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TrajectoryGenerator: Allow replacement of error reporting function (#2234)

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This is needed to avoid use of DriverStation if used from desktop applications
such as PathWeaver.
This commit is contained in:
Peter Johnson
2020-01-05 16:01:31 -08:00
committed by GitHub
parent ce1ac17dfb
commit 95b6cd2dd9
1 changed files with 21 additions and 2 deletions
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23
wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
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@@ -11,6 +11,7 @@ import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collection;
import java.util.List;
import java.util.function.BiConsumer;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.geometry.Pose2d;
@@ -26,6 +27,7 @@ import edu.wpi.first.wpilibj.spline.SplineParameterizer.MalformedSplineException
public final class TrajectoryGenerator {
private static final Trajectory kDoNothingTrajectory =
new Trajectory(Arrays.asList(new Trajectory.State()));
private static BiConsumer<String, StackTraceElement[]> errorFunc;
/**
* Private constructor because this is a utility class.
@@ -33,6 +35,23 @@ public final class TrajectoryGenerator {
private TrajectoryGenerator() {
}
private static void reportError(String error, StackTraceElement[] stackTrace) {
if (errorFunc != null) {
errorFunc.accept(error, stackTrace);
} else {
DriverStation.reportError(error, stackTrace);
}
}
/**
* Set error reporting function. By default, DriverStation.reportError() is used.
*
* @param func Error reporting function, arguments are error and stackTrace.
*/
public static void setErrorHandler(BiConsumer<String, StackTraceElement[]> func) {
errorFunc = func;
}
/**
* Generates a trajectory from the given control vectors and config. This method uses clamped
* cubic splines -- a method in which the exterior control vectors and interior waypoints
@@ -71,7 +90,7 @@ public final class TrajectoryGenerator {
points = splinePointsFromSplines(SplineHelper.getCubicSplinesFromControlVectors(newInitial,
interiorWaypoints.toArray(new Translation2d[0]), newEnd));
} catch (MalformedSplineException ex) {
DriverStation.reportError(ex.getMessage(), ex.getStackTrace());
reportError(ex.getMessage(), ex.getStackTrace());
return kDoNothingTrajectory;
}
@@ -147,7 +166,7 @@ public final class TrajectoryGenerator {
newControlVectors.toArray(new Spline.ControlVector[]{})
));
} catch (MalformedSplineException ex) {
DriverStation.reportError(ex.getMessage(), ex.getStackTrace());
reportError(ex.getMessage(), ex.getStackTrace());
return kDoNothingTrajectory;
}