(m_pwmGenerator);
@@ -135,7 +135,7 @@ void DigitalOutput::DisablePWM() {
void DigitalOutput::UpdateDutyCycle(double dutyCycle) {
int32_t status = 0;
HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {

14
wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp
View File

@@ -20,13 +20,13 @@ using namespace wpi;
PWM::PWM(int channel, bool registerSendable) {
if (!SensorUtil::CheckPWMChannel(channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
}
auto stack = wpi::util::GetStackTrace(1);
int32_t status = 0;
m_handle = HAL_InitializePWMPort(channel, stack.c_str(), &status);
FRC_CheckErrorStatus(status, "Channel {}", channel);
WPILIB_CheckErrorStatus(status, "Channel {}", channel);
m_channel = channel;
@@ -47,13 +47,13 @@ PWM::~PWM() {
void PWM::SetPulseTime(wpi::units::microsecond_t time) {
int32_t status = 0;
HAL_SetPWMPulseTimeMicroseconds(m_handle, time.value(), &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
wpi::units::microsecond_t PWM::GetPulseTime() const {
int32_t status = 0;
double value = HAL_GetPWMPulseTimeMicroseconds(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
return wpi::units::microsecond_t{value};
}
@@ -61,7 +61,7 @@ wpi::units::microsecond_t PWM::GetPulseTime() const {
void PWM::SetDisabled() {
int32_t status = 0;
HAL_SetPWMPulseTimeMicroseconds(m_handle, 0, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
void PWM::SetOutputPeriod(OutputPeriod mult) {
@@ -81,11 +81,11 @@ void PWM::SetOutputPeriod(OutputPeriod mult) {
&status); // Don't squelch any outputs
break;
default:
throw FRC_MakeError(err::InvalidParameter, "OutputPeriod value {}",
throw WPILIB_MakeError(err::InvalidParameter, "OutputPeriod value {}",
static_cast<int>(mult));
}
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
int PWM::GetChannel() const {

20
wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
View File

@@ -53,7 +53,7 @@ wpi::math::Quaternion OnboardIMU::GetQuaternion() {
HAL_Quaternion val;
int32_t status = 0;
HAL_GetIMUQuaternion(&val, &status);
FRC_CheckErrorStatus(status, "Onboard IMU");
WPILIB_CheckErrorStatus(status, "Onboard IMU");
return wpi::math::Quaternion{val.w, val.x, val.y, val.z};
}
@@ -71,7 +71,7 @@ wpi::units::radian_t OnboardIMU::GetAngleX() {
HAL_GetIMUEulerAnglesPortrait(&val, &status);
break;
}
FRC_CheckErrorStatus(status, "Onboard IMU");
WPILIB_CheckErrorStatus(status, "Onboard IMU");
return wpi::units::radian_t{val.x};
}
@@ -89,7 +89,7 @@ wpi::units::radian_t OnboardIMU::GetAngleY() {
HAL_GetIMUEulerAnglesPortrait(&val, &status);
break;
}
FRC_CheckErrorStatus(status, "Onboard IMU");
WPILIB_CheckErrorStatus(status, "Onboard IMU");
return wpi::units::radian_t{val.y};
}
@@ -107,7 +107,7 @@ wpi::units::radian_t OnboardIMU::GetAngleZ() {
HAL_GetIMUEulerAnglesPortrait(&val, &status);
break;
}
FRC_CheckErrorStatus(status, "Onboard IMU");
WPILIB_CheckErrorStatus(status, "Onboard IMU");
return wpi::units::radian_t{val.z};
}
@@ -115,7 +115,7 @@ wpi::units::radians_per_second_t OnboardIMU::GetGyroRateX() {
HAL_GyroRate3d val;
int32_t status = 0;
HAL_GetIMUGyroRates(&val, &status);
FRC_CheckErrorStatus(status, "Onboard IMU");
WPILIB_CheckErrorStatus(status, "Onboard IMU");
return wpi::units::radians_per_second_t{val.x};
}
@@ -123,7 +123,7 @@ wpi::units::radians_per_second_t OnboardIMU::GetGyroRateY() {
HAL_GyroRate3d val;
int32_t status = 0;
HAL_GetIMUGyroRates(&val, &status);
FRC_CheckErrorStatus(status, "Onboard IMU");
WPILIB_CheckErrorStatus(status, "Onboard IMU");
return wpi::units::radians_per_second_t{val.y};
}
@@ -131,7 +131,7 @@ wpi::units::radians_per_second_t OnboardIMU::GetGyroRateZ() {
HAL_GyroRate3d val;
int32_t status = 0;
HAL_GetIMUGyroRates(&val, &status);
FRC_CheckErrorStatus(status, "Onboard IMU");
WPILIB_CheckErrorStatus(status, "Onboard IMU");
return wpi::units::radians_per_second_t{val.z};
}
@@ -139,7 +139,7 @@ wpi::units::meters_per_second_squared_t OnboardIMU::GetAccelX() {
HAL_Acceleration3d val;
int32_t status = 0;
HAL_GetIMUAcceleration(&val, &status);
FRC_CheckErrorStatus(status, "Onboard IMU");
WPILIB_CheckErrorStatus(status, "Onboard IMU");
return wpi::units::meters_per_second_squared_t{val.x};
}
@@ -147,7 +147,7 @@ wpi::units::meters_per_second_squared_t OnboardIMU::GetAccelY() {
HAL_Acceleration3d val;
int32_t status = 0;
HAL_GetIMUAcceleration(&val, &status);
FRC_CheckErrorStatus(status, "Onboard IMU");
WPILIB_CheckErrorStatus(status, "Onboard IMU");
return wpi::units::meters_per_second_squared_t{val.x};
}
@@ -155,6 +155,6 @@ wpi::units::meters_per_second_squared_t OnboardIMU::GetAccelZ() {
HAL_Acceleration3d val;
int32_t status = 0;
HAL_GetIMUAcceleration(&val, &status);
FRC_CheckErrorStatus(status, "Onboard IMU");
WPILIB_CheckErrorStatus(status, "Onboard IMU");
return wpi::units::meters_per_second_squared_t{val.x};
}

12
wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp
View File

@@ -19,13 +19,13 @@ using namespace wpi;
AddressableLED::AddressableLED(int channel) : m_channel{channel} {
if (!SensorUtil::CheckDigitalChannel(channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
}
int32_t status = 0;
auto stack = wpi::util::GetStackTrace(1);
m_handle = HAL_InitializeAddressableLED(channel, stack.c_str(), &status);
FRC_CheckErrorStatus(status, "Channel {}", channel);
WPILIB_CheckErrorStatus(status, "Channel {}", channel);
HAL_ReportUsage("IO", channel, "AddressableLED");
}
@@ -38,14 +38,14 @@ void AddressableLED::SetStart(int start) {
m_start = start;
int32_t status = 0;
HAL_SetAddressableLEDStart(m_handle, start, &status);
FRC_CheckErrorStatus(status, "Channel {} start {}", m_channel, start);
WPILIB_CheckErrorStatus(status, "Channel {} start {}", m_channel, start);
}
void AddressableLED::SetLength(int length) {
m_length = length;
int32_t status = 0;
HAL_SetAddressableLEDLength(m_handle, length, &status);
FRC_CheckErrorStatus(status, "Channel {} length {}", m_channel, length);
WPILIB_CheckErrorStatus(status, "Channel {} length {}", m_channel, length);
}
static_assert(sizeof(AddressableLED::LEDData) == sizeof(HAL_AddressableLEDData),
@@ -57,7 +57,7 @@ void AddressableLED::SetData(std::span<const LEDData> ledData) {
m_start, std::min(static_cast<size_t>(m_length), ledData.size()),
static_cast<HAL_AddressableLEDColorOrder>(m_colorOrder), ledData.data(),
&status);
FRC_CheckErrorStatus(status, "Port {}", m_channel);
WPILIB_CheckErrorStatus(status, "Port {}", m_channel);
}
void AddressableLED::SetData(std::initializer_list<LEDData> ledData) {
@@ -71,7 +71,7 @@ void AddressableLED::SetGlobalData(int start, ColorOrder colorOrder,
start, ledData.size(),
static_cast<HAL_AddressableLEDColorOrder>(colorOrder), ledData.data(),
&status);
FRC_CheckErrorStatus(status, "");
WPILIB_CheckErrorStatus(status, "");
}
void AddressableLED::LEDData::SetHSV(int h, int s, int v) {

4
wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp
View File

@@ -158,7 +158,7 @@ void MotorSafety::Check() {
}
if (stopTime < Timer::GetFPGATimestamp()) {
FRC_ReportError(err::Timeout,
WPILIB_ReportError(err::Timeout,
"{}... Output not updated often enough. See "
"https://docs.wpilib.org/motorsafety for more information.",
GetDescription());
@@ -168,7 +168,7 @@ void MotorSafety::Check() {
} catch (wpi::RuntimeError& e) {
e.Report();
} catch (std::exception& e) {
FRC_ReportError(err::Error, "{} StopMotor threw unexpected exception: {}",
WPILIB_ReportError(err::Error, "{} StopMotor threw unexpected exception: {}",
GetDescription(), e.what());
}
}

2
wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp
View File

@@ -16,7 +16,7 @@ Compressor::Compressor(int busId, int module, PneumaticsModuleType moduleType)
: m_module{PneumaticsBase::GetForType(busId, module, moduleType)},
m_moduleType{moduleType} {
if (!m_module->ReserveCompressor()) {
throw FRC_MakeError(err::ResourceAlreadyAllocated, "{}", module);
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "{}", module);
}
m_module->EnableCompressorDigital();

10
wpilibc/src/main/native/cpp/hardware/pneumatic/DoubleSolenoid.cpp
View File

@@ -22,11 +22,11 @@ DoubleSolenoid::DoubleSolenoid(int busId, int module,
m_forwardChannel{forwardChannel},
m_reverseChannel{reverseChannel} {
if (!m_module->CheckSolenoidChannel(m_forwardChannel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}",
throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}",
m_forwardChannel);
}
if (!m_module->CheckSolenoidChannel(m_reverseChannel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}",
throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}",
m_reverseChannel);
}
@@ -37,13 +37,13 @@ DoubleSolenoid::DoubleSolenoid(int busId, int module,
int allocMask = m_module->CheckAndReserveSolenoids(m_mask);
if (allocMask != 0) {
if (allocMask == m_mask) {
throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channels {} and {}",
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "Channels {} and {}",
m_forwardChannel, m_reverseChannel);
} else if (allocMask == m_forwardMask) {
throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channel {}",
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "Channel {}",
m_forwardChannel);
} else {
throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channel {}",
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "Channel {}",
m_reverseChannel);
}
}

66
wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp
View File

@@ -48,7 +48,7 @@ std::unique_ptr<wpi::util::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>
std::weak_ptr<PneumaticHub::DataStore>& PneumaticHub::GetDataStore(int busId,
int module) {
int32_t numBuses = HAL_GetNumCanBuses();
FRC_AssertMessage(busId >= 0 && busId < numBuses,
WPILIB_AssertMessage(busId >= 0 && busId < numBuses,
"Bus {} out of range. Must be [0-{}).", busId, numBuses);
if (!m_handleMaps) {
m_handleMaps = std::make_unique<
@@ -63,7 +63,7 @@ class PneumaticHub::DataStore {
int32_t status = 0;
HAL_REVPHHandle handle =
HAL_InitializeREVPH(busId, module, stackTrace, &status);
FRC_CheckErrorStatus(status, "Module {}", module);
WPILIB_CheckErrorStatus(status, "Module {}", module);
m_moduleObject = PneumaticHub{busId, handle, module};
m_moduleObject.m_dataStore =
std::shared_ptr<DataStore>{this, wpi::util::NullDeleter<DataStore>()};
@@ -72,7 +72,7 @@ class PneumaticHub::DataStore {
// Check PH firmware version
if (version.FirmwareMajor > 0 && version.FirmwareMajor < 22) {
throw FRC_MakeError(
throw WPILIB_MakeError(
err::AssertionFailure,
"The Pneumatic Hub has firmware version {}.{}.{}, and must be "
"updated to version 2022.0.0 or later using the REV Hardware Client",
@@ -117,36 +117,36 @@ PneumaticHub::PneumaticHub(int /* busId */, HAL_REVPHHandle handle, int module)
bool PneumaticHub::GetCompressor() const {
int32_t status = 0;
auto result = HAL_GetREVPHCompressor(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
void PneumaticHub::DisableCompressor() {
int32_t status = 0;
HAL_SetREVPHClosedLoopControlDisabled(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::EnableCompressorDigital() {
int32_t status = 0;
HAL_SetREVPHClosedLoopControlDigital(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::EnableCompressorAnalog(
wpi::units::pounds_per_square_inch_t minPressure,
wpi::units::pounds_per_square_inch_t maxPressure) {
if (minPressure >= maxPressure) {
throw FRC_MakeError(err::InvalidParameter,
throw WPILIB_MakeError(err::InvalidParameter,
"maxPressure must be greater than minPressure");
}
if (minPressure < 0_psi || minPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
throw WPILIB_MakeError(err::ParameterOutOfRange,
"minPressure must be between 0 and 120 PSI, got {}",
minPressure);
}
if (maxPressure < 0_psi || maxPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
throw WPILIB_MakeError(err::ParameterOutOfRange,
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
}
@@ -160,23 +160,23 @@ void PneumaticHub::EnableCompressorAnalog(
int32_t status = 0;
HAL_SetREVPHClosedLoopControlAnalog(m_handle, minAnalogVoltage.value(),
maxAnalogVoltage.value(), &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::EnableCompressorHybrid(
wpi::units::pounds_per_square_inch_t minPressure,
wpi::units::pounds_per_square_inch_t maxPressure) {
if (minPressure >= maxPressure) {
throw FRC_MakeError(err::InvalidParameter,
throw WPILIB_MakeError(err::InvalidParameter,
"maxPressure must be greater than minPressure");
}
if (minPressure < 0_psi || minPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
throw WPILIB_MakeError(err::ParameterOutOfRange,
"minPressure must be between 0 and 120 PSI, got {}",
minPressure);
}
if (maxPressure < 0_psi || maxPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
throw WPILIB_MakeError(err::ParameterOutOfRange,
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
}
@@ -190,40 +190,40 @@ void PneumaticHub::EnableCompressorHybrid(
int32_t status = 0;
HAL_SetREVPHClosedLoopControlHybrid(m_handle, minAnalogVoltage.value(),
maxAnalogVoltage.value(), &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
CompressorConfigType PneumaticHub::GetCompressorConfigType() const {
int32_t status = 0;
auto result = HAL_GetREVPHCompressorConfig(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return static_cast<CompressorConfigType>(result);
}
bool PneumaticHub::GetPressureSwitch() const {
int32_t status = 0;
auto result = HAL_GetREVPHPressureSwitch(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
wpi::units::ampere_t PneumaticHub::GetCompressorCurrent() const {
int32_t status = 0;
auto result = HAL_GetREVPHCompressorCurrent(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::ampere_t{result};
}
void PneumaticHub::SetSolenoids(int mask, int values) {
int32_t status = 0;
HAL_SetREVPHSolenoids(m_handle, mask, values, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
int PneumaticHub::GetSolenoids() const {
int32_t status = 0;
auto result = HAL_GetREVPHSolenoids(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
@@ -234,7 +234,7 @@ int PneumaticHub::GetModuleNumber() const {
int PneumaticHub::GetSolenoidDisabledList() const {
int32_t status = 0;
auto result = HAL_GetREVPHSolenoidDisabledList(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
@@ -242,7 +242,7 @@ void PneumaticHub::FireOneShot(int index) {
int32_t status = 0;
HAL_FireREVPHOneShot(m_handle, index,
m_dataStore->m_oneShotDurMs[index].value(), &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::SetOneShotDuration(int index, wpi::units::second_t duration) {
@@ -287,7 +287,7 @@ PneumaticHub::Version PneumaticHub::GetVersion() const {
HAL_REVPHVersion halVersions;
std::memset(&halVersions, 0, sizeof(halVersions));
HAL_GetREVPHVersion(m_handle, &halVersions, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
PneumaticHub::Version versions;
static_assert(sizeof(halVersions) == sizeof(versions));
static_assert(std::is_standard_layout_v<decltype(versions)>);
@@ -301,7 +301,7 @@ PneumaticHub::Faults PneumaticHub::GetFaults() const {
HAL_REVPHFaults halFaults;
std::memset(&halFaults, 0, sizeof(halFaults));
HAL_GetREVPHFaults(m_handle, &halFaults, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
PneumaticHub::Faults faults;
static_assert(sizeof(halFaults) == sizeof(faults));
static_assert(std::is_standard_layout_v<decltype(faults)>);
@@ -315,7 +315,7 @@ PneumaticHub::StickyFaults PneumaticHub::GetStickyFaults() const {
HAL_REVPHStickyFaults halStickyFaults;
std::memset(&halStickyFaults, 0, sizeof(halStickyFaults));
HAL_GetREVPHStickyFaults(m_handle, &halStickyFaults, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
PneumaticHub::StickyFaults stickyFaults;
static_assert(sizeof(halStickyFaults) == sizeof(stickyFaults));
static_assert(std::is_standard_layout_v<decltype(stickyFaults)>);
@@ -359,7 +359,7 @@ bool PneumaticHub::Faults::GetChannelFault(int channel) const {
case 15:
return Channel15Fault != 0;
default:
throw FRC_MakeError(err::ChannelIndexOutOfRange,
throw WPILIB_MakeError(err::ChannelIndexOutOfRange,
"Pneumatics fault channel out of bounds!");
}
}
@@ -367,50 +367,50 @@ bool PneumaticHub::Faults::GetChannelFault(int channel) const {
void PneumaticHub::ClearStickyFaults() {
int32_t status = 0;
HAL_ClearREVPHStickyFaults(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
wpi::units::volt_t PneumaticHub::GetInputVoltage() const {
int32_t status = 0;
auto voltage = HAL_GetREVPHVoltage(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::volt_t{voltage};
}
wpi::units::volt_t PneumaticHub::Get5VRegulatedVoltage() const {
int32_t status = 0;
auto voltage = HAL_GetREVPH5VVoltage(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::volt_t{voltage};
}
wpi::units::ampere_t PneumaticHub::GetSolenoidsTotalCurrent() const {
int32_t status = 0;
auto current = HAL_GetREVPHSolenoidCurrent(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::ampere_t{current};
}
wpi::units::volt_t PneumaticHub::GetSolenoidsVoltage() const {
int32_t status = 0;
auto voltage = HAL_GetREVPHSolenoidVoltage(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::volt_t{voltage};
}
wpi::units::volt_t PneumaticHub::GetAnalogVoltage(int channel) const {
int32_t status = 0;
auto voltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::volt_t{voltage};
}
wpi::units::pounds_per_square_inch_t PneumaticHub::GetPressure(int channel) const {
int32_t status = 0;
auto sensorVoltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
auto supplyVoltage = HAL_GetREVPH5VVoltage(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return VoltsToPSI(wpi::units::volt_t{sensorVoltage}, wpi::units::volt_t{supplyVoltage});
}

4
wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp
View File

@@ -34,7 +34,7 @@ std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
} else if (moduleType == PneumaticsModuleType::REVPH) {
return PneumaticHub::GetForModule(busId, module);
}
throw FRC_MakeError(err::InvalidParameter, "{}",
throw WPILIB_MakeError(err::InvalidParameter, "{}",
static_cast<int>(moduleType));
}
@@ -44,6 +44,6 @@ int PneumaticsBase::GetDefaultForType(PneumaticsModuleType moduleType) {
} else if (moduleType == PneumaticsModuleType::REVPH) {
return SensorUtil::GetDefaultREVPHModule();
}
throw FRC_MakeError(err::InvalidParameter, "{}",
throw WPILIB_MakeError(err::InvalidParameter, "{}",
static_cast<int>(moduleType));
}

48
wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp
View File

@@ -32,7 +32,7 @@ std::unique_ptr<
std::weak_ptr<PneumaticsControlModule::DataStore>&
PneumaticsControlModule::GetDataStore(int busId, int module) {
int32_t numBuses = HAL_GetNumCanBuses();
FRC_AssertMessage(busId >= 0 && busId < numBuses,
WPILIB_AssertMessage(busId >= 0 && busId < numBuses,
"Bus {} out of range. Must be [0-{}).", busId, numBuses);
if (!m_handleMaps) {
m_handleMaps = std::make_unique<wpi::util::DenseMap<
@@ -48,7 +48,7 @@ class PneumaticsControlModule::DataStore {
int32_t status = 0;
HAL_CTREPCMHandle handle =
HAL_InitializeCTREPCM(busId, module, stackTrace, &status);
FRC_CheckErrorStatus(status, "Module {}", module);
WPILIB_CheckErrorStatus(status, "Module {}", module);
m_moduleObject = PneumaticsControlModule{busId, handle, module};
m_moduleObject.m_dataStore =
std::shared_ptr<DataStore>{this, wpi::util::NullDeleter<DataStore>()};
@@ -92,20 +92,20 @@ PneumaticsControlModule::PneumaticsControlModule(int /* busId */,
bool PneumaticsControlModule::GetCompressor() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressor(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
void PneumaticsControlModule::DisableCompressor() {
int32_t status = 0;
HAL_SetCTREPCMClosedLoopControl(m_handle, false, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::EnableCompressorDigital() {
int32_t status = 0;
HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::EnableCompressorAnalog(
@@ -113,7 +113,7 @@ void PneumaticsControlModule::EnableCompressorAnalog(
wpi::units::pounds_per_square_inch_t maxPressure) {
int32_t status = 0;
HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::EnableCompressorHybrid(
@@ -121,13 +121,13 @@ void PneumaticsControlModule::EnableCompressorHybrid(
wpi::units::pounds_per_square_inch_t maxPressure) {
int32_t status = 0;
HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
CompressorConfigType PneumaticsControlModule::GetCompressorConfigType() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMClosedLoopControl(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result ? CompressorConfigType::Digital
: CompressorConfigType::Disabled;
}
@@ -135,85 +135,85 @@ CompressorConfigType PneumaticsControlModule::GetCompressorConfigType() const {
bool PneumaticsControlModule::GetPressureSwitch() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMPressureSwitch(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
wpi::units::ampere_t PneumaticsControlModule::GetCompressorCurrent() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorCurrent(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return wpi::units::ampere_t{result};
}
bool PneumaticsControlModule::GetCompressorCurrentTooHighFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorCurrentTooHighFault(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorCurrentTooHighStickyFault() const {
int32_t status = 0;
auto result =
HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorShortedFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorShortedFault(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorShortedStickyFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorShortedStickyFault(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorNotConnectedFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorNotConnectedFault(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorNotConnectedStickyFault() const {
int32_t status = 0;
auto result =
HAL_GetCTREPCMCompressorNotConnectedStickyFault(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetSolenoidVoltageFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoidVoltageFault(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetSolenoidVoltageStickyFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoidVoltageStickyFault(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
void PneumaticsControlModule::ClearAllStickyFaults() {
int32_t status = 0;
HAL_ClearAllCTREPCMStickyFaults(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::SetSolenoids(int mask, int values) {
int32_t status = 0;
HAL_SetCTREPCMSolenoids(m_handle, mask, values, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
int PneumaticsControlModule::GetSolenoids() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoids(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
@@ -224,14 +224,14 @@ int PneumaticsControlModule::GetModuleNumber() const {
int PneumaticsControlModule::GetSolenoidDisabledList() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoidDisabledList(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return result;
}
void PneumaticsControlModule::FireOneShot(int index) {
int32_t status = 0;
HAL_FireCTREPCMOneShot(m_handle, index, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::SetOneShotDuration(int index,
@@ -239,7 +239,7 @@ void PneumaticsControlModule::SetOneShotDuration(int index,
int32_t status = 0;
wpi::units::millisecond_t millis = duration;
HAL_SetCTREPCMOneShotDuration(m_handle, index, millis.to<int32_t>(), &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
bool PneumaticsControlModule::CheckSolenoidChannel(int channel) const {

4
wpilibc/src/main/native/cpp/hardware/pneumatic/Solenoid.cpp
View File

@@ -19,12 +19,12 @@ Solenoid::Solenoid(int busId, int module, PneumaticsModuleType moduleType,
: m_module{PneumaticsBase::GetForType(busId, module, moduleType)},
m_channel{channel} {
if (!m_module->CheckSolenoidChannel(m_channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", m_channel);
throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", m_channel);
}
m_mask = 1 << channel;
if (m_module->CheckAndReserveSolenoids(m_mask) != 0) {
throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channel {}", m_channel);
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "Channel {}", m_channel);
}
m_module->ReportUsage(fmt::format("Solenoid[{}]", m_channel), "Solenoid");

44
wpilibc/src/main/native/cpp/hardware/power/PowerDistribution.cpp
View File

@@ -35,9 +35,9 @@ PowerDistribution::PowerDistribution(int busId) {
busId, kDefaultModule,
HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic,
stack.c_str(), &status);
FRC_CheckErrorStatus(status, "Module {}", kDefaultModule);
WPILIB_CheckErrorStatus(status, "Module {}", kDefaultModule);
m_module = HAL_GetPowerDistributionModuleNumber(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
if (HAL_GetPowerDistributionType(m_handle, &status) ==
HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
@@ -56,9 +56,9 @@ PowerDistribution::PowerDistribution(int busId, int module,
m_handle = HAL_InitializePowerDistribution(
busId, module, static_cast<HAL_PowerDistributionType>(moduleType),
stack.c_str(), &status);
FRC_CheckErrorStatus(status, "Module {}", module);
WPILIB_CheckErrorStatus(status, "Module {}", module);
m_module = HAL_GetPowerDistributionModuleNumber(m_handle, &status);
FRC_ReportError(status, "Module {}", module);
WPILIB_ReportError(status, "Module {}", module);
if (moduleType == ModuleType::kCTRE) {
HAL_ReportUsage("PDP_CTRE", m_module, "");
@@ -71,21 +71,21 @@ PowerDistribution::PowerDistribution(int busId, int module,
int PowerDistribution::GetNumChannels() const {
int32_t status = 0;
int32_t size = HAL_GetPowerDistributionNumChannels(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return size;
}
double PowerDistribution::GetVoltage() const {
int32_t status = 0;
double voltage = HAL_GetPowerDistributionVoltage(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return voltage;
}
double PowerDistribution::GetTemperature() const {
int32_t status = 0;
double temperature = HAL_GetPowerDistributionTemperature(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return temperature;
}
@@ -93,7 +93,7 @@ double PowerDistribution::GetCurrent(int channel) const {
int32_t status = 0;
double current =
HAL_GetPowerDistributionChannelCurrent(m_handle, channel, &status);
FRC_ReportError(status, "Module {} Channel {}", m_module, channel);
WPILIB_ReportError(status, "Module {} Channel {}", m_module, channel);
return current;
}
@@ -105,41 +105,41 @@ std::vector<double> PowerDistribution::GetAllCurrents() const {
HAL_GetPowerDistributionAllChannelCurrents(m_handle, currents.data(), size,
&status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return currents;
}
double PowerDistribution::GetTotalCurrent() const {
int32_t status = 0;
double current = HAL_GetPowerDistributionTotalCurrent(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return current;
}
double PowerDistribution::GetTotalPower() const {
int32_t status = 0;
double power = HAL_GetPowerDistributionTotalPower(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return power;
}
double PowerDistribution::GetTotalEnergy() const {
int32_t status = 0;
double energy = HAL_GetPowerDistributionTotalEnergy(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return energy;
}
void PowerDistribution::ResetTotalEnergy() {
int32_t status = 0;
HAL_ResetPowerDistributionTotalEnergy(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
void PowerDistribution::ClearStickyFaults() {
int32_t status = 0;
HAL_ClearPowerDistributionStickyFaults(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
int PowerDistribution::GetModule() const {
@@ -149,21 +149,21 @@ int PowerDistribution::GetModule() const {
PowerDistribution::ModuleType PowerDistribution::GetType() const {
int32_t status = 0;
auto type = HAL_GetPowerDistributionType(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return static_cast<ModuleType>(type);
}
bool PowerDistribution::GetSwitchableChannel() const {
int32_t status = 0;
bool state = HAL_GetPowerDistributionSwitchableChannel(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
return state;
}
void PowerDistribution::SetSwitchableChannel(bool enabled) {
int32_t status = 0;
HAL_SetPowerDistributionSwitchableChannel(m_handle, enabled, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
}
PowerDistribution::Version PowerDistribution::GetVersion() const {
@@ -171,7 +171,7 @@ PowerDistribution::Version PowerDistribution::GetVersion() const {
HAL_PowerDistributionVersion halVersion;
std::memset(&halVersion, 0, sizeof(halVersion));
HAL_GetPowerDistributionVersion(m_handle, &halVersion, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
PowerDistribution::Version version;
static_assert(sizeof(halVersion) == sizeof(version));
static_assert(std::is_standard_layout_v<decltype(version)>);
@@ -185,7 +185,7 @@ PowerDistribution::Faults PowerDistribution::GetFaults() const {
HAL_PowerDistributionFaults halFaults;
std::memset(&halFaults, 0, sizeof(halFaults));
HAL_GetPowerDistributionFaults(m_handle, &halFaults, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
PowerDistribution::Faults faults;
static_assert(sizeof(halFaults) == sizeof(faults));
static_assert(std::is_standard_layout_v<decltype(faults)>);
@@ -245,7 +245,7 @@ bool PowerDistribution::Faults::GetBreakerFault(int channel) const {
case 23:
return Channel23BreakerFault != 0;
default:
throw FRC_MakeError(err::ChannelIndexOutOfRange,
throw WPILIB_MakeError(err::ChannelIndexOutOfRange,
"Power distribution fault channel out of bounds!");
}
}
@@ -301,7 +301,7 @@ bool PowerDistribution::StickyFaults::GetBreakerFault(int channel) const {
case 23:
return Channel23BreakerFault != 0;
default:
throw FRC_MakeError(err::ChannelIndexOutOfRange,
throw WPILIB_MakeError(err::ChannelIndexOutOfRange,
"Power distribution fault channel out of bounds!");
}
}
@@ -311,7 +311,7 @@ PowerDistribution::StickyFaults PowerDistribution::GetStickyFaults() const {
HAL_PowerDistributionStickyFaults halStickyFaults;
std::memset(&halStickyFaults, 0, sizeof(halStickyFaults));
HAL_GetPowerDistributionStickyFaults(m_handle, &halStickyFaults, &status);
FRC_ReportError(status, "Module {}", m_module);
WPILIB_ReportError(status, "Module {}", m_module);
PowerDistribution::StickyFaults stickyFaults;
static_assert(sizeof(halStickyFaults) == sizeof(stickyFaults));
static_assert(std::is_standard_layout_v<decltype(stickyFaults)>);

10
wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp
View File

@@ -20,7 +20,7 @@ using namespace wpi;
DutyCycle::DutyCycle(int channel) : m_channel{channel} {
if (!SensorUtil::CheckDigitalChannel(channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
}
InitDutyCycle();
}
@@ -29,7 +29,7 @@ void DutyCycle::InitDutyCycle() {
int32_t status = 0;
std::string stackTrace = wpi::util::GetStackTrace(1);
m_handle = HAL_InitializeDutyCycle(m_channel, stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
WPILIB_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
HAL_ReportUsage("IO", m_channel, "DutyCycle");
wpi::util::SendableRegistry::Add(this, "Duty Cycle", m_channel);
}
@@ -37,21 +37,21 @@ void DutyCycle::InitDutyCycle() {
wpi::units::hertz_t DutyCycle::GetFrequency() const {
int32_t status = 0;
auto retVal = HAL_GetDutyCycleFrequency(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
WPILIB_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
return wpi::units::hertz_t{retVal};
}
double DutyCycle::GetOutput() const {
int32_t status = 0;
auto retVal = HAL_GetDutyCycleOutput(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
WPILIB_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
return retVal;
}
wpi::units::second_t DutyCycle::GetHighTime() const {
int32_t status = 0;
auto retVal = HAL_GetDutyCycleHighTime(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
WPILIB_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
return wpi::units::nanosecond_t{static_cast<double>(retVal)};
}

42
wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
View File

@@ -25,112 +25,112 @@ Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
int Encoder::Get() const {
int32_t status = 0;
int value = HAL_GetEncoder(m_encoder, &status);
FRC_CheckErrorStatus(status, "Get");
WPILIB_CheckErrorStatus(status, "Get");
return value;
}
void Encoder::Reset() {
int32_t status = 0;
HAL_ResetEncoder(m_encoder, &status);
FRC_CheckErrorStatus(status, "Reset");
WPILIB_CheckErrorStatus(status, "Reset");
}
wpi::units::second_t Encoder::GetPeriod() const {
int32_t status = 0;
double value = HAL_GetEncoderPeriod(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetPeriod");
WPILIB_CheckErrorStatus(status, "GetPeriod");
return wpi::units::second_t{value};
}
void Encoder::SetMaxPeriod(wpi::units::second_t maxPeriod) {
int32_t status = 0;
HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod.value(), &status);
FRC_CheckErrorStatus(status, "SetMaxPeriod");
WPILIB_CheckErrorStatus(status, "SetMaxPeriod");
}
bool Encoder::GetStopped() const {
int32_t status = 0;
bool value = HAL_GetEncoderStopped(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetStopped");
WPILIB_CheckErrorStatus(status, "GetStopped");
return value;
}
bool Encoder::GetDirection() const {
int32_t status = 0;
bool value = HAL_GetEncoderDirection(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetDirection");
WPILIB_CheckErrorStatus(status, "GetDirection");
return value;
}
int Encoder::GetRaw() const {
int32_t status = 0;
int value = HAL_GetEncoderRaw(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetRaw");
WPILIB_CheckErrorStatus(status, "GetRaw");
return value;
}
int Encoder::GetEncodingScale() const {
int32_t status = 0;
int val = HAL_GetEncoderEncodingScale(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetEncodingScale");
WPILIB_CheckErrorStatus(status, "GetEncodingScale");
return val;
}
double Encoder::GetDistance() const {
int32_t status = 0;
double value = HAL_GetEncoderDistance(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetDistance");
WPILIB_CheckErrorStatus(status, "GetDistance");
return value;
}
double Encoder::GetRate() const {
int32_t status = 0;
double value = HAL_GetEncoderRate(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetRate");
WPILIB_CheckErrorStatus(status, "GetRate");
return value;
}
void Encoder::SetMinRate(double minRate) {
int32_t status = 0;
HAL_SetEncoderMinRate(m_encoder, minRate, &status);
FRC_CheckErrorStatus(status, "SetMinRate");
WPILIB_CheckErrorStatus(status, "SetMinRate");
}
void Encoder::SetDistancePerPulse(double distancePerPulse) {
int32_t status = 0;
HAL_SetEncoderDistancePerPulse(m_encoder, distancePerPulse, &status);
FRC_CheckErrorStatus(status, "SetDistancePerPulse");
WPILIB_CheckErrorStatus(status, "SetDistancePerPulse");
}
double Encoder::GetDistancePerPulse() const {
int32_t status = 0;
double distancePerPulse = HAL_GetEncoderDistancePerPulse(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetDistancePerPulse");
WPILIB_CheckErrorStatus(status, "GetDistancePerPulse");
return distancePerPulse;
}
void Encoder::SetReverseDirection(bool reverseDirection) {
int32_t status = 0;
HAL_SetEncoderReverseDirection(m_encoder, reverseDirection, &status);
FRC_CheckErrorStatus(status, "SetReverseDirection");
WPILIB_CheckErrorStatus(status, "SetReverseDirection");
}
void Encoder::SetSamplesToAverage(int samplesToAverage) {
if (samplesToAverage < 1 || samplesToAverage > 127) {
throw FRC_MakeError(
throw WPILIB_MakeError(
err::ParameterOutOfRange,
"Average counter values must be between 1 and 127, got {}",
samplesToAverage);
}
int32_t status = 0;
HAL_SetEncoderSamplesToAverage(m_encoder, samplesToAverage, &status);
FRC_CheckErrorStatus(status, "SetSamplesToAverage");
WPILIB_CheckErrorStatus(status, "SetSamplesToAverage");
}
int Encoder::GetSamplesToAverage() const {
int32_t status = 0;
int result = HAL_GetEncoderSamplesToAverage(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetSamplesToAverage");
WPILIB_CheckErrorStatus(status, "GetSamplesToAverage");
return result;
}
@@ -141,14 +141,14 @@ void Encoder::SetSimDevice(HAL_SimDeviceHandle device) {
int Encoder::GetFPGAIndex() const {
int32_t status = 0;
int val = HAL_GetEncoderFPGAIndex(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetFPGAIndex");
WPILIB_CheckErrorStatus(status, "GetFPGAIndex");
return val;
}
void Encoder::InitSendable(wpi::util::SendableBuilder& builder) {
int32_t status = 0;
HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetEncodingType");
WPILIB_CheckErrorStatus(status, "GetEncodingType");
if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
builder.SetSmartDashboardType("Quadrature Encoder");
} else {
@@ -169,7 +169,7 @@ void Encoder::InitEncoder(int aChannel, int bChannel, bool reverseDirection,
m_encoder = HAL_InitializeEncoder(
aChannel, bChannel, reverseDirection,
static_cast<HAL_EncoderEncodingType>(encodingType), &status);
FRC_CheckErrorStatus(status, "InitEncoder");
WPILIB_CheckErrorStatus(status, "InitEncoder");
const char* type = "Encoder";
switch (encodingType) {
@@ -190,6 +190,6 @@ void Encoder::InitEncoder(int aChannel, int bChannel, bool reverseDirection,
double Encoder::DecodingScaleFactor() const {
int32_t status = 0;
double val = HAL_GetEncoderDecodingScaleFactor(m_encoder, &status);
FRC_CheckErrorStatus(status, "DecodingScaleFactor");
WPILIB_CheckErrorStatus(status, "DecodingScaleFactor");
return val;
}

2
wpilibc/src/main/native/cpp/opmode/IterativeRobotBase.cpp
View File

@@ -193,7 +193,7 @@ void IterativeRobotBase::LoopFunc() {
}
void IterativeRobotBase::PrintLoopOverrunMessage() {
FRC_ReportError(err::Error, "Loop time of {:.6f}s overrun", m_period.value());
WPILIB_ReportError(err::Error, "Loop time of {:.6f}s overrun", m_period.value());
}
void IterativeRobotBase::PrintWatchdogEpochs() {

6
wpilibc/src/main/native/cpp/opmode/TimedRobot.cpp
View File

@@ -35,7 +35,7 @@ void TimedRobot::StartCompetition() {
int32_t status = 0;
HAL_UpdateNotifierAlarm(m_notifier, callback.expirationTime.count(),
&status);
FRC_CheckErrorStatus(status, "UpdateNotifierAlarm");
WPILIB_CheckErrorStatus(status, "UpdateNotifierAlarm");
std::chrono::microseconds currentTime{
HAL_WaitForNotifierAlarm(m_notifier, &status)};
@@ -81,7 +81,7 @@ TimedRobot::TimedRobot(wpi::units::second_t period) : IterativeRobotBase(period)
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "InitializeNotifier");
WPILIB_CheckErrorStatus(status, "InitializeNotifier");
HAL_SetNotifierName(m_notifier, "TimedRobot", &status);
HAL_ReportUsage("Framework", "TimedRobot");
@@ -93,7 +93,7 @@ TimedRobot::~TimedRobot() {
if (m_notifier != HAL_kInvalidHandle) {
int32_t status = 0;
HAL_StopNotifier(m_notifier, &status);
FRC_ReportError(status, "StopNotifier");
WPILIB_ReportError(status, "StopNotifier");
}
}

2
wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp
View File

@@ -16,7 +16,7 @@ TimesliceRobot::TimesliceRobot(wpi::units::second_t robotPeriodicAllocation,
void TimesliceRobot::Schedule(std::function<void()> func,
wpi::units::second_t allocation) {
if (m_nextOffset + allocation > m_controllerPeriod) {
throw FRC_MakeError(err::Error,
throw WPILIB_MakeError(err::Error,
"Function scheduled at offset {} with allocation {} "
"exceeded controller period of {}\n",
m_nextOffset, allocation, m_controllerPeriod);

2
wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
View File

@@ -24,7 +24,7 @@ std::shared_ptr<PneumaticsBaseSim> PneumaticsBaseSim::GetForType(
return std::make_shared<CTREPCMSim>(module);
default:
throw FRC_MakeError(err::InvalidParameter, "{}",
throw WPILIB_MakeError(err::InvalidParameter, "{}",
static_cast<int>(module));
}
}

6
wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
View File

@@ -84,7 +84,7 @@ wpi::nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
void SmartDashboard::PutData(std::string_view key, wpi::util::Sendable* data) {
if (!data) {
throw FRC_MakeError(err::NullParameter, "value");
throw WPILIB_MakeError(err::NullParameter, "value");
}
if (!gReported) {
HAL_ReportUsage("SmartDashboard", "");
@@ -108,7 +108,7 @@ void SmartDashboard::PutData(std::string_view key, wpi::util::Sendable* data) {
void SmartDashboard::PutData(wpi::util::Sendable* value) {
if (!value) {
throw FRC_MakeError(err::NullParameter, "value");
throw WPILIB_MakeError(err::NullParameter, "value");
}
auto name = wpi::util::SendableRegistry::GetName(value);
if (!name.empty()) {
@@ -121,7 +121,7 @@ wpi::util::Sendable* SmartDashboard::GetData(std::string_view key) {
std::scoped_lock lock(inst.tablesToDataMutex);
auto it = inst.tablesToData.find(key);
if (it == inst.tablesToData.end()) {
throw FRC_MakeError(err::SmartDashboardMissingKey, "{}", key);
throw WPILIB_MakeError(err::SmartDashboardMissingKey, "{}", key);
}
return wpi::util::SendableRegistry::GetSendable(it->second);
}

24
wpilibc/src/main/native/cpp/system/DataLogManager.cpp
View File

@@ -99,7 +99,7 @@ static std::string MakeLogFilename(std::string_view filenameOverride) {
static std::mt19937 rng(dev());
std::uniform_int_distribution<int> dist(0, 15);
const char* v = "0123456789abcdef";
std::string filename = "FRC_TBD_";
std::string filename = "WPILIB_TBD_";
for (int i = 0; i < 16; i++) {
filename += v[dist(rng)];
}
@@ -122,7 +122,7 @@ Thread::~Thread() {
}
void Thread::Main() {
// based on free disk space, scan for "old" FRC_*.wpilog files and remove
// based on free disk space, scan for "old" WPILIB_*.wpilog files and remove
{
std::error_code ec;
uintmax_t freeSpace;
@@ -133,14 +133,14 @@ void Thread::Main() {
freeSpace = UINTMAX_MAX;
}
if (freeSpace < kFreeSpaceThreshold) {
// Delete oldest FRC_*.wpilog files (ignore FRC_TBD_*.wpilog as we just
// Delete oldest WPILIB_*.wpilog files (ignore WPILIB_TBD_*.wpilog as we just
// created one)
std::vector<fs::directory_entry> entries;
for (auto&& entry : fs::directory_iterator{m_logDir, ec}) {
auto stem = entry.path().stem().string();
if (wpi::util::starts_with(stem, "FRC_") &&
if (wpi::util::starts_with(stem, "WPILIB_") &&
entry.path().extension() == ".wpilog" &&
!wpi::util::starts_with(stem, "FRC_TBD_")) {
!wpi::util::starts_with(stem, "WPILIB_TBD_")) {
entries.emplace_back(entry);
}
}
@@ -157,7 +157,7 @@ void Thread::Main() {
}
auto size = entry.file_size();
if (fs::remove(entry.path(), ec)) {
FRC_ReportWarning("DataLogManager: Deleted {}",
WPILIB_ReportWarning("DataLogManager: Deleted {}",
entry.path().string());
freeSpace += size;
if (freeSpace >= kFreeSpaceThreshold) {
@@ -169,7 +169,7 @@ void Thread::Main() {
}
}
} else if (freeSpace < 2 * kFreeSpaceThreshold) {
FRC_ReportError(
WPILIB_ReportError(
warn::Warning,
"DataLogManager: Log storage device has {} MB of free space "
"remaining! Logs will get deleted below {} MB of free space. "
@@ -227,7 +227,7 @@ void Thread::Main() {
if (RobotController::IsSystemTimeValid()) {
std::time_t now = std::time(nullptr);
auto tm = std::gmtime(&now);
m_log.SetFilename(fmt::format("FRC_{:%Y%m%d_%H%M%S}.wpilog", *tm));
m_log.SetFilename(fmt::format("WPILIB_{:%Y%m%d_%H%M%S}.wpilog", *tm));
dsRenamed = true;
} else {
dsAttachCount = 0; // wait a bit and try again
@@ -265,7 +265,7 @@ void Thread::Main() {
}
std::time_t now = std::time(nullptr);
m_log.SetFilename(
fmt::format("FRC_{:%Y%m%d_%H%M%S}_{}_{}{}.wpilog",
fmt::format("WPILIB_{:%Y%m%d_%H%M%S}_{}_{}{}.wpilog",
*std::gmtime(&now), DriverStation::GetEventName(),
matchTypeChar, DriverStation::GetMatchNumber()));
fmsRenamed = true;
@@ -306,7 +306,7 @@ void Thread::StopNTLog() {
void Thread::StartConsoleLog() {
if (!m_consoleLoggerEnabled && RobotBase::IsReal()) {
m_consoleLoggerEnabled = true;
m_consoleLogger = {"/home/systemcore/FRC_UserProgram.log", m_log,
m_consoleLogger = {"/home/systemcore/WPILIB_UserProgram.log", m_log,
"console"};
}
}
@@ -320,13 +320,13 @@ void Thread::StopConsoleLog() {
Instance::Instance(std::string_view dir, std::string_view filename,
double period) {
// Delete all previously existing FRC_TBD_*.wpilog files. These only exist
// Delete all previously existing WPILIB_TBD_*.wpilog files. These only exist
// when the robot never connects to the DS, so they are very unlikely to
// have useful data and just clutter the filesystem.
auto logDir = MakeLogDir(dir);
std::error_code ec;
for (auto&& entry : fs::directory_iterator{logDir, ec}) {
if (wpi::util::starts_with(entry.path().stem().string(), "FRC_TBD_") &&
if (wpi::util::starts_with(entry.path().stem().string(), "WPILIB_TBD_") &&
entry.path().extension() == ".wpilog") {
if (!fs::remove(entry, ec)) {
wpi::util::print(stderr, "DataLogManager: could not delete {}\n",

16
wpilibc/src/main/native/cpp/system/Notifier.cpp
View File

@@ -18,12 +18,12 @@ using namespace wpi;
Notifier::Notifier(std::function<void()> callback) {
if (!callback) {
throw FRC_MakeError(err::NullParameter, "callback");
throw WPILIB_MakeError(err::NullParameter, "callback");
}
m_callback = callback;
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "InitializeNotifier");
WPILIB_CheckErrorStatus(status, "InitializeNotifier");
m_thread = std::thread([=, this] {
for (;;) {
@@ -60,12 +60,12 @@ Notifier::Notifier(std::function<void()> callback) {
Notifier::Notifier(int priority, std::function<void()> callback) {
if (!callback) {
throw FRC_MakeError(err::NullParameter, "callback");
throw WPILIB_MakeError(err::NullParameter, "callback");
}
m_callback = callback;
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "InitializeNotifier");
WPILIB_CheckErrorStatus(status, "InitializeNotifier");
m_thread = std::thread([=, this] {
int32_t status = 0;
@@ -99,7 +99,7 @@ Notifier::Notifier(int priority, std::function<void()> callback) {
callback();
} catch (const wpi::RuntimeError& e) {
e.Report();
FRC_ReportError(
WPILIB_ReportError(
err::Error,
"Error in Notifier thread."
" The above stacktrace can help determine where the error "
@@ -120,7 +120,7 @@ Notifier::~Notifier() {
// atomically set handle to 0, then clean
HAL_NotifierHandle handle = m_notifier.exchange(0);
HAL_StopNotifier(handle, &status);
FRC_ReportError(status, "StopNotifier");
WPILIB_ReportError(status, "StopNotifier");
// Join the thread to ensure the callback has exited.
if (m_thread.joinable()) {
@@ -190,7 +190,7 @@ void Notifier::Stop() {
m_periodic = false;
int32_t status = 0;
HAL_CancelNotifierAlarm(m_notifier, &status);
FRC_CheckErrorStatus(status, "CancelNotifierAlarm");
WPILIB_CheckErrorStatus(status, "CancelNotifierAlarm");
}
void Notifier::UpdateAlarm(uint64_t triggerTime) {
@@ -201,7 +201,7 @@ void Notifier::UpdateAlarm(uint64_t triggerTime) {
return;
}
HAL_UpdateNotifierAlarm(notifier, triggerTime, &status);
FRC_CheckErrorStatus(status, "UpdateNotifierAlarm");
WPILIB_CheckErrorStatus(status, "UpdateNotifierAlarm");
}
void Notifier::UpdateAlarm() {

10
wpilibc/src/main/native/cpp/system/Resource.cpp
View File

@@ -38,16 +38,16 @@ uint32_t Resource::Allocate(const std::string& resourceDesc) {
return i;
}
}
throw FRC_MakeError(err::NoAvailableResources, "{}", resourceDesc);
throw WPILIB_MakeError(err::NoAvailableResources, "{}", resourceDesc);
}
uint32_t Resource::Allocate(uint32_t index, const std::string& resourceDesc) {
std::scoped_lock lock(m_allocateMutex);
if (index >= m_isAllocated.size()) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "{}", resourceDesc);
throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "{}", resourceDesc);
}
if (m_isAllocated[index]) {
throw FRC_MakeError(err::ResourceAlreadyAllocated, "{}", resourceDesc);
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "{}", resourceDesc);
}
m_isAllocated[index] = true;
return index;
@@ -59,10 +59,10 @@ void Resource::Free(uint32_t index) {
return;
}
if (index >= m_isAllocated.size()) {
throw FRC_MakeError(err::NotAllocated, "index {}", index);
throw WPILIB_MakeError(err::NotAllocated, "index {}", index);
}
if (!m_isAllocated[index]) {
throw FRC_MakeError(err::NotAllocated, "index {}", index);
throw WPILIB_MakeError(err::NotAllocated, "index {}", index);
}
m_isAllocated[index] = false;
}

36
wpilibc/src/main/native/cpp/system/RobotController.cpp
View File

@@ -49,116 +49,116 @@ uint64_t RobotController::GetTime() {
uint64_t RobotController::GetFPGATime() {
int32_t status = 0;
uint64_t time = HAL_GetFPGATime(&status);
FRC_CheckErrorStatus(status, "GetFPGATime");
WPILIB_CheckErrorStatus(status, "GetFPGATime");
return time;
}
wpi::units::volt_t RobotController::GetBatteryVoltage() {
int32_t status = 0;
double retVal = HAL_GetVinVoltage(&status);
FRC_CheckErrorStatus(status, "GetBatteryVoltage");
WPILIB_CheckErrorStatus(status, "GetBatteryVoltage");
return wpi::units::volt_t{retVal};
}
bool RobotController::IsSysActive() {
int32_t status = 0;
bool retVal = HAL_GetSystemActive(&status);
FRC_CheckErrorStatus(status, "IsSysActive");
WPILIB_CheckErrorStatus(status, "IsSysActive");
return retVal;
}
bool RobotController::IsBrownedOut() {
int32_t status = 0;
bool retVal = HAL_GetBrownedOut(&status);
FRC_CheckErrorStatus(status, "IsBrownedOut");
WPILIB_CheckErrorStatus(status, "IsBrownedOut");
return retVal;
}
int RobotController::GetCommsDisableCount() {
int32_t status = 0;
int retVal = HAL_GetCommsDisableCount(&status);
FRC_CheckErrorStatus(status, "GetCommsDisableCount");
WPILIB_CheckErrorStatus(status, "GetCommsDisableCount");
return retVal;
}
bool RobotController::GetRSLState() {
int32_t status = 0;
bool retVal = HAL_GetRSLState(&status);
FRC_CheckErrorStatus(status, "GetRSLState");
WPILIB_CheckErrorStatus(status, "GetRSLState");
return retVal;
}
bool RobotController::IsSystemTimeValid() {
int32_t status = 0;
bool retVal = HAL_GetSystemTimeValid(&status);
FRC_CheckErrorStatus(status, "IsSystemTimeValid");
WPILIB_CheckErrorStatus(status, "IsSystemTimeValid");
return retVal;
}
double RobotController::GetInputVoltage() {
int32_t status = 0;
double retVal = HAL_GetVinVoltage(&status);
FRC_CheckErrorStatus(status, "GetInputVoltage");
WPILIB_CheckErrorStatus(status, "GetInputVoltage");
return retVal;
}
double RobotController::GetVoltage3V3() {
int32_t status = 0;
double retVal = HAL_GetUserVoltage3V3(&status);
FRC_CheckErrorStatus(status, "GetVoltage3V3");
WPILIB_CheckErrorStatus(status, "GetVoltage3V3");
return retVal;
}
double RobotController::GetCurrent3V3() {
int32_t status = 0;
double retVal = HAL_GetUserCurrent3V3(&status);
FRC_CheckErrorStatus(status, "GetCurrent3V3");
WPILIB_CheckErrorStatus(status, "GetCurrent3V3");
return retVal;
}
void RobotController::SetEnabled3V3(bool enabled) {
int32_t status = 0;
HAL_SetUserRailEnabled3V3(enabled, &status);
FRC_CheckErrorStatus(status, "SetEnabled3V3");
WPILIB_CheckErrorStatus(status, "SetEnabled3V3");
}
bool RobotController::GetEnabled3V3() {
int32_t status = 0;
bool retVal = HAL_GetUserActive3V3(&status);
FRC_CheckErrorStatus(status, "GetEnabled3V3");
WPILIB_CheckErrorStatus(status, "GetEnabled3V3");
return retVal;
}
int RobotController::GetFaultCount3V3() {
int32_t status = 0;
int retVal = HAL_GetUserCurrentFaults3V3(&status);
FRC_CheckErrorStatus(status, "GetFaultCount3V3");
WPILIB_CheckErrorStatus(status, "GetFaultCount3V3");
return retVal;
}
void RobotController::ResetRailFaultCounts() {
int32_t status = 0;
HAL_ResetUserCurrentFaults(&status);
FRC_CheckErrorStatus(status, "ResetRailFaultCounts");
WPILIB_CheckErrorStatus(status, "ResetRailFaultCounts");
}
wpi::units::volt_t RobotController::GetBrownoutVoltage() {
int32_t status = 0;
double retVal = HAL_GetBrownoutVoltage(&status);
FRC_CheckErrorStatus(status, "GetBrownoutVoltage");
WPILIB_CheckErrorStatus(status, "GetBrownoutVoltage");
return wpi::units::volt_t{retVal};
}
void RobotController::SetBrownoutVoltage(wpi::units::volt_t brownoutVoltage) {
int32_t status = 0;
HAL_SetBrownoutVoltage(brownoutVoltage.value(), &status);
FRC_CheckErrorStatus(status, "SetBrownoutVoltage");
WPILIB_CheckErrorStatus(status, "SetBrownoutVoltage");
}
wpi::units::celsius_t RobotController::GetCPUTemp() {
int32_t status = 0;
double retVal = HAL_GetCPUTemp(&status);
FRC_CheckErrorStatus(status, "GetCPUTemp");
WPILIB_CheckErrorStatus(status, "GetCPUTemp");
return wpi::units::celsius_t{retVal};
}
@@ -172,7 +172,7 @@ CANStatus RobotController::GetCANStatus(int busId) {
HAL_CAN_GetCANStatus(busId, &percentBusUtilization, &busOffCount,
&txFullCount, &receiveErrorCount, &transmitErrorCount,
&status);
FRC_CheckErrorStatus(status, "GetCANStatus");
WPILIB_CheckErrorStatus(status, "GetCANStatus");
return {percentBusUtilization, static_cast<int>(busOffCount),
static_cast<int>(txFullCount), static_cast<int>(receiveErrorCount),
static_cast<int>(transmitErrorCount)};

8
wpilibc/src/main/native/cpp/system/Threads.cpp
View File

@@ -14,7 +14,7 @@ int GetThreadPriority(std::thread& thread, bool* isRealTime) {
HAL_Bool rt = false;
auto native = thread.native_handle();
auto ret = HAL_GetThreadPriority(&native, &rt, &status);
FRC_CheckErrorStatus(status, "GetThreadPriority");
WPILIB_CheckErrorStatus(status, "GetThreadPriority");
*isRealTime = rt;
return ret;
}
@@ -23,7 +23,7 @@ int GetCurrentThreadPriority(bool* isRealTime) {
int32_t status = 0;
HAL_Bool rt = false;
auto ret = HAL_GetCurrentThreadPriority(&rt, &status);
FRC_CheckErrorStatus(status, "GetCurrentThreadPriority");
WPILIB_CheckErrorStatus(status, "GetCurrentThreadPriority");
*isRealTime = rt;
return ret;
}
@@ -32,14 +32,14 @@ bool SetThreadPriority(std::thread& thread, bool realTime, int priority) {
int32_t status = 0;
auto native = thread.native_handle();
auto ret = HAL_SetThreadPriority(&native, realTime, priority, &status);
FRC_CheckErrorStatus(status, "SetThreadPriority");
WPILIB_CheckErrorStatus(status, "SetThreadPriority");
return ret;
}
bool SetCurrentThreadPriority(bool realTime, int priority) {
int32_t status = 0;
auto ret = HAL_SetCurrentThreadPriority(realTime, priority, &status);
FRC_CheckErrorStatus(status, "SetCurrentThreadPriority");
WPILIB_CheckErrorStatus(status, "SetCurrentThreadPriority");
return ret;
}

2
wpilibc/src/main/native/cpp/system/Tracer.cpp
View File

@@ -36,7 +36,7 @@ void Tracer::PrintEpochs() {
wpi::util::raw_svector_ostream os(buf);
PrintEpochs(os);
if (!buf.empty()) {
FRC_ReportWarning("{}", buf.c_str());
WPILIB_ReportWarning("{}", buf.c_str());
}
}

8
wpilibc/src/main/native/cpp/system/Watchdog.cpp
View File

@@ -48,7 +48,7 @@ class Watchdog::Impl {
Watchdog::Impl::Impl() {
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "starting watchdog notifier");
WPILIB_CheckErrorStatus(status, "starting watchdog notifier");
HAL_SetNotifierName(m_notifier, "Watchdog", &status);
m_thread = std::thread([=, this] { Main(); });
@@ -59,7 +59,7 @@ Watchdog::Impl::~Impl() {
// atomically set handle to 0, then clean
HAL_NotifierHandle handle = m_notifier.exchange(0);
HAL_StopNotifier(handle, &status);
FRC_ReportError(status, "stopping watchdog notifier");
WPILIB_ReportError(status, "stopping watchdog notifier");
// Join the thread to ensure the handler has exited.
if (m_thread.joinable()) {
@@ -85,7 +85,7 @@ void Watchdog::Impl::UpdateAlarm() {
1e6),
&status);
}
FRC_CheckErrorStatus(status, "updating watchdog notifier alarm");
WPILIB_CheckErrorStatus(status, "updating watchdog notifier alarm");
}
void Watchdog::Impl::Main() {
@@ -114,7 +114,7 @@ void Watchdog::Impl::Main() {
if (now - watchdog->m_lastTimeoutPrintTime > kMinPrintPeriod) {
watchdog->m_lastTimeoutPrintTime = now;
if (!watchdog->m_suppressTimeoutMessage) {
FRC_ReportWarning("Watchdog not fed within {:.6f}s",
WPILIB_ReportWarning("Watchdog not fed within {:.6f}s",
watchdog->m_timeout.value());
}
}

2
wpilibc/src/main/native/cpp/util/Alert.cpp
View File

@@ -70,7 +70,7 @@ class Alert::SendableAlerts : public wpi::nt::NTSendable,
case AlertType::kError:
return m_alerts[static_cast<int32_t>(type)];
default:
throw FRC_MakeError(wpi::err::InvalidParameter,
throw WPILIB_MakeError(wpi::err::InvalidParameter,
"Invalid Alert Type: {}", type);
}
}

2
wpilibc/src/main/native/cppcs/RobotBase.cpp
View File

@@ -50,7 +50,7 @@ int wpi::RunHALInitialization() {
HAL_ReportUsage("WPILibVersion", GetWPILibVersion());
if (!wpi::Notifier::SetHALThreadPriority(true, 40)) {
FRC_ReportWarning("Setting HAL Notifier RT priority to 40 failed\n");
WPILIB_ReportWarning("Setting HAL Notifier RT priority to 40 failed\n");
}
std::puts("\n********** Robot program starting **********");

2
wpilibc/src/main/native/include/wpi/opmode/RobotBase.hpp
View File

@@ -38,7 +38,7 @@ void RunRobot(wpi::util::mutex& m, Robot** robot) {
theRobot.StartCompetition();
} catch (const wpi::RuntimeError& e) {
e.Report();
FRC_ReportError(
WPILIB_ReportError(
err::Error,
"The robot program quit unexpectedly."
" This is usually due to a code error.\n"

2
wpilibc/src/main/native/include/wpi/smartdashboard/MechanismObject2d.hpp
View File

@@ -67,7 +67,7 @@ class MechanismObject2d {
std::scoped_lock lock(m_mutex);
auto& obj = m_objects[name];
if (obj) {
throw FRC_MakeError(
throw WPILIB_MakeError(
err::Error,
"MechanismObject names must be unique! `{}` was inserted twice!",
name);

10
wpilibc/src/main/native/include/wpi/system/DataLogManager.hpp
View File

@@ -20,14 +20,14 @@ namespace wpi {
* The data file will be saved to a USB flash drive in a folder named "logs" if
* one is attached, or to /home/systemcore/logs otherwise.
*
* Log files are initially named "FRC_TBD_{random}.wpilog" until the DS
* Log files are initially named "WPILIB_TBD_{random}.wpilog" until the DS
* connects. After the DS connects, the log file is renamed to
* "FRC_yyyyMMdd_HHmmss.wpilog" (where the date/time is UTC). If the FMS is
* "WPILIB_yyyyMMdd_HHmmss.wpilog" (where the date/time is UTC). If the FMS is
* connected and provides a match number, the log file is renamed to
* "FRC_yyyyMMdd_HHmmss_{event}_{match}.wpilog".
* "WPILIB_yyyyMMdd_HHmmss_{event}_{match}.wpilog".
*
* On startup, all existing FRC_TBD log files are deleted. If there is less than
* 50 MB of free space on the target storage, FRC_ log files are deleted (oldest
* On startup, all existing WPILIB_TBD log files are deleted. If there is less than
* 50 MB of free space on the target storage, WPILIB_ log files are deleted (oldest
* to newest) until there is 50 MB free OR there are 10 files remaining.
*
* By default, all NetworkTables value changes are stored to the data log.

18
wpilibc/src/main/native/include/wpi/system/Errors.hpp
View File

@@ -50,7 +50,7 @@ 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.
* Generally the WPILIB_ReportError wrapper macro should be used instead.
*
* @param[out] status error code
* @param[in] fileName source file name
@@ -65,7 +65,7 @@ void ReportErrorV(int32_t status, const char* fileName, int lineNumber,
/**
* Reports an error to the driver station (using HAL_SendError).
* Generally the FRC_ReportError wrapper macro should be used instead.
* Generally the WPILIB_ReportError wrapper macro should be used instead.
*
* @param[out] status error code
* @param[in] fileName source file name
@@ -84,7 +84,7 @@ inline void ReportError(int32_t status, const char* fileName, int lineNumber,
/**
* Makes a runtime error exception object. This object should be thrown
* by the caller. Generally the FRC_MakeError wrapper macro should be used
* by the caller. Generally the WPILIB_MakeError wrapper macro should be used
* instead.
*
* @param[out] status error code
@@ -134,7 +134,7 @@ namespace warn {
* @param[out] status error code
* @param[in] format error message format
*/
#define FRC_ReportError(status, format, ...) \
#define WPILIB_ReportError(status, format, ...) \
do { \
if ((status) != 0) { \
::wpi::ReportError(status, __FILE__, __LINE__, __FUNCTION__, \
@@ -147,7 +147,7 @@ namespace warn {
*
* @param[in] format error message format
*/
#define FRC_ReportWarning(format, ...) \
#define WPILIB_ReportWarning(format, ...) \
do { \
::wpi::ReportError(::wpi::warn::Warning, __FILE__, __LINE__, __FUNCTION__, \
format __VA_OPT__(, ) __VA_ARGS__); \
@@ -161,7 +161,7 @@ namespace warn {
* @param[in] format error message format
* @return runtime error object
*/
#define FRC_MakeError(status, format, ...) \
#define WPILIB_MakeError(status, format, ...) \
::wpi::MakeError(status, __FILE__, __LINE__, __FUNCTION__, \
format __VA_OPT__(, ) __VA_ARGS__)
@@ -172,7 +172,7 @@ namespace warn {
* @param[out] status error code
* @param[in] format error message format
*/
#define FRC_CheckErrorStatus(status, format, ...) \
#define WPILIB_CheckErrorStatus(status, format, ...) \
do { \
if ((status) < 0) { \
throw ::wpi::MakeError(status, __FILE__, __LINE__, __FUNCTION__, \
@@ -183,7 +183,7 @@ namespace warn {
} \
} while (0)
#define FRC_AssertMessage(condition, format, ...) \
#define WPILIB_AssertMessage(condition, format, ...) \
do { \
if (!(condition)) { \
throw ::wpi::MakeError(::wpi::err::AssertionFailure, __FILE__, __LINE__, \
@@ -191,4 +191,4 @@ namespace warn {
} \
} while (0)
#define FRC_Assert(condition) FRC_AssertMessage(condition, #condition)
#define WPILIB_Assert(condition) WPILIB_AssertMessage(condition, #condition)

2
wpilibc/src/main/python/semiwrap/SmartDashboard.yml
View File

@@ -20,7 +20,7 @@ classes:
cpp_code: |
[](py::str &key, std::shared_ptr<wpi::util::Sendable> data) {
if (!data) {
throw FRC_MakeError(err::NullParameter, "{}", "value");
throw WPILIB_MakeError(err::NullParameter, "{}", "value");
}
// convert key to a raw string so that we can create a StringRef

10
wpilibc/src/main/python/wpilib/src/rpy/Notifier.cpp
View File

@@ -33,12 +33,12 @@ static void _hang_thread_if_finalizing() {
PyNotifier::PyNotifier(std::function<void()> handler) {
if (!handler) {
throw FRC_MakeError(err::NullParameter, "handler");
throw WPILIB_MakeError(err::NullParameter, "handler");
}
m_handler = handler;
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "InitializeNotifier");
WPILIB_CheckErrorStatus(status, "InitializeNotifier");
std::function<void()> target([this] {
py::gil_scoped_release release;
@@ -99,7 +99,7 @@ PyNotifier::~PyNotifier() {
// atomically set handle to 0, then clean
HAL_NotifierHandle handle = m_notifier.exchange(0);
HAL_StopNotifier(handle, &status);
FRC_ReportError(status, "StopNotifier");
WPILIB_ReportError(status, "StopNotifier");
// Join the thread to ensure the handler has exited.
if (m_thread) {
@@ -165,7 +165,7 @@ void PyNotifier::Stop() {
m_periodic = false;
int32_t status = 0;
HAL_CancelNotifierAlarm(m_notifier, &status);
FRC_CheckErrorStatus(status, "CancelNotifierAlarm");
WPILIB_CheckErrorStatus(status, "CancelNotifierAlarm");
}
void PyNotifier::UpdateAlarm(uint64_t triggerTime) {
@@ -176,7 +176,7 @@ void PyNotifier::UpdateAlarm(uint64_t triggerTime) {
return;
}
HAL_UpdateNotifierAlarm(notifier, triggerTime, &status);
FRC_CheckErrorStatus(status, "UpdateNotifierAlarm");
WPILIB_CheckErrorStatus(status, "UpdateNotifierAlarm");
}
void PyNotifier::UpdateAlarm() {

2
wpilibcExamples/CMakeLists.txt
View File

@@ -39,7 +39,7 @@ foreach(example ${EXAMPLES})
src/main/cpp/examples/${example}/include
src/test/cpp/examples/${example}/include
)
target_compile_definitions(Example_${example}_test PUBLIC RUNNING_FRC_TESTS)
target_compile_definitions(Example_${example}_test PUBLIC RUNNING_WPILIB_TESTS)
target_link_libraries(
Example_${example}_test
apriltag

4
wpilibcExamples/build.gradle
View File

@@ -321,8 +321,8 @@ model {
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
nativeUtils.useRequiredLibrary(it, 'opencv_shared')
it.cppCompiler.define('RUNNING_FRC_TESTS')
it.cCompiler.define('RUNNING_FRC_TESTS')
it.cppCompiler.define('RUNNING_WPILIB_TESTS')
it.cCompiler.define('RUNNING_WPILIB_TESTS')
}
}
}

2
wpilibcExamples/build_cpp_examples.bzl
View File

@@ -108,6 +108,6 @@ def build_tests():
":{}-examples-headers".format(folder),
"//thirdparty/googletest",
],
defines = ["RUNNING_FRC_TESTS=1"],
defines = ["RUNNING_WPILIB_TESTS=1"],
tags = ["wpi-example", "no-tsan", "no-asan", "no-ubsan", "exclusive"],
)

2
wpilibcExamples/src/main/cpp/examples/AddressableLED/cpp/Robot.cpp
View File

@@ -17,7 +17,7 @@ void Robot::RobotPeriodic() {
m_led.SetData(m_ledBuffer);
}
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
View File

@@ -162,7 +162,7 @@ class Robot : public wpi::TimedRobot {
#endif
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
View File

@@ -36,7 +36,7 @@ class Robot : public wpi::TimedRobot {
}
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
View File

@@ -39,7 +39,7 @@ class Robot : public wpi::TimedRobot {
}
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
View File

@@ -27,7 +27,7 @@ void Robot::DisabledInit() {
m_arm.Stop();
}
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
View File

@@ -54,7 +54,7 @@ class Robot : public wpi::TimedRobot {
wpi::PowerDistribution m_pdp{0};
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
View File

@@ -42,7 +42,7 @@ class Robot : public wpi::TimedRobot {
Drivetrain m_drive;
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
View File

@@ -46,7 +46,7 @@ class Robot : public wpi::TimedRobot {
Drivetrain m_drive;
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp
View File

@@ -22,7 +22,7 @@ void Robot::RobotPeriodic() {
m_alertOutput.Set(matchTime <= 30_s && matchTime >= 25_s);
}
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
View File

@@ -65,7 +65,7 @@ void Robot::TeleopPeriodic() {}
*/
void Robot::TestPeriodic() {}
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
View File

@@ -66,7 +66,7 @@ class Robot : public wpi::TimedRobot {
}
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/DutyCycleInput/cpp/Robot.cpp
View File

@@ -26,7 +26,7 @@ class Robot : public wpi::TimedRobot {
}
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp
View File

@@ -60,7 +60,7 @@ class Robot : public wpi::TimedRobot {
wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts>::State m_setpoint;
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/Robot.cpp
View File

@@ -37,7 +37,7 @@ void Robot::DisabledInit() {
m_elevator.Stop();
}
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
View File

@@ -63,7 +63,7 @@ class Robot : public wpi::TimedRobot {
wpi::math::ElevatorFeedforward m_feedforward{kS, kG, kV};
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
View File

@@ -32,7 +32,7 @@ void Robot::DisabledInit() {
m_elevator.Stop();
}
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
View File

@@ -56,7 +56,7 @@ class Robot : public wpi::TimedRobot {
wpi::math::TrapezoidProfile<wpi::units::meters>::State m_setpoint;
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
View File

@@ -79,7 +79,7 @@ class Robot : public wpi::TimedRobot {
wpi::Encoder m_encoder{1, 2, false, wpi::Encoder::k4X};
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/EventLoop/cpp/Robot.cpp
View File

@@ -94,7 +94,7 @@ class Robot : public wpi::TimedRobot {
wpi::Joystick m_joystick{0};
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
View File

@@ -101,7 +101,7 @@ class Robot : public wpi::TimedRobot {
wpi::sim::EncoderSim m_encoderSim{m_encoder};
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
View File

@@ -59,7 +59,7 @@ class Robot : public wpi::TimedRobot {
wpi::Timer m_timer;
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
View File

@@ -57,7 +57,7 @@ class Robot : public wpi::TimedRobot {
wpi::Joystick m_joystick{kJoystickPort};
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
View File

@@ -58,7 +58,7 @@ class Robot : public wpi::TimedRobot {
wpi::Joystick m_joystick{kJoystickPort};
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
View File

@@ -74,7 +74,7 @@ void Robot::TeleopPeriodic() {}
*/
void Robot::TestPeriodic() {}
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
View File

@@ -74,7 +74,7 @@ void Robot::TeleopPeriodic() {}
*/
void Robot::TestPeriodic() {}
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
View File

@@ -26,7 +26,7 @@ class Robot : public wpi::TimedRobot {
wpi::GenericHID m_hid{0};
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/HttpCamera/cpp/Robot.cpp
View File

@@ -60,7 +60,7 @@ class Robot : public wpi::TimedRobot {
}
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
View File

@@ -40,7 +40,7 @@ void Robot::RobotPeriodic() {
arduino.WriteBulk(reinterpret_cast<uint8_t*>(string.data()), string.size());
}
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
View File

@@ -70,7 +70,7 @@ class Robot : public wpi::TimedRobot {
#endif
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
View File

@@ -50,7 +50,7 @@ class Robot : public wpi::TimedRobot {
}
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
View File

@@ -54,7 +54,7 @@ class Robot : public wpi::TimedRobot {
wpi::Joystick m_stick{kJoystickChannel};
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
View File

@@ -50,7 +50,7 @@ class Robot : public wpi::TimedRobot {
}
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
View File

@@ -69,7 +69,7 @@ class Robot : public wpi::TimedRobot {
"wrist", 0.5, 90_deg, 6, wpi::Color8Bit{wpi::Color::kPurple});
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

2
wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
View File

@@ -45,7 +45,7 @@ class Robot : public wpi::TimedRobot {
wpi::Encoder m_encoder{0, 1};
};
#ifndef RUNNING_FRC_TESTS
#ifndef RUNNING_WPILIB_TESTS
int main() {
return wpi::StartRobot<Robot>();
}

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