From 9bcff37b93b2ca22b3dfbf9ac198d46f3ff38895 Mon Sep 17 00:00:00 2001 From: Thad House Date: Fri, 8 Nov 2019 22:53:20 -0800 Subject: [PATCH] Add HAL specific version of wpi_setError (#2055) Cleans up error writing, and allows fewer headers to be included in many of the wpilibc cpp files. This removes all usages of the hal/HAL.h header. --- hal/src/generate/FRCUsageReporting.h.in | 38 ++++++++++++++ hal/src/main/native/include/hal/HALBase.h | 28 ----------- .../src/dev/native/cpp/main.cpp | 5 +- .../src/test/native/cpp/main.cpp | 2 +- .../halsim_gui/src/test/native/cpp/main.cpp | 2 +- .../halsim_print/src/dev/native/cpp/main.cpp | 4 +- .../src/dev/native/cpp/main.cpp | 4 +- .../src/test/native/cpp/main.cpp | 4 +- .../src/test/native/cpp/main.cpp | 2 +- .../main/native/cpp/commands/Scheduler.cpp | 2 +- .../src/test/native/cpp/main.cpp | 2 +- wpilibc/src/dev/native/cpp/main.cpp | 4 +- wpilibc/src/main/native/cpp/ADXL345_I2C.cpp | 2 +- wpilibc/src/main/native/cpp/ADXL345_SPI.cpp | 2 +- wpilibc/src/main/native/cpp/ADXL362.cpp | 2 +- wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp | 2 +- .../main/native/cpp/AnalogAccelerometer.cpp | 2 +- wpilibc/src/main/native/cpp/AnalogGyro.cpp | 24 ++++----- wpilibc/src/main/native/cpp/AnalogInput.cpp | 46 ++++++++--------- wpilibc/src/main/native/cpp/AnalogOutput.cpp | 11 +++-- wpilibc/src/main/native/cpp/AnalogTrigger.cpp | 22 ++++----- .../main/native/cpp/AnalogTriggerOutput.cpp | 4 +- .../main/native/cpp/BuiltInAccelerometer.cpp | 2 +- wpilibc/src/main/native/cpp/CAN.cpp | 19 ++++--- wpilibc/src/main/native/cpp/Compressor.cpp | 5 +- wpilibc/src/main/native/cpp/Counter.cpp | 49 ++++++++++--------- wpilibc/src/main/native/cpp/DMC60.cpp | 2 +- .../main/native/cpp/DigitalGlitchFilter.cpp | 12 ++--- wpilibc/src/main/native/cpp/DigitalInput.cpp | 8 +-- wpilibc/src/main/native/cpp/DigitalOutput.cpp | 28 +++++------ .../src/main/native/cpp/DoubleSolenoid.cpp | 19 +++---- wpilibc/src/main/native/cpp/DriverStation.cpp | 4 +- wpilibc/src/main/native/cpp/DutyCycle.cpp | 13 +++-- wpilibc/src/main/native/cpp/Encoder.cpp | 45 +++++++++-------- wpilibc/src/main/native/cpp/ErrorBase.cpp | 3 +- wpilibc/src/main/native/cpp/GenericHID.cpp | 3 +- wpilibc/src/main/native/cpp/I2C.cpp | 6 +-- .../native/cpp/InterruptableSensorBase.cpp | 22 ++++----- .../src/main/native/cpp/IterativeRobot.cpp | 3 +- .../main/native/cpp/IterativeRobotBase.cpp | 3 +- wpilibc/src/main/native/cpp/Jaguar.cpp | 2 +- wpilibc/src/main/native/cpp/Joystick.cpp | 2 +- wpilibc/src/main/native/cpp/LinearFilter.cpp | 2 +- .../src/main/native/cpp/NidecBrushless.cpp | 2 +- wpilibc/src/main/native/cpp/Notifier.cpp | 11 +++-- wpilibc/src/main/native/cpp/PIDBase.cpp | 2 +- wpilibc/src/main/native/cpp/PWM.cpp | 40 +++++++-------- wpilibc/src/main/native/cpp/PWMSparkMax.cpp | 2 +- wpilibc/src/main/native/cpp/PWMTalonSRX.cpp | 2 +- wpilibc/src/main/native/cpp/PWMVictorSPX.cpp | 2 +- .../native/cpp/PowerDistributionPanel.cpp | 5 +- wpilibc/src/main/native/cpp/Preferences.cpp | 4 +- wpilibc/src/main/native/cpp/Relay.cpp | 17 +++---- .../src/main/native/cpp/RobotController.cpp | 47 +++++++++--------- wpilibc/src/main/native/cpp/RobotDrive.cpp | 2 +- wpilibc/src/main/native/cpp/SD540.cpp | 2 +- wpilibc/src/main/native/cpp/SPI.cpp | 26 +++++----- wpilibc/src/main/native/cpp/SensorUtil.cpp | 4 +- wpilibc/src/main/native/cpp/SerialPort.cpp | 48 +++++++++--------- wpilibc/src/main/native/cpp/Servo.cpp | 2 +- wpilibc/src/main/native/cpp/Solenoid.cpp | 14 +++--- wpilibc/src/main/native/cpp/SolenoidBase.cpp | 6 +-- wpilibc/src/main/native/cpp/Spark.cpp | 2 +- wpilibc/src/main/native/cpp/Talon.cpp | 2 +- wpilibc/src/main/native/cpp/Threads.cpp | 10 ++-- wpilibc/src/main/native/cpp/TimedRobot.cpp | 10 ++-- wpilibc/src/main/native/cpp/Timer.cpp | 2 +- wpilibc/src/main/native/cpp/Ultrasonic.cpp | 2 +- wpilibc/src/main/native/cpp/Utility.cpp | 2 +- wpilibc/src/main/native/cpp/Victor.cpp | 2 +- wpilibc/src/main/native/cpp/VictorSP.cpp | 2 +- .../src/main/native/cpp/XboxController.cpp | 2 +- .../native/cpp/controller/PIDController.cpp | 2 +- .../native/cpp/drive/DifferentialDrive.cpp | 2 +- .../main/native/cpp/drive/KilloughDrive.cpp | 2 +- .../main/native/cpp/drive/MecanumDrive.cpp | 2 +- .../main/native/cpp/drive/RobotDriveBase.cpp | 2 +- .../cpp/filters/LinearDigitalFilter.cpp | 2 +- wpilibc/src/main/native/cpp/frc2/Timer.cpp | 2 +- .../cpp/shuffleboard/ShuffleboardInstance.cpp | 2 +- .../cpp/smartdashboard/SmartDashboard.cpp | 2 +- wpilibc/src/main/native/cppcs/RobotBase.cpp | 8 +-- .../src/main/native/include/frc/ErrorBase.h | 28 +++++++++++ wpilibc/src/test/native/cpp/main.cpp | 4 +- 84 files changed, 421 insertions(+), 377 deletions(-) diff --git a/hal/src/generate/FRCUsageReporting.h.in b/hal/src/generate/FRCUsageReporting.h.in index 0ed3b33bbb..fb82c84d9a 100644 --- a/hal/src/generate/FRCUsageReporting.h.in +++ b/hal/src/generate/FRCUsageReporting.h.in @@ -1,5 +1,43 @@ #pragma once +#include + +#ifdef __cplusplus +extern "C" { +#endif + +// ifdef's definition is to allow for default parameters in C++. +#ifdef __cplusplus +/** + * Reports a hardware usage to the HAL. + * + * @param resource the used resource + * @param instanceNumber the instance of the resource + * @param context a user specified context index + * @param feature a user specified feature string + * @return the index of the added value in NetComm + */ +int64_t HAL_Report(int32_t resource, int32_t instanceNumber, + int32_t context = 0, const char* feature = nullptr); +#else + +/** + * Reports a hardware usage to the HAL. + * + * @param resource the used resource + * @param instanceNumber the instance of the resource + * @param context a user specified context index + * @param feature a user specified feature string + * @return the index of the added value in NetComm + */ +int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context, + const char* feature); +#endif + +#ifdef __cplusplus +} +#endif + /* * Autogenerated file! Do not manually edit this file. */ diff --git a/hal/src/main/native/include/hal/HALBase.h b/hal/src/main/native/include/hal/HALBase.h index a958f2be30..39fb47ac11 100644 --- a/hal/src/main/native/include/hal/HALBase.h +++ b/hal/src/main/native/include/hal/HALBase.h @@ -135,34 +135,6 @@ uint64_t HAL_GetFPGATime(int32_t* status); */ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode); -// ifdef's definition is to allow for default parameters in C++. -#ifdef __cplusplus -/** - * Reports a hardware usage to the HAL. - * - * @param resource the used resource - * @param instanceNumber the instance of the resource - * @param context a user specified context index - * @param feature a user specified feature string - * @return the index of the added value in NetComm - */ -int64_t HAL_Report(int32_t resource, int32_t instanceNumber, - int32_t context = 0, const char* feature = nullptr); -#else - -/** - * Reports a hardware usage to the HAL. - * - * @param resource the used resource - * @param instanceNumber the instance of the resource - * @param context a user specified context index - * @param feature a user specified feature string - * @return the index of the added value in NetComm - */ -int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context, - const char* feature); -#endif - #ifdef __cplusplus } // extern "C" #endif diff --git a/simulation/halsim_ds_socket/src/dev/native/cpp/main.cpp b/simulation/halsim_ds_socket/src/dev/native/cpp/main.cpp index aba88fbaa7..2c1e83a012 100644 --- a/simulation/halsim_ds_socket/src/dev/native/cpp/main.cpp +++ b/simulation/halsim_ds_socket/src/dev/native/cpp/main.cpp @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ @@ -7,7 +7,8 @@ #include -#include +#include +#include #include #include diff --git a/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp b/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp index fd8f022427..c6b6c58115 100644 --- a/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp +++ b/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp @@ -5,7 +5,7 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -#include +#include #include "gtest/gtest.h" diff --git a/simulation/halsim_gui/src/test/native/cpp/main.cpp b/simulation/halsim_gui/src/test/native/cpp/main.cpp index fd8f022427..c6b6c58115 100644 --- a/simulation/halsim_gui/src/test/native/cpp/main.cpp +++ b/simulation/halsim_gui/src/test/native/cpp/main.cpp @@ -5,7 +5,7 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -#include +#include #include "gtest/gtest.h" diff --git a/simulation/halsim_print/src/dev/native/cpp/main.cpp b/simulation/halsim_print/src/dev/native/cpp/main.cpp index d9f92e9b26..eb9eef1731 100644 --- a/simulation/halsim_print/src/dev/native/cpp/main.cpp +++ b/simulation/halsim_print/src/dev/native/cpp/main.cpp @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ @@ -8,7 +8,7 @@ #include #include -#include +#include int main() { HAL_Initialize(500, 0); diff --git a/simulation/lowfi_simulation/src/dev/native/cpp/main.cpp b/simulation/lowfi_simulation/src/dev/native/cpp/main.cpp index 4dc5f43971..eb8381072e 100644 --- a/simulation/lowfi_simulation/src/dev/native/cpp/main.cpp +++ b/simulation/lowfi_simulation/src/dev/native/cpp/main.cpp @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ @@ -7,7 +7,7 @@ #include -#include +#include int main() { std::cout << "Hello World" << std::endl; diff --git a/simulation/lowfi_simulation/src/test/native/cpp/main.cpp b/simulation/lowfi_simulation/src/test/native/cpp/main.cpp index 0e00efa33d..c6b6c58115 100644 --- a/simulation/lowfi_simulation/src/test/native/cpp/main.cpp +++ b/simulation/lowfi_simulation/src/test/native/cpp/main.cpp @@ -1,11 +1,11 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ /*----------------------------------------------------------------------------*/ -#include +#include #include "gtest/gtest.h" diff --git a/wpilibNewCommands/src/test/native/cpp/main.cpp b/wpilibNewCommands/src/test/native/cpp/main.cpp index fd8f022427..c6b6c58115 100644 --- a/wpilibNewCommands/src/test/native/cpp/main.cpp +++ b/wpilibNewCommands/src/test/native/cpp/main.cpp @@ -5,7 +5,7 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -#include +#include #include "gtest/gtest.h" diff --git a/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp b/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp index f406d74a27..6944e410c1 100644 --- a/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp +++ b/wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp @@ -12,7 +12,7 @@ #include #include -#include +#include #include #include diff --git a/wpilibOldCommands/src/test/native/cpp/main.cpp b/wpilibOldCommands/src/test/native/cpp/main.cpp index fd8f022427..c6b6c58115 100644 --- a/wpilibOldCommands/src/test/native/cpp/main.cpp +++ b/wpilibOldCommands/src/test/native/cpp/main.cpp @@ -5,7 +5,7 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -#include +#include #include "gtest/gtest.h" diff --git a/wpilibc/src/dev/native/cpp/main.cpp b/wpilibc/src/dev/native/cpp/main.cpp index 6e64d2b249..f1370bb299 100644 --- a/wpilibc/src/dev/native/cpp/main.cpp +++ b/wpilibc/src/dev/native/cpp/main.cpp @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ @@ -7,7 +7,7 @@ #include -#include +#include #include "WPILibVersion.h" diff --git a/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp b/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp index 5b5762abe7..a760daaff3 100644 --- a/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp +++ b/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp @@ -7,7 +7,7 @@ #include "frc/ADXL345_I2C.h" -#include +#include #include "frc/smartdashboard/SendableBuilder.h" #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp b/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp index bb9275a203..077a7ffb63 100644 --- a/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp +++ b/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp @@ -7,7 +7,7 @@ #include "frc/ADXL345_SPI.h" -#include +#include #include "frc/smartdashboard/SendableBuilder.h" #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/ADXL362.cpp b/wpilibc/src/main/native/cpp/ADXL362.cpp index 7543c22a4c..6ed8c8cc48 100644 --- a/wpilibc/src/main/native/cpp/ADXL362.cpp +++ b/wpilibc/src/main/native/cpp/ADXL362.cpp @@ -7,7 +7,7 @@ #include "frc/ADXL362.h" -#include +#include #include "frc/DriverStation.h" #include "frc/smartdashboard/SendableBuilder.h" diff --git a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp index b6a1d1d5e9..2cf2f73f84 100644 --- a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp +++ b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp @@ -7,7 +7,7 @@ #include "frc/ADXRS450_Gyro.h" -#include +#include #include "frc/DriverStation.h" #include "frc/Timer.h" diff --git a/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp b/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp index b07737809e..be0c7d2a98 100644 --- a/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp +++ b/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp @@ -7,7 +7,7 @@ #include "frc/AnalogAccelerometer.h" -#include +#include #include "frc/WPIErrors.h" #include "frc/smartdashboard/SendableBuilder.h" diff --git a/wpilibc/src/main/native/cpp/AnalogGyro.cpp b/wpilibc/src/main/native/cpp/AnalogGyro.cpp index 4fdcb340e2..c89150648f 100644 --- a/wpilibc/src/main/native/cpp/AnalogGyro.cpp +++ b/wpilibc/src/main/native/cpp/AnalogGyro.cpp @@ -12,7 +12,7 @@ #include #include -#include +#include #include "frc/AnalogInput.h" #include "frc/Timer.h" @@ -56,7 +56,7 @@ AnalogGyro::AnalogGyro(std::shared_ptr channel, int center, HAL_SetAnalogGyroParameters(m_gyroHandle, kDefaultVoltsPerDegreePerSecond, offset, center, &status); if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); m_gyroHandle = HAL_kInvalidHandle; return; } @@ -70,7 +70,7 @@ double AnalogGyro::GetAngle() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -78,7 +78,7 @@ double AnalogGyro::GetRate() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -86,7 +86,7 @@ int AnalogGyro::GetCenter() const { if (StatusIsFatal()) return 0; int32_t status = 0; int value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -94,7 +94,7 @@ double AnalogGyro::GetOffset() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -102,21 +102,21 @@ void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) { int32_t status = 0; HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle, voltsPerDegreePerSecond, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void AnalogGyro::SetDeadband(double volts) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void AnalogGyro::Reset() { if (StatusIsFatal()) return; int32_t status = 0; HAL_ResetAnalogGyro(m_gyroHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void AnalogGyro::InitGyro() { @@ -132,7 +132,7 @@ void AnalogGyro::InitGyro() { return; } if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); m_analog = nullptr; m_gyroHandle = HAL_kInvalidHandle; return; @@ -142,7 +142,7 @@ void AnalogGyro::InitGyro() { int32_t status = 0; HAL_SetupAnalogGyro(m_gyroHandle, &status); if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); m_analog = nullptr; m_gyroHandle = HAL_kInvalidHandle; return; @@ -158,5 +158,5 @@ void AnalogGyro::Calibrate() { if (StatusIsFatal()) return; int32_t status = 0; HAL_CalibrateAnalogGyro(m_gyroHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } diff --git a/wpilibc/src/main/native/cpp/AnalogInput.cpp b/wpilibc/src/main/native/cpp/AnalogInput.cpp index 8217be12bc..c8197b73c8 100644 --- a/wpilibc/src/main/native/cpp/AnalogInput.cpp +++ b/wpilibc/src/main/native/cpp/AnalogInput.cpp @@ -11,7 +11,8 @@ #include #include -#include +#include +#include #include #include "frc/SensorUtil.h" @@ -35,8 +36,7 @@ AnalogInput::AnalogInput(int channel) { int32_t status = 0; m_port = HAL_InitializeAnalogInputPort(port, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumAnalogInputs(), channel, - HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumAnalogInputs(), channel); m_channel = std::numeric_limits::max(); m_port = HAL_kInvalidHandle; return; @@ -53,7 +53,7 @@ int AnalogInput::GetValue() const { if (StatusIsFatal()) return 0; int32_t status = 0; int value = HAL_GetAnalogValue(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -61,7 +61,7 @@ int AnalogInput::GetAverageValue() const { if (StatusIsFatal()) return 0; int32_t status = 0; int value = HAL_GetAnalogAverageValue(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -69,7 +69,7 @@ double AnalogInput::GetVoltage() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double voltage = HAL_GetAnalogVoltage(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return voltage; } @@ -77,7 +77,7 @@ double AnalogInput::GetAverageVoltage() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double voltage = HAL_GetAnalogAverageVoltage(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return voltage; } @@ -90,13 +90,13 @@ void AnalogInput::SetAverageBits(int bits) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetAnalogAverageBits(m_port, bits, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int AnalogInput::GetAverageBits() const { int32_t status = 0; int averageBits = HAL_GetAnalogAverageBits(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return averageBits; } @@ -104,14 +104,14 @@ void AnalogInput::SetOversampleBits(int bits) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetAnalogOversampleBits(m_port, bits, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int AnalogInput::GetOversampleBits() const { if (StatusIsFatal()) return 0; int32_t status = 0; int oversampleBits = HAL_GetAnalogOversampleBits(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return oversampleBits; } @@ -119,7 +119,7 @@ int AnalogInput::GetLSBWeight() const { if (StatusIsFatal()) return 0; int32_t status = 0; int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return lsbWeight; } @@ -127,7 +127,7 @@ int AnalogInput::GetOffset() const { if (StatusIsFatal()) return 0; int32_t status = 0; int offset = HAL_GetAnalogOffset(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return offset; } @@ -135,7 +135,7 @@ bool AnalogInput::IsAccumulatorChannel() const { if (StatusIsFatal()) return false; int32_t status = 0; bool isAccum = HAL_IsAccumulatorChannel(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return isAccum; } @@ -144,7 +144,7 @@ void AnalogInput::InitAccumulator() { m_accumulatorOffset = 0; int32_t status = 0; HAL_InitAccumulator(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void AnalogInput::SetAccumulatorInitialValue(int64_t initialValue) { @@ -156,7 +156,7 @@ void AnalogInput::ResetAccumulator() { if (StatusIsFatal()) return; int32_t status = 0; HAL_ResetAccumulator(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); if (!StatusIsFatal()) { // Wait until the next sample, so the next call to GetAccumulator*() @@ -172,21 +172,21 @@ void AnalogInput::SetAccumulatorCenter(int center) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetAccumulatorCenter(m_port, center, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void AnalogInput::SetAccumulatorDeadband(int deadband) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetAccumulatorDeadband(m_port, deadband, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int64_t AnalogInput::GetAccumulatorValue() const { if (StatusIsFatal()) return 0; int32_t status = 0; int64_t value = HAL_GetAccumulatorValue(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value + m_accumulatorOffset; } @@ -194,7 +194,7 @@ int64_t AnalogInput::GetAccumulatorCount() const { if (StatusIsFatal()) return 0; int32_t status = 0; int64_t count = HAL_GetAccumulatorCount(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return count; } @@ -202,20 +202,20 @@ void AnalogInput::GetAccumulatorOutput(int64_t& value, int64_t& count) const { if (StatusIsFatal()) return; int32_t status = 0; HAL_GetAccumulatorOutput(m_port, &value, &count, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); value += m_accumulatorOffset; } void AnalogInput::SetSampleRate(double samplesPerSecond) { int32_t status = 0; HAL_SetAnalogSampleRate(samplesPerSecond, &status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); } double AnalogInput::GetSampleRate() { int32_t status = 0; double sampleRate = HAL_GetAnalogSampleRate(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return sampleRate; } diff --git a/wpilibc/src/main/native/cpp/AnalogOutput.cpp b/wpilibc/src/main/native/cpp/AnalogOutput.cpp index 08e2c0d8f2..041b446a7b 100644 --- a/wpilibc/src/main/native/cpp/AnalogOutput.cpp +++ b/wpilibc/src/main/native/cpp/AnalogOutput.cpp @@ -10,7 +10,9 @@ #include #include -#include +#include +#include +#include #include #include "frc/SensorUtil.h" @@ -35,8 +37,7 @@ AnalogOutput::AnalogOutput(int channel) { int32_t status = 0; m_port = HAL_InitializeAnalogOutputPort(port, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumAnalogOutputs(), channel, - HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumAnalogOutputs(), channel); m_channel = std::numeric_limits::max(); m_port = HAL_kInvalidHandle; return; @@ -52,14 +53,14 @@ void AnalogOutput::SetVoltage(double voltage) { int32_t status = 0; HAL_SetAnalogOutput(m_port, voltage, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } double AnalogOutput::GetVoltage() const { int32_t status = 0; double voltage = HAL_GetAnalogOutput(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return voltage; } diff --git a/wpilibc/src/main/native/cpp/AnalogTrigger.cpp b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp index d9ecd7a451..ddbb7c8920 100644 --- a/wpilibc/src/main/native/cpp/AnalogTrigger.cpp +++ b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp @@ -9,7 +9,7 @@ #include -#include +#include #include "frc/AnalogInput.h" #include "frc/DutyCycle.h" @@ -29,7 +29,7 @@ AnalogTrigger::AnalogTrigger(AnalogInput* input) { int32_t status = 0; m_trigger = HAL_InitializeAnalogTrigger(input->m_port, &status); if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); m_trigger = HAL_kInvalidHandle; return; } @@ -44,7 +44,7 @@ AnalogTrigger::AnalogTrigger(DutyCycle* input) { int32_t status = 0; m_trigger = HAL_InitializeAnalogTriggerDutyCycle(input->m_handle, &status); if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); m_trigger = HAL_kInvalidHandle; return; } @@ -88,42 +88,42 @@ void AnalogTrigger::SetLimitsVoltage(double lower, double upper) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void AnalogTrigger::SetLimitsDutyCycle(double lower, double upper) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetAnalogTriggerLimitsDutyCycle(m_trigger, lower, upper, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void AnalogTrigger::SetLimitsRaw(int lower, int upper) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void AnalogTrigger::SetAveraged(bool useAveragedValue) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetAnalogTriggerAveraged(m_trigger, useAveragedValue, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void AnalogTrigger::SetFiltered(bool useFilteredValue) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetAnalogTriggerFiltered(m_trigger, useFilteredValue, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int AnalogTrigger::GetIndex() const { if (StatusIsFatal()) return -1; int32_t status = 0; auto ret = HAL_GetAnalogTriggerFPGAIndex(m_trigger, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return ret; } @@ -131,7 +131,7 @@ bool AnalogTrigger::GetInWindow() { if (StatusIsFatal()) return false; int32_t status = 0; bool result = HAL_GetAnalogTriggerInWindow(m_trigger, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return result; } @@ -139,7 +139,7 @@ bool AnalogTrigger::GetTriggerState() { if (StatusIsFatal()) return false; int32_t status = 0; bool result = HAL_GetAnalogTriggerTriggerState(m_trigger, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return result; } diff --git a/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp b/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp index cae01aabff..8fba479823 100644 --- a/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp +++ b/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp @@ -7,7 +7,7 @@ #include "frc/AnalogTriggerOutput.h" -#include +#include #include "frc/AnalogTrigger.h" #include "frc/WPIErrors.h" @@ -19,7 +19,7 @@ bool AnalogTriggerOutput::Get() const { bool result = HAL_GetAnalogTriggerOutput( m_trigger->m_trigger, static_cast(m_outputType), &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return result; } diff --git a/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp b/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp index 71c8e89ebd..d7cdef6e50 100644 --- a/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp +++ b/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp @@ -8,7 +8,7 @@ #include "frc/BuiltInAccelerometer.h" #include -#include +#include #include "frc/WPIErrors.h" #include "frc/smartdashboard/SendableBuilder.h" diff --git a/wpilibc/src/main/native/cpp/CAN.cpp b/wpilibc/src/main/native/cpp/CAN.cpp index a1f394d145..797b9ff4e3 100644 --- a/wpilibc/src/main/native/cpp/CAN.cpp +++ b/wpilibc/src/main/native/cpp/CAN.cpp @@ -13,7 +13,6 @@ #include #include #include -#include using namespace frc; @@ -22,7 +21,7 @@ CAN::CAN(int deviceId) { m_handle = HAL_InitializeCAN(kTeamManufacturer, deviceId, kTeamDeviceType, &status); if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); m_handle = HAL_kInvalidHandle; return; } @@ -36,7 +35,7 @@ CAN::CAN(int deviceId, int deviceManufacturer, int deviceType) { static_cast(deviceManufacturer), deviceId, static_cast(deviceType), &status); if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); m_handle = HAL_kInvalidHandle; return; } @@ -55,26 +54,26 @@ CAN::~CAN() { void CAN::WritePacket(const uint8_t* data, int length, int apiId) { int32_t status = 0; HAL_WriteCANPacket(m_handle, data, length, apiId, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void CAN::WritePacketRepeating(const uint8_t* data, int length, int apiId, int repeatMs) { int32_t status = 0; HAL_WriteCANPacketRepeating(m_handle, data, length, apiId, repeatMs, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void CAN::WriteRTRFrame(int length, int apiId) { int32_t status = 0; HAL_WriteCANRTRFrame(m_handle, length, apiId, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void CAN::StopPacketRepeating(int apiId) { int32_t status = 0; HAL_StopCANPacketRepeating(m_handle, apiId, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } bool CAN::ReadPacketNew(int apiId, CANData* data) { @@ -85,7 +84,7 @@ bool CAN::ReadPacketNew(int apiId, CANData* data) { return false; } if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return false; } else { return true; @@ -100,7 +99,7 @@ bool CAN::ReadPacketLatest(int apiId, CANData* data) { return false; } if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return false; } else { return true; @@ -116,7 +115,7 @@ bool CAN::ReadPacketTimeout(int apiId, int timeoutMs, CANData* data) { return false; } if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return false; } else { return true; diff --git a/wpilibc/src/main/native/cpp/Compressor.cpp b/wpilibc/src/main/native/cpp/Compressor.cpp index 7a49461f85..29789be722 100644 --- a/wpilibc/src/main/native/cpp/Compressor.cpp +++ b/wpilibc/src/main/native/cpp/Compressor.cpp @@ -8,7 +8,7 @@ #include "frc/Compressor.h" #include -#include +#include #include #include @@ -22,8 +22,7 @@ Compressor::Compressor(int pcmID) : m_module(pcmID) { int32_t status = 0; m_compressorHandle = HAL_InitializeCompressor(m_module, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumPCMModules(), pcmID, - HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumPCMModules(), pcmID); return; } SetClosedLoopControl(true); diff --git a/wpilibc/src/main/native/cpp/Counter.cpp b/wpilibc/src/main/native/cpp/Counter.cpp index e6e6fe4d22..71ce33682c 100644 --- a/wpilibc/src/main/native/cpp/Counter.cpp +++ b/wpilibc/src/main/native/cpp/Counter.cpp @@ -9,7 +9,8 @@ #include -#include +#include +#include #include "frc/AnalogTrigger.h" #include "frc/DigitalInput.h" @@ -22,7 +23,7 @@ using namespace frc; Counter::Counter(Mode mode) { int32_t status = 0; m_counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, &m_index, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); SetMaxPeriod(.5); @@ -81,7 +82,7 @@ Counter::Counter(EncodingType encodingType, HAL_SetCounterAverageSize(m_counter, 2, &status); } - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); SetDownSourceEdge(inverted, true); } @@ -90,7 +91,7 @@ Counter::~Counter() { int32_t status = 0; HAL_FreeCounter(m_counter, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Counter::SetUpSource(int channel) { @@ -128,7 +129,7 @@ void Counter::SetUpSource(std::shared_ptr source) { m_counter, source->GetPortHandleForRouting(), (HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(), &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } } @@ -146,7 +147,7 @@ void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) { } int32_t status = 0; HAL_SetCounterUpSourceEdge(m_counter, risingEdge, fallingEdge, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Counter::ClearUpSource() { @@ -154,7 +155,7 @@ void Counter::ClearUpSource() { m_upSource.reset(); int32_t status = 0; HAL_ClearCounterUpSource(m_counter, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Counter::SetDownSource(int channel) { @@ -197,7 +198,7 @@ void Counter::SetDownSource(std::shared_ptr source) { m_counter, source->GetPortHandleForRouting(), (HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(), &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } } @@ -210,7 +211,7 @@ void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) { } int32_t status = 0; HAL_SetCounterDownSourceEdge(m_counter, risingEdge, fallingEdge, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Counter::ClearDownSource() { @@ -218,42 +219,42 @@ void Counter::ClearDownSource() { m_downSource.reset(); int32_t status = 0; HAL_ClearCounterDownSource(m_counter, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Counter::SetUpDownCounterMode() { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetCounterUpDownMode(m_counter, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Counter::SetExternalDirectionMode() { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetCounterExternalDirectionMode(m_counter, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Counter::SetSemiPeriodMode(bool highSemiPeriod) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetCounterSemiPeriodMode(m_counter, highSemiPeriod, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Counter::SetPulseLengthMode(double threshold) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetCounterPulseLengthMode(m_counter, threshold, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Counter::SetReverseDirection(bool reverseDirection) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetCounterReverseDirection(m_counter, reverseDirection, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Counter::SetSamplesToAverage(int samplesToAverage) { @@ -264,13 +265,13 @@ void Counter::SetSamplesToAverage(int samplesToAverage) { } int32_t status = 0; HAL_SetCounterSamplesToAverage(m_counter, samplesToAverage, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int Counter::GetSamplesToAverage() const { int32_t status = 0; int samples = HAL_GetCounterSamplesToAverage(m_counter, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return samples; } @@ -280,7 +281,7 @@ int Counter::Get() const { if (StatusIsFatal()) return 0; int32_t status = 0; int value = HAL_GetCounter(m_counter, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -288,14 +289,14 @@ void Counter::Reset() { if (StatusIsFatal()) return; int32_t status = 0; HAL_ResetCounter(m_counter, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } double Counter::GetPeriod() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double value = HAL_GetCounterPeriod(m_counter, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -303,21 +304,21 @@ void Counter::SetMaxPeriod(double maxPeriod) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetCounterMaxPeriod(m_counter, maxPeriod, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Counter::SetUpdateWhenEmpty(bool enabled) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetCounterUpdateWhenEmpty(m_counter, enabled, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } bool Counter::GetStopped() const { if (StatusIsFatal()) return false; int32_t status = 0; bool value = HAL_GetCounterStopped(m_counter, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -325,7 +326,7 @@ bool Counter::GetDirection() const { if (StatusIsFatal()) return false; int32_t status = 0; bool value = HAL_GetCounterDirection(m_counter, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } diff --git a/wpilibc/src/main/native/cpp/DMC60.cpp b/wpilibc/src/main/native/cpp/DMC60.cpp index 1244724787..c8da5720d9 100644 --- a/wpilibc/src/main/native/cpp/DMC60.cpp +++ b/wpilibc/src/main/native/cpp/DMC60.cpp @@ -7,7 +7,7 @@ #include "frc/DMC60.h" -#include +#include #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp b/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp index abc6299a16..3cec3f141d 100644 --- a/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp +++ b/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp @@ -13,7 +13,7 @@ #include #include -#include +#include #include "frc/Counter.h" #include "frc/Encoder.h" @@ -81,7 +81,7 @@ void DigitalGlitchFilter::DoAdd(DigitalSource* input, int requestedIndex) { int32_t status = 0; HAL_SetFilterSelect(input->GetPortHandleForRouting(), requestedIndex, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); // Validate that we set it correctly. int actualIndex = @@ -127,7 +127,7 @@ void DigitalGlitchFilter::Remove(Counter* input) { void DigitalGlitchFilter::SetPeriodCycles(int fpgaCycles) { int32_t status = 0; HAL_SetFilterPeriod(m_channelIndex, fpgaCycles, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void DigitalGlitchFilter::SetPeriodNanoSeconds(uint64_t nanoseconds) { @@ -136,14 +136,14 @@ void DigitalGlitchFilter::SetPeriodNanoSeconds(uint64_t nanoseconds) { nanoseconds * HAL_GetSystemClockTicksPerMicrosecond() / 4 / 1000; HAL_SetFilterPeriod(m_channelIndex, fpgaCycles, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int DigitalGlitchFilter::GetPeriodCycles() { int32_t status = 0; int fpgaCycles = HAL_GetFilterPeriod(m_channelIndex, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return fpgaCycles; } @@ -152,7 +152,7 @@ uint64_t DigitalGlitchFilter::GetPeriodNanoSeconds() { int32_t status = 0; int fpgaCycles = HAL_GetFilterPeriod(m_channelIndex, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return static_cast(fpgaCycles) * 1000L / static_cast(HAL_GetSystemClockTicksPerMicrosecond() / 4); diff --git a/wpilibc/src/main/native/cpp/DigitalInput.cpp b/wpilibc/src/main/native/cpp/DigitalInput.cpp index e18f9436c4..7210750ad5 100644 --- a/wpilibc/src/main/native/cpp/DigitalInput.cpp +++ b/wpilibc/src/main/native/cpp/DigitalInput.cpp @@ -11,7 +11,8 @@ #include #include -#include +#include +#include #include #include "frc/SensorUtil.h" @@ -33,8 +34,7 @@ DigitalInput::DigitalInput(int channel) { int32_t status = 0; m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), true, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(), - channel, HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumDigitalChannels(), channel); m_handle = HAL_kInvalidHandle; m_channel = std::numeric_limits::max(); return; @@ -53,7 +53,7 @@ bool DigitalInput::Get() const { if (StatusIsFatal()) return false; int32_t status = 0; bool value = HAL_GetDIO(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } diff --git a/wpilibc/src/main/native/cpp/DigitalOutput.cpp b/wpilibc/src/main/native/cpp/DigitalOutput.cpp index a2885c0a48..6e9b09b3e6 100644 --- a/wpilibc/src/main/native/cpp/DigitalOutput.cpp +++ b/wpilibc/src/main/native/cpp/DigitalOutput.cpp @@ -11,7 +11,8 @@ #include #include -#include +#include +#include #include #include "frc/SensorUtil.h" @@ -34,8 +35,7 @@ DigitalOutput::DigitalOutput(int channel) { int32_t status = 0; m_handle = HAL_InitializeDIOPort(HAL_GetPort(channel), false, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(), - channel, HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumDigitalChannels(), channel); m_channel = std::numeric_limits::max(); m_handle = HAL_kInvalidHandle; return; @@ -58,7 +58,7 @@ void DigitalOutput::Set(bool value) { int32_t status = 0; HAL_SetDIO(m_handle, value, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } bool DigitalOutput::Get() const { @@ -66,7 +66,7 @@ bool DigitalOutput::Get() const { int32_t status = 0; bool val = HAL_GetDIO(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return val; } @@ -85,7 +85,7 @@ void DigitalOutput::Pulse(double length) { int32_t status = 0; HAL_Pulse(m_handle, length, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } bool DigitalOutput::IsPulsing() const { @@ -93,7 +93,7 @@ bool DigitalOutput::IsPulsing() const { int32_t status = 0; bool value = HAL_IsPulsing(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -102,7 +102,7 @@ void DigitalOutput::SetPWMRate(double rate) { int32_t status = 0; HAL_SetDigitalPWMRate(rate, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void DigitalOutput::EnablePWM(double initialDutyCycle) { @@ -112,15 +112,15 @@ void DigitalOutput::EnablePWM(double initialDutyCycle) { if (StatusIsFatal()) return; m_pwmGenerator = HAL_AllocateDigitalPWM(&status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); if (StatusIsFatal()) return; HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); if (StatusIsFatal()) return; HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void DigitalOutput::DisablePWM() { @@ -132,10 +132,10 @@ void DigitalOutput::DisablePWM() { // Disable the output by routing to a dead bit. HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, SensorUtil::kDigitalChannels, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_FreeDigitalPWM(m_pwmGenerator, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); m_pwmGenerator = HAL_kInvalidHandle; } @@ -145,7 +145,7 @@ void DigitalOutput::UpdateDutyCycle(double dutyCycle) { int32_t status = 0; HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) { diff --git a/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp b/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp index 5413134f75..c896ea88c8 100644 --- a/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp +++ b/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp @@ -9,7 +9,8 @@ #include -#include +#include +#include #include #include @@ -50,8 +51,8 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel, m_forwardHandle = HAL_InitializeSolenoidPort( HAL_GetPortWithModule(moduleNumber, m_forwardChannel), &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(), - forwardChannel, HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumSolenoidChannels(), + forwardChannel); m_forwardHandle = HAL_kInvalidHandle; m_reverseHandle = HAL_kInvalidHandle; return; @@ -60,8 +61,8 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel, m_reverseHandle = HAL_InitializeSolenoidPort( HAL_GetPortWithModule(moduleNumber, m_reverseChannel), &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(), - reverseChannel, HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumSolenoidChannels(), + reverseChannel); // free forward solenoid HAL_FreeSolenoidPort(m_forwardHandle); m_forwardHandle = HAL_kInvalidHandle; @@ -110,8 +111,8 @@ void DoubleSolenoid::Set(Value value) { int rstatus = 0; HAL_SetSolenoid(m_reverseHandle, reverse, &rstatus); - wpi_setErrorWithContext(fstatus, HAL_GetErrorMessage(fstatus)); - wpi_setErrorWithContext(rstatus, HAL_GetErrorMessage(rstatus)); + wpi_setHALError(fstatus); + wpi_setHALError(rstatus); } DoubleSolenoid::Value DoubleSolenoid::Get() const { @@ -121,8 +122,8 @@ DoubleSolenoid::Value DoubleSolenoid::Get() const { bool valueForward = HAL_GetSolenoid(m_forwardHandle, &fstatus); bool valueReverse = HAL_GetSolenoid(m_reverseHandle, &rstatus); - wpi_setErrorWithContext(fstatus, HAL_GetErrorMessage(fstatus)); - wpi_setErrorWithContext(rstatus, HAL_GetErrorMessage(rstatus)); + wpi_setHALError(fstatus); + wpi_setHALError(rstatus); if (valueForward) return kForward; if (valueReverse) return kReverse; diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp index 4e2739ff2e..7c6488340a 100644 --- a/wpilibc/src/main/native/cpp/DriverStation.cpp +++ b/wpilibc/src/main/native/cpp/DriverStation.cpp @@ -9,7 +9,9 @@ #include -#include +#include +#include +#include #include #include #include diff --git a/wpilibc/src/main/native/cpp/DutyCycle.cpp b/wpilibc/src/main/native/cpp/DutyCycle.cpp index 03283e86f5..909b9aa02a 100644 --- a/wpilibc/src/main/native/cpp/DutyCycle.cpp +++ b/wpilibc/src/main/native/cpp/DutyCycle.cpp @@ -9,7 +9,6 @@ #include #include -#include #include "frc/DigitalSource.h" #include "frc/WPIErrors.h" @@ -49,7 +48,7 @@ void DutyCycle::InitDutyCycle() { static_cast( m_source->GetAnalogTriggerTypeForRouting()), &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); int index = GetFPGAIndex(); HAL_Report(HALUsageReporting::kResourceType_DutyCycle, index + 1); SendableRegistry::GetInstance().AddLW(this, "Duty Cycle", index); @@ -58,35 +57,35 @@ void DutyCycle::InitDutyCycle() { int DutyCycle::GetFPGAIndex() const { int32_t status = 0; auto retVal = HAL_GetDutyCycleFPGAIndex(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return retVal; } int DutyCycle::GetFrequency() const { int32_t status = 0; auto retVal = HAL_GetDutyCycleFrequency(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return retVal; } double DutyCycle::GetOutput() const { int32_t status = 0; auto retVal = HAL_GetDutyCycleOutput(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return retVal; } unsigned int DutyCycle::GetOutputRaw() const { int32_t status = 0; auto retVal = HAL_GetDutyCycleOutputRaw(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return retVal; } unsigned int DutyCycle::GetOutputScaleFactor() const { int32_t status = 0; auto retVal = HAL_GetDutyCycleOutputScaleFactor(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return retVal; } diff --git a/wpilibc/src/main/native/cpp/Encoder.cpp b/wpilibc/src/main/native/cpp/Encoder.cpp index 5c5145de75..963bcc6a7d 100644 --- a/wpilibc/src/main/native/cpp/Encoder.cpp +++ b/wpilibc/src/main/native/cpp/Encoder.cpp @@ -11,7 +11,6 @@ #include #include -#include #include "frc/DigitalInput.h" #include "frc/WPIErrors.h" @@ -60,14 +59,14 @@ Encoder::Encoder(std::shared_ptr aSource, Encoder::~Encoder() { int32_t status = 0; HAL_FreeEncoder(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int Encoder::Get() const { if (StatusIsFatal()) return 0; int32_t status = 0; int value = HAL_GetEncoder(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -75,14 +74,14 @@ void Encoder::Reset() { if (StatusIsFatal()) return; int32_t status = 0; HAL_ResetEncoder(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } double Encoder::GetPeriod() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double value = HAL_GetEncoderPeriod(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -90,14 +89,14 @@ void Encoder::SetMaxPeriod(double maxPeriod) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } bool Encoder::GetStopped() const { if (StatusIsFatal()) return true; int32_t status = 0; bool value = HAL_GetEncoderStopped(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -105,7 +104,7 @@ bool Encoder::GetDirection() const { if (StatusIsFatal()) return false; int32_t status = 0; bool value = HAL_GetEncoderDirection(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -113,14 +112,14 @@ int Encoder::GetRaw() const { if (StatusIsFatal()) return 0; int32_t status = 0; int value = HAL_GetEncoderRaw(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } int Encoder::GetEncodingScale() const { int32_t status = 0; int val = HAL_GetEncoderEncodingScale(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return val; } @@ -128,7 +127,7 @@ double Encoder::GetDistance() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double value = HAL_GetEncoderDistance(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -136,7 +135,7 @@ double Encoder::GetRate() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double value = HAL_GetEncoderRate(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -144,21 +143,21 @@ void Encoder::SetMinRate(double minRate) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetEncoderMinRate(m_encoder, minRate, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Encoder::SetDistancePerPulse(double distancePerPulse) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetEncoderDistancePerPulse(m_encoder, distancePerPulse, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } double Encoder::GetDistancePerPulse() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double distancePerPulse = HAL_GetEncoderDistancePerPulse(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return distancePerPulse; } @@ -166,7 +165,7 @@ void Encoder::SetReverseDirection(bool reverseDirection) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetEncoderReverseDirection(m_encoder, reverseDirection, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Encoder::SetSamplesToAverage(int samplesToAverage) { @@ -178,13 +177,13 @@ void Encoder::SetSamplesToAverage(int samplesToAverage) { } int32_t status = 0; HAL_SetEncoderSamplesToAverage(m_encoder, samplesToAverage, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int Encoder::GetSamplesToAverage() const { int32_t status = 0; int result = HAL_GetEncoderSamplesToAverage(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return result; } @@ -214,7 +213,7 @@ void Encoder::SetIndexSource(const DigitalSource& source, m_encoder, source.GetPortHandleForRouting(), (HAL_AnalogTriggerType)source.GetAnalogTriggerTypeForRouting(), (HAL_EncoderIndexingType)type, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Encoder::SetSimDevice(HAL_SimDeviceHandle device) { @@ -224,14 +223,14 @@ void Encoder::SetSimDevice(HAL_SimDeviceHandle device) { int Encoder::GetFPGAIndex() const { int32_t status = 0; int val = HAL_GetEncoderFPGAIndex(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return val; } void Encoder::InitSendable(SendableBuilder& builder) { int32_t status = 0; HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X) builder.SetSmartDashboardType("Quadrature Encoder"); else @@ -252,7 +251,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) { m_bSource->GetPortHandleForRouting(), (HAL_AnalogTriggerType)m_bSource->GetAnalogTriggerTypeForRouting(), reverseDirection, (HAL_EncoderEncodingType)encodingType, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex() + 1, encodingType); @@ -264,6 +263,6 @@ double Encoder::DecodingScaleFactor() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double val = HAL_GetEncoderDecodingScaleFactor(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return val; } diff --git a/wpilibc/src/main/native/cpp/ErrorBase.cpp b/wpilibc/src/main/native/cpp/ErrorBase.cpp index 8e70e61089..d098c07a6c 100644 --- a/wpilibc/src/main/native/cpp/ErrorBase.cpp +++ b/wpilibc/src/main/native/cpp/ErrorBase.cpp @@ -12,7 +12,8 @@ #include #include -#include +#include +#include #include #include #include diff --git a/wpilibc/src/main/native/cpp/GenericHID.cpp b/wpilibc/src/main/native/cpp/GenericHID.cpp index 504d6691f1..a7dcfc0588 100644 --- a/wpilibc/src/main/native/cpp/GenericHID.cpp +++ b/wpilibc/src/main/native/cpp/GenericHID.cpp @@ -7,7 +7,8 @@ #include "frc/GenericHID.h" -#include +#include +#include #include "frc/DriverStation.h" #include "frc/WPIErrors.h" diff --git a/wpilibc/src/main/native/cpp/I2C.cpp b/wpilibc/src/main/native/cpp/I2C.cpp index 44b71afc54..21d92f243b 100644 --- a/wpilibc/src/main/native/cpp/I2C.cpp +++ b/wpilibc/src/main/native/cpp/I2C.cpp @@ -9,7 +9,7 @@ #include -#include +#include #include #include "frc/WPIErrors.h" @@ -20,7 +20,7 @@ I2C::I2C(Port port, int deviceAddress) : m_port(static_cast(port)), m_deviceAddress(deviceAddress) { int32_t status = 0; HAL_InitializeI2C(m_port, &status); - // wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + // wpi_setHALError(status); HAL_Report(HALUsageReporting::kResourceType_I2C, deviceAddress); } @@ -32,7 +32,7 @@ bool I2C::Transaction(uint8_t* dataToSend, int sendSize, uint8_t* dataReceived, int32_t status = 0; status = HAL_TransactionI2C(m_port, m_deviceAddress, dataToSend, sendSize, dataReceived, receiveSize); - // wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + // wpi_setHALError(status); return status < 0; } diff --git a/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp b/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp index 36150d47ce..202c61d215 100644 --- a/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp +++ b/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp @@ -7,7 +7,7 @@ #include "frc/InterruptableSensorBase.h" -#include +#include #include "frc/Utility.h" #include "frc/WPIErrors.h" @@ -36,7 +36,7 @@ void InterruptableSensorBase::RequestInterrupts( &status); SetUpSourceEdge(true, false); HAL_AttachInterruptHandler(m_interrupt, handler, param, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void InterruptableSensorBase::RequestInterrupts(InterruptEventHandler handler) { @@ -69,7 +69,7 @@ void InterruptableSensorBase::RequestInterrupts(InterruptEventHandler handler) { (*self)(res); }, m_interruptHandler.get(), &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void InterruptableSensorBase::RequestInterrupts() { @@ -84,7 +84,7 @@ void InterruptableSensorBase::RequestInterrupts() { m_interrupt, GetPortHandleForRouting(), static_cast(GetAnalogTriggerTypeForRouting()), &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); SetUpSourceEdge(true, false); } @@ -106,7 +106,7 @@ InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt( int result; result = HAL_WaitForInterrupt(m_interrupt, timeout, ignorePrevious, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); // Rising edge result is the interrupt bit set in the byte 0xFF // Falling edge result is the interrupt bit set in the byte 0xFF00 @@ -122,7 +122,7 @@ void InterruptableSensorBase::EnableInterrupts() { wpi_assert(m_interrupt != HAL_kInvalidHandle); int32_t status = 0; HAL_EnableInterrupts(m_interrupt, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void InterruptableSensorBase::DisableInterrupts() { @@ -130,7 +130,7 @@ void InterruptableSensorBase::DisableInterrupts() { wpi_assert(m_interrupt != HAL_kInvalidHandle); int32_t status = 0; HAL_DisableInterrupts(m_interrupt, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } double InterruptableSensorBase::ReadRisingTimestamp() { @@ -138,7 +138,7 @@ double InterruptableSensorBase::ReadRisingTimestamp() { wpi_assert(m_interrupt != HAL_kInvalidHandle); int32_t status = 0; int64_t timestamp = HAL_ReadInterruptRisingTimestamp(m_interrupt, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return timestamp * 1e-6; } @@ -147,7 +147,7 @@ double InterruptableSensorBase::ReadFallingTimestamp() { wpi_assert(m_interrupt != HAL_kInvalidHandle); int32_t status = 0; int64_t timestamp = HAL_ReadInterruptFallingTimestamp(m_interrupt, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return timestamp * 1e-6; } @@ -163,7 +163,7 @@ void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge, if (m_interrupt != HAL_kInvalidHandle) { int32_t status = 0; HAL_SetInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } } @@ -172,5 +172,5 @@ void InterruptableSensorBase::AllocateInterrupts(bool watcher) { // Expects the calling leaf class to allocate an interrupt index. int32_t status = 0; m_interrupt = HAL_InitializeInterrupts(watcher, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } diff --git a/wpilibc/src/main/native/cpp/IterativeRobot.cpp b/wpilibc/src/main/native/cpp/IterativeRobot.cpp index a31685182f..c8664a54fc 100644 --- a/wpilibc/src/main/native/cpp/IterativeRobot.cpp +++ b/wpilibc/src/main/native/cpp/IterativeRobot.cpp @@ -7,7 +7,8 @@ #include "frc/IterativeRobot.h" -#include +#include +#include #include "frc/DriverStation.h" diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp index aae18db9a8..2997234f11 100644 --- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp +++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp @@ -9,7 +9,8 @@ #include -#include +#include +#include #include #include #include diff --git a/wpilibc/src/main/native/cpp/Jaguar.cpp b/wpilibc/src/main/native/cpp/Jaguar.cpp index 82a0fe5aeb..3a548b54ad 100644 --- a/wpilibc/src/main/native/cpp/Jaguar.cpp +++ b/wpilibc/src/main/native/cpp/Jaguar.cpp @@ -7,7 +7,7 @@ #include "frc/Jaguar.h" -#include +#include #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/Joystick.cpp b/wpilibc/src/main/native/cpp/Joystick.cpp index e07d1cbef2..8d464cf9d2 100644 --- a/wpilibc/src/main/native/cpp/Joystick.cpp +++ b/wpilibc/src/main/native/cpp/Joystick.cpp @@ -9,7 +9,7 @@ #include -#include +#include #include #include "frc/DriverStation.h" diff --git a/wpilibc/src/main/native/cpp/LinearFilter.cpp b/wpilibc/src/main/native/cpp/LinearFilter.cpp index 95df127cc7..948ad5c1c1 100644 --- a/wpilibc/src/main/native/cpp/LinearFilter.cpp +++ b/wpilibc/src/main/native/cpp/LinearFilter.cpp @@ -10,7 +10,7 @@ #include #include -#include +#include using namespace frc; diff --git a/wpilibc/src/main/native/cpp/NidecBrushless.cpp b/wpilibc/src/main/native/cpp/NidecBrushless.cpp index 5d2bd5d84d..5bce36eca2 100644 --- a/wpilibc/src/main/native/cpp/NidecBrushless.cpp +++ b/wpilibc/src/main/native/cpp/NidecBrushless.cpp @@ -7,7 +7,7 @@ #include "frc/NidecBrushless.h" -#include +#include #include "frc/smartdashboard/SendableBuilder.h" #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/Notifier.cpp b/wpilibc/src/main/native/cpp/Notifier.cpp index a2f93f99c6..0fc746555c 100644 --- a/wpilibc/src/main/native/cpp/Notifier.cpp +++ b/wpilibc/src/main/native/cpp/Notifier.cpp @@ -9,7 +9,8 @@ #include -#include +#include +#include #include "frc/Timer.h" #include "frc/Utility.h" @@ -23,7 +24,7 @@ Notifier::Notifier(std::function handler) { m_handler = handler; int32_t status = 0; m_notifier = HAL_InitializeNotifier(&status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); m_thread = std::thread([=] { for (;;) { @@ -57,7 +58,7 @@ Notifier::~Notifier() { // atomically set handle to 0, then clean HAL_NotifierHandle handle = m_notifier.exchange(0); HAL_StopNotifier(handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); // Join the thread to ensure the handler has exited. if (m_thread.joinable()) m_thread.join(); @@ -122,7 +123,7 @@ void Notifier::StartPeriodic(units::second_t period) { void Notifier::Stop() { int32_t status = 0; HAL_CancelNotifierAlarm(m_notifier, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Notifier::UpdateAlarm(uint64_t triggerTime) { @@ -131,7 +132,7 @@ void Notifier::UpdateAlarm(uint64_t triggerTime) { auto notifier = m_notifier.load(); if (notifier == 0) return; HAL_UpdateNotifierAlarm(notifier, triggerTime, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Notifier::UpdateAlarm() { diff --git a/wpilibc/src/main/native/cpp/PIDBase.cpp b/wpilibc/src/main/native/cpp/PIDBase.cpp index a2efe0f23c..c328e4a042 100644 --- a/wpilibc/src/main/native/cpp/PIDBase.cpp +++ b/wpilibc/src/main/native/cpp/PIDBase.cpp @@ -10,7 +10,7 @@ #include #include -#include +#include #include "frc/PIDOutput.h" #include "frc/smartdashboard/SendableBuilder.h" diff --git a/wpilibc/src/main/native/cpp/PWM.cpp b/wpilibc/src/main/native/cpp/PWM.cpp index 555dba5921..dabcd2ee54 100644 --- a/wpilibc/src/main/native/cpp/PWM.cpp +++ b/wpilibc/src/main/native/cpp/PWM.cpp @@ -9,7 +9,8 @@ #include -#include +#include +#include #include #include @@ -31,8 +32,7 @@ PWM::PWM(int channel) { int32_t status = 0; m_handle = HAL_InitializePWMPort(HAL_GetPort(channel), &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumPWMChannels(), channel, - HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumPWMChannels(), channel); m_channel = std::numeric_limits::max(); m_handle = HAL_kInvalidHandle; return; @@ -41,10 +41,10 @@ PWM::PWM(int channel) { m_channel = channel; HAL_SetPWMDisabled(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); status = 0; HAL_SetPWMEliminateDeadband(m_handle, false, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1); SendableRegistry::GetInstance().AddLW(this, "PWM", channel); @@ -56,10 +56,10 @@ PWM::~PWM() { int32_t status = 0; HAL_SetPWMDisabled(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_FreePWMPort(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void PWM::StopMotor() { SetDisabled(); } @@ -73,7 +73,7 @@ void PWM::SetRaw(uint16_t value) { int32_t status = 0; HAL_SetPWMRaw(m_handle, value, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } uint16_t PWM::GetRaw() const { @@ -81,7 +81,7 @@ uint16_t PWM::GetRaw() const { int32_t status = 0; uint16_t value = HAL_GetPWMRaw(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -90,14 +90,14 @@ void PWM::SetPosition(double pos) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetPWMPosition(m_handle, pos, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } double PWM::GetPosition() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double position = HAL_GetPWMPosition(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return position; } @@ -105,7 +105,7 @@ void PWM::SetSpeed(double speed) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetPWMSpeed(m_handle, speed, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); Feed(); } @@ -114,7 +114,7 @@ double PWM::GetSpeed() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; double speed = HAL_GetPWMSpeed(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return speed; } @@ -124,7 +124,7 @@ void PWM::SetDisabled() { int32_t status = 0; HAL_SetPWMDisabled(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void PWM::SetPeriodMultiplier(PeriodMultiplier mult) { @@ -148,7 +148,7 @@ void PWM::SetPeriodMultiplier(PeriodMultiplier mult) { wpi_assert(false); } - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void PWM::SetZeroLatch() { @@ -157,14 +157,14 @@ void PWM::SetZeroLatch() { int32_t status = 0; HAL_LatchPWMZero(m_handle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void PWM::EnableDeadbandElimination(bool eliminateDeadband) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void PWM::SetBounds(double max, double deadbandMax, double center, @@ -173,7 +173,7 @@ void PWM::SetBounds(double max, double deadbandMax, double center, int32_t status = 0; HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin, @@ -182,7 +182,7 @@ void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin, int32_t status = 0; HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void PWM::GetRawBounds(int* max, int* deadbandMax, int* center, @@ -190,7 +190,7 @@ void PWM::GetRawBounds(int* max, int* deadbandMax, int* center, int32_t status = 0; HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int PWM::GetChannel() const { return m_channel; } diff --git a/wpilibc/src/main/native/cpp/PWMSparkMax.cpp b/wpilibc/src/main/native/cpp/PWMSparkMax.cpp index 7df2e49942..ecb28b9217 100644 --- a/wpilibc/src/main/native/cpp/PWMSparkMax.cpp +++ b/wpilibc/src/main/native/cpp/PWMSparkMax.cpp @@ -7,7 +7,7 @@ #include "frc/PWMSparkMax.h" -#include +#include #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp b/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp index 0bf6d637fd..e7c9897428 100644 --- a/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp +++ b/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp @@ -7,7 +7,7 @@ #include "frc/PWMTalonSRX.h" -#include +#include #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp b/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp index f8a9fc14d6..5b2aba6f14 100644 --- a/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp +++ b/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp @@ -7,7 +7,7 @@ #include "frc/PWMVictorSPX.h" -#include +#include #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp b/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp index dfe1d38bbc..7d7d9164a8 100644 --- a/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp +++ b/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp @@ -7,7 +7,7 @@ #include "frc/PowerDistributionPanel.h" -#include +#include #include #include #include @@ -29,8 +29,7 @@ PowerDistributionPanel::PowerDistributionPanel(int module) { int32_t status = 0; m_handle = HAL_InitializePDP(module, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumPDPModules(), module, - HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumPDPModules(), module); return; } diff --git a/wpilibc/src/main/native/cpp/Preferences.cpp b/wpilibc/src/main/native/cpp/Preferences.cpp index 7a896d1c4a..60147757c4 100644 --- a/wpilibc/src/main/native/cpp/Preferences.cpp +++ b/wpilibc/src/main/native/cpp/Preferences.cpp @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ @@ -9,7 +9,7 @@ #include -#include +#include #include #include diff --git a/wpilibc/src/main/native/cpp/Relay.cpp b/wpilibc/src/main/native/cpp/Relay.cpp index 45033f2381..cb95223b1d 100644 --- a/wpilibc/src/main/native/cpp/Relay.cpp +++ b/wpilibc/src/main/native/cpp/Relay.cpp @@ -9,7 +9,8 @@ #include -#include +#include +#include #include #include #include @@ -35,8 +36,7 @@ Relay::Relay(int channel, Relay::Direction direction) int32_t status = 0; m_forwardHandle = HAL_InitializeRelayPort(portHandle, true, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayChannels(), - channel, HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumRelayChannels(), channel); m_forwardHandle = HAL_kInvalidHandle; m_reverseHandle = HAL_kInvalidHandle; return; @@ -47,8 +47,7 @@ Relay::Relay(int channel, Relay::Direction direction) int32_t status = 0; m_reverseHandle = HAL_InitializeRelayPort(portHandle, false, &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumRelayChannels(), - channel, HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumRelayChannels(), channel); m_forwardHandle = HAL_kInvalidHandle; m_reverseHandle = HAL_kInvalidHandle; return; @@ -61,7 +60,7 @@ Relay::Relay(int channel, Relay::Direction direction) if (m_forwardHandle != HAL_kInvalidHandle) { HAL_SetRelay(m_forwardHandle, false, &status); if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); m_forwardHandle = HAL_kInvalidHandle; m_reverseHandle = HAL_kInvalidHandle; return; @@ -70,7 +69,7 @@ Relay::Relay(int channel, Relay::Direction direction) if (m_reverseHandle != HAL_kInvalidHandle) { HAL_SetRelay(m_reverseHandle, false, &status); if (status != 0) { - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); m_forwardHandle = HAL_kInvalidHandle; m_reverseHandle = HAL_kInvalidHandle; return; @@ -137,7 +136,7 @@ void Relay::Set(Relay::Value value) { break; } - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } Relay::Value Relay::Get() const { @@ -171,7 +170,7 @@ Relay::Value Relay::Get() const { } } - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int Relay::GetChannel() const { return m_channel; } diff --git a/wpilibc/src/main/native/cpp/RobotController.cpp b/wpilibc/src/main/native/cpp/RobotController.cpp index 347440d5ad..b1d7608a62 100644 --- a/wpilibc/src/main/native/cpp/RobotController.cpp +++ b/wpilibc/src/main/native/cpp/RobotController.cpp @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ @@ -7,7 +7,10 @@ #include "frc/RobotController.h" -#include +#include +#include +#include +#include #include "frc/ErrorBase.h" @@ -16,21 +19,21 @@ using namespace frc; int RobotController::GetFPGAVersion() { int32_t status = 0; int version = HAL_GetFPGAVersion(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return version; } int64_t RobotController::GetFPGARevision() { int32_t status = 0; int64_t revision = HAL_GetFPGARevision(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return revision; } uint64_t RobotController::GetFPGATime() { int32_t status = 0; uint64_t time = HAL_GetFPGATime(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return time; } @@ -46,112 +49,112 @@ bool RobotController::GetUserButton() { bool RobotController::IsSysActive() { int32_t status = 0; bool retVal = HAL_GetSystemActive(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } bool RobotController::IsBrownedOut() { int32_t status = 0; bool retVal = HAL_GetBrownedOut(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } double RobotController::GetInputVoltage() { int32_t status = 0; double retVal = HAL_GetVinVoltage(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } double RobotController::GetInputCurrent() { int32_t status = 0; double retVal = HAL_GetVinCurrent(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } double RobotController::GetVoltage3V3() { int32_t status = 0; double retVal = HAL_GetUserVoltage3V3(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } double RobotController::GetCurrent3V3() { int32_t status = 0; double retVal = HAL_GetUserCurrent3V3(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } bool RobotController::GetEnabled3V3() { int32_t status = 0; bool retVal = HAL_GetUserActive3V3(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } int RobotController::GetFaultCount3V3() { int32_t status = 0; int retVal = HAL_GetUserCurrentFaults3V3(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } double RobotController::GetVoltage5V() { int32_t status = 0; double retVal = HAL_GetUserVoltage5V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } double RobotController::GetCurrent5V() { int32_t status = 0; double retVal = HAL_GetUserCurrent5V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } bool RobotController::GetEnabled5V() { int32_t status = 0; bool retVal = HAL_GetUserActive5V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } int RobotController::GetFaultCount5V() { int32_t status = 0; int retVal = HAL_GetUserCurrentFaults5V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } double RobotController::GetVoltage6V() { int32_t status = 0; double retVal = HAL_GetUserVoltage6V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } double RobotController::GetCurrent6V() { int32_t status = 0; double retVal = HAL_GetUserCurrent6V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } bool RobotController::GetEnabled6V() { int32_t status = 0; bool retVal = HAL_GetUserActive6V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } int RobotController::GetFaultCount6V() { int32_t status = 0; int retVal = HAL_GetUserCurrentFaults6V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return retVal; } @@ -165,7 +168,7 @@ CANStatus RobotController::GetCANStatus() { HAL_CAN_GetCANStatus(&percentBusUtilization, &busOffCount, &txFullCount, &receiveErrorCount, &transmitErrorCount, &status); if (status != 0) { - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return {}; } return {percentBusUtilization, static_cast(busOffCount), diff --git a/wpilibc/src/main/native/cpp/RobotDrive.cpp b/wpilibc/src/main/native/cpp/RobotDrive.cpp index fd43c960f1..af5eddcd95 100644 --- a/wpilibc/src/main/native/cpp/RobotDrive.cpp +++ b/wpilibc/src/main/native/cpp/RobotDrive.cpp @@ -10,7 +10,7 @@ #include #include -#include +#include #include "frc/GenericHID.h" #include "frc/Joystick.h" diff --git a/wpilibc/src/main/native/cpp/SD540.cpp b/wpilibc/src/main/native/cpp/SD540.cpp index ab9c8ecfef..9b81f01108 100644 --- a/wpilibc/src/main/native/cpp/SD540.cpp +++ b/wpilibc/src/main/native/cpp/SD540.cpp @@ -7,7 +7,7 @@ #include "frc/SD540.h" -#include +#include #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/SPI.cpp b/wpilibc/src/main/native/cpp/SPI.cpp index d55f37e69c..074cc79432 100644 --- a/wpilibc/src/main/native/cpp/SPI.cpp +++ b/wpilibc/src/main/native/cpp/SPI.cpp @@ -10,7 +10,7 @@ #include #include -#include +#include #include #include #include @@ -155,7 +155,7 @@ void SPI::Accumulator::Update() { SPI::SPI(Port port) : m_port(static_cast(port)) { int32_t status = 0; HAL_InitializeSPI(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_Report(HALUsageReporting::kResourceType_SPI, static_cast(port) + 1); @@ -208,13 +208,13 @@ void SPI::SetClockActiveHigh() { void SPI::SetChipSelectActiveHigh() { int32_t status = 0; HAL_SetSPIChipSelectActiveHigh(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SPI::SetChipSelectActiveLow() { int32_t status = 0; HAL_SetSPIChipSelectActiveLow(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int SPI::Write(uint8_t* data, int size) { @@ -244,26 +244,26 @@ int SPI::Transaction(uint8_t* dataToSend, uint8_t* dataReceived, int size) { void SPI::InitAuto(int bufferSize) { int32_t status = 0; HAL_InitSPIAuto(m_port, bufferSize, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SPI::FreeAuto() { int32_t status = 0; HAL_FreeSPIAuto(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SPI::SetAutoTransmitData(wpi::ArrayRef dataToSend, int zeroSize) { int32_t status = 0; HAL_SetSPIAutoTransmitData(m_port, dataToSend.data(), dataToSend.size(), zeroSize, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SPI::StartAutoRate(units::second_t period) { int32_t status = 0; HAL_StartSPIAutoRate(m_port, period.to(), &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SPI::StartAutoRate(double period) { @@ -276,19 +276,19 @@ void SPI::StartAutoTrigger(DigitalSource& source, bool rising, bool falling) { m_port, source.GetPortHandleForRouting(), (HAL_AnalogTriggerType)source.GetAnalogTriggerTypeForRouting(), rising, falling, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SPI::StopAuto() { int32_t status = 0; HAL_StopSPIAuto(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SPI::ForceAutoRead() { int32_t status = 0; HAL_ForceSPIAutoRead(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead, @@ -296,7 +296,7 @@ int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead, int32_t status = 0; int32_t val = HAL_ReadSPIAutoReceivedData(m_port, buffer, numToRead, timeout.to(), &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return val; } @@ -307,7 +307,7 @@ int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead, double timeout) { int SPI::GetAutoDroppedCount() { int32_t status = 0; int32_t val = HAL_GetSPIAutoDroppedCount(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return val; } diff --git a/wpilibc/src/main/native/cpp/SensorUtil.cpp b/wpilibc/src/main/native/cpp/SensorUtil.cpp index 2012da4f8d..8c02f1bc8a 100644 --- a/wpilibc/src/main/native/cpp/SensorUtil.cpp +++ b/wpilibc/src/main/native/cpp/SensorUtil.cpp @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ @@ -10,7 +10,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/wpilibc/src/main/native/cpp/SerialPort.cpp b/wpilibc/src/main/native/cpp/SerialPort.cpp index 76f180a3d8..e092fc27f0 100644 --- a/wpilibc/src/main/native/cpp/SerialPort.cpp +++ b/wpilibc/src/main/native/cpp/SerialPort.cpp @@ -9,7 +9,7 @@ #include -#include +#include #include using namespace frc; @@ -21,17 +21,17 @@ SerialPort::SerialPort(int baudRate, Port port, int dataBits, m_portHandle = HAL_InitializeSerialPort(static_cast(port), &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); // Don't continue if initialization failed if (status < 0) return; HAL_SetSerialBaudRate(m_portHandle, baudRate, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_SetSerialDataBits(m_portHandle, dataBits, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_SetSerialParity(m_portHandle, parity, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_SetSerialStopBits(m_portHandle, stopBits, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); // Set the default timeout to 5 seconds. SetTimeout(5.0); @@ -55,17 +55,17 @@ SerialPort::SerialPort(int baudRate, const wpi::Twine& portName, Port port, m_portHandle = HAL_InitializeSerialPortDirect( static_cast(port), portNameC, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); // Don't continue if initialization failed if (status < 0) return; HAL_SetSerialBaudRate(m_portHandle, baudRate, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_SetSerialDataBits(m_portHandle, dataBits, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_SetSerialParity(m_portHandle, parity, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_SetSerialStopBits(m_portHandle, stopBits, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); // Set the default timeout to 5 seconds. SetTimeout(5.0); @@ -82,38 +82,38 @@ SerialPort::SerialPort(int baudRate, const wpi::Twine& portName, Port port, SerialPort::~SerialPort() { int32_t status = 0; HAL_CloseSerial(m_portHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) { int32_t status = 0; HAL_SetSerialFlowControl(m_portHandle, flowControl, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SerialPort::EnableTermination(char terminator) { int32_t status = 0; HAL_EnableSerialTermination(m_portHandle, terminator, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SerialPort::DisableTermination() { int32_t status = 0; HAL_DisableSerialTermination(m_portHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } int SerialPort::GetBytesReceived() { int32_t status = 0; int retVal = HAL_GetSerialBytesReceived(m_portHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return retVal; } int SerialPort::Read(char* buffer, int count) { int32_t status = 0; int retVal = HAL_ReadSerial(m_portHandle, buffer, count, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return retVal; } @@ -125,42 +125,42 @@ int SerialPort::Write(wpi::StringRef buffer) { int32_t status = 0; int retVal = HAL_WriteSerial(m_portHandle, buffer.data(), buffer.size(), &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return retVal; } void SerialPort::SetTimeout(double timeout) { int32_t status = 0; HAL_SetSerialTimeout(m_portHandle, timeout, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SerialPort::SetReadBufferSize(int size) { int32_t status = 0; HAL_SetSerialReadBufferSize(m_portHandle, size, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SerialPort::SetWriteBufferSize(int size) { int32_t status = 0; HAL_SetSerialWriteBufferSize(m_portHandle, size, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) { int32_t status = 0; HAL_SetSerialWriteMode(m_portHandle, mode, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SerialPort::Flush() { int32_t status = 0; HAL_FlushSerial(m_portHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void SerialPort::Reset() { int32_t status = 0; HAL_ClearSerial(m_portHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } diff --git a/wpilibc/src/main/native/cpp/Servo.cpp b/wpilibc/src/main/native/cpp/Servo.cpp index cd30f8f57d..4b6856a0b5 100644 --- a/wpilibc/src/main/native/cpp/Servo.cpp +++ b/wpilibc/src/main/native/cpp/Servo.cpp @@ -7,7 +7,7 @@ #include "frc/Servo.h" -#include +#include #include "frc/smartdashboard/SendableBuilder.h" #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/Solenoid.cpp b/wpilibc/src/main/native/cpp/Solenoid.cpp index 30ad4e898c..e0bde3cd57 100644 --- a/wpilibc/src/main/native/cpp/Solenoid.cpp +++ b/wpilibc/src/main/native/cpp/Solenoid.cpp @@ -9,7 +9,8 @@ #include -#include +#include +#include #include #include @@ -40,8 +41,7 @@ Solenoid::Solenoid(int moduleNumber, int channel) m_solenoidHandle = HAL_InitializeSolenoidPort( HAL_GetPortWithModule(moduleNumber, channel), &status); if (status != 0) { - wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(), - channel, HAL_GetErrorMessage(status)); + wpi_setHALErrorWithRange(status, 0, HAL_GetNumSolenoidChannels(), channel); m_solenoidHandle = HAL_kInvalidHandle; return; } @@ -58,14 +58,14 @@ void Solenoid::Set(bool on) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetSolenoid(m_solenoidHandle, on, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } bool Solenoid::Get() const { if (StatusIsFatal()) return false; int32_t status = 0; bool value = HAL_GetSolenoid(m_solenoidHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); return value; } @@ -79,14 +79,14 @@ void Solenoid::SetPulseDuration(double durationSeconds) { if (StatusIsFatal()) return; int32_t status = 0; HAL_SetOneShotDuration(m_solenoidHandle, durationMS, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Solenoid::StartPulse() { if (StatusIsFatal()) return; int32_t status = 0; HAL_FireOneShot(m_solenoidHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } void Solenoid::InitSendable(SendableBuilder& builder) { diff --git a/wpilibc/src/main/native/cpp/SolenoidBase.cpp b/wpilibc/src/main/native/cpp/SolenoidBase.cpp index c0b79a5fde..f5f8aade90 100644 --- a/wpilibc/src/main/native/cpp/SolenoidBase.cpp +++ b/wpilibc/src/main/native/cpp/SolenoidBase.cpp @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ @@ -7,7 +7,7 @@ #include "frc/SolenoidBase.h" -#include +#include #include using namespace frc; @@ -16,7 +16,7 @@ int SolenoidBase::GetAll(int module) { int value = 0; int32_t status = 0; value = HAL_GetAllSolenoids(module, &status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return value; } diff --git a/wpilibc/src/main/native/cpp/Spark.cpp b/wpilibc/src/main/native/cpp/Spark.cpp index 943333f707..e315e33cf6 100644 --- a/wpilibc/src/main/native/cpp/Spark.cpp +++ b/wpilibc/src/main/native/cpp/Spark.cpp @@ -7,7 +7,7 @@ #include "frc/Spark.h" -#include +#include #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/Talon.cpp b/wpilibc/src/main/native/cpp/Talon.cpp index 3cc55e9bf5..9838a2da4a 100644 --- a/wpilibc/src/main/native/cpp/Talon.cpp +++ b/wpilibc/src/main/native/cpp/Talon.cpp @@ -7,7 +7,7 @@ #include "frc/Talon.h" -#include +#include #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/Threads.cpp b/wpilibc/src/main/native/cpp/Threads.cpp index 798e86a4d6..7b1e647c7c 100644 --- a/wpilibc/src/main/native/cpp/Threads.cpp +++ b/wpilibc/src/main/native/cpp/Threads.cpp @@ -7,7 +7,7 @@ #include "frc/Threads.h" -#include +#include #include #include "frc/ErrorBase.h" @@ -19,7 +19,7 @@ int GetThreadPriority(std::thread& thread, bool* isRealTime) { HAL_Bool rt = false; auto native = thread.native_handle(); auto ret = HAL_GetThreadPriority(&native, &rt, &status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); *isRealTime = rt; return ret; } @@ -28,7 +28,7 @@ int GetCurrentThreadPriority(bool* isRealTime) { int32_t status = 0; HAL_Bool rt = false; auto ret = HAL_GetCurrentThreadPriority(&rt, &status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); *isRealTime = rt; return ret; } @@ -37,14 +37,14 @@ 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); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return ret; } bool SetCurrentThreadPriority(bool realTime, int priority) { int32_t status = 0; auto ret = HAL_SetCurrentThreadPriority(realTime, priority, &status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setGlobalHALError(status); return ret; } diff --git a/wpilibc/src/main/native/cpp/TimedRobot.cpp b/wpilibc/src/main/native/cpp/TimedRobot.cpp index a7a069245b..b69a68f86c 100644 --- a/wpilibc/src/main/native/cpp/TimedRobot.cpp +++ b/wpilibc/src/main/native/cpp/TimedRobot.cpp @@ -11,7 +11,9 @@ #include -#include +#include +#include +#include #include "frc/Timer.h" #include "frc/Utility.h" @@ -57,7 +59,7 @@ TimedRobot::TimedRobot(double period) : TimedRobot(units::second_t(period)) {} TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) { int32_t status = 0; m_notifier = HAL_InitializeNotifier(&status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_Report(HALUsageReporting::kResourceType_Framework, HALUsageReporting::kFramework_Timed); @@ -67,7 +69,7 @@ TimedRobot::~TimedRobot() { int32_t status = 0; HAL_StopNotifier(m_notifier, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); HAL_CleanNotifier(m_notifier, &status); } @@ -76,5 +78,5 @@ void TimedRobot::UpdateAlarm() { int32_t status = 0; HAL_UpdateNotifierAlarm( m_notifier, static_cast(m_expirationTime * 1e6), &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + wpi_setHALError(status); } diff --git a/wpilibc/src/main/native/cpp/Timer.cpp b/wpilibc/src/main/native/cpp/Timer.cpp index cdfa9ab278..c91bc13c1f 100644 --- a/wpilibc/src/main/native/cpp/Timer.cpp +++ b/wpilibc/src/main/native/cpp/Timer.cpp @@ -10,7 +10,7 @@ #include #include -#include +#include #include "frc/DriverStation.h" #include "frc/RobotController.h" diff --git a/wpilibc/src/main/native/cpp/Ultrasonic.cpp b/wpilibc/src/main/native/cpp/Ultrasonic.cpp index 35320decea..fcd016ef09 100644 --- a/wpilibc/src/main/native/cpp/Ultrasonic.cpp +++ b/wpilibc/src/main/native/cpp/Ultrasonic.cpp @@ -7,7 +7,7 @@ #include "frc/Ultrasonic.h" -#include +#include #include "frc/Counter.h" #include "frc/DigitalInput.h" diff --git a/wpilibc/src/main/native/cpp/Utility.cpp b/wpilibc/src/main/native/cpp/Utility.cpp index 499f9b4a70..11f6234def 100644 --- a/wpilibc/src/main/native/cpp/Utility.cpp +++ b/wpilibc/src/main/native/cpp/Utility.cpp @@ -17,7 +17,7 @@ #include #include -#include +#include #include #include #include diff --git a/wpilibc/src/main/native/cpp/Victor.cpp b/wpilibc/src/main/native/cpp/Victor.cpp index 46c2cfc347..2017ab1387 100644 --- a/wpilibc/src/main/native/cpp/Victor.cpp +++ b/wpilibc/src/main/native/cpp/Victor.cpp @@ -7,7 +7,7 @@ #include "frc/Victor.h" -#include +#include #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/VictorSP.cpp b/wpilibc/src/main/native/cpp/VictorSP.cpp index 55de9dc9e5..176b62f4c2 100644 --- a/wpilibc/src/main/native/cpp/VictorSP.cpp +++ b/wpilibc/src/main/native/cpp/VictorSP.cpp @@ -7,7 +7,7 @@ #include "frc/VictorSP.h" -#include +#include #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/XboxController.cpp b/wpilibc/src/main/native/cpp/XboxController.cpp index 0ac9b66d63..b294257c72 100644 --- a/wpilibc/src/main/native/cpp/XboxController.cpp +++ b/wpilibc/src/main/native/cpp/XboxController.cpp @@ -7,7 +7,7 @@ #include "frc/XboxController.h" -#include +#include using namespace frc; diff --git a/wpilibc/src/main/native/cpp/controller/PIDController.cpp b/wpilibc/src/main/native/cpp/controller/PIDController.cpp index 2202d93dae..264859f061 100644 --- a/wpilibc/src/main/native/cpp/controller/PIDController.cpp +++ b/wpilibc/src/main/native/cpp/controller/PIDController.cpp @@ -10,7 +10,7 @@ #include #include -#include +#include #include "frc/smartdashboard/SendableBuilder.h" #include "frc/smartdashboard/SendableRegistry.h" diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp index ee23a5e10c..2d30a2b205 100644 --- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp +++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp @@ -10,7 +10,7 @@ #include #include -#include +#include #include "frc/SpeedController.h" #include "frc/smartdashboard/SendableBuilder.h" diff --git a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp index 4c15de850a..e03951b992 100644 --- a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp +++ b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp @@ -10,7 +10,7 @@ #include #include -#include +#include #include #include "frc/SpeedController.h" diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp index 473e0338a4..0102d6a8d4 100644 --- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp +++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp @@ -10,7 +10,7 @@ #include #include -#include +#include #include #include "frc/SpeedController.h" diff --git a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp index bae8868d8f..fbce5a1bed 100644 --- a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp +++ b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp @@ -11,7 +11,7 @@ #include #include -#include +#include #include "frc/Base.h" #include "frc/SpeedController.h" diff --git a/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp b/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp index 7dfc8f0ce6..434cc2706e 100644 --- a/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp +++ b/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp @@ -10,7 +10,7 @@ #include #include -#include +#include using namespace frc; diff --git a/wpilibc/src/main/native/cpp/frc2/Timer.cpp b/wpilibc/src/main/native/cpp/frc2/Timer.cpp index 9ecab9f74f..76721bc129 100644 --- a/wpilibc/src/main/native/cpp/frc2/Timer.cpp +++ b/wpilibc/src/main/native/cpp/frc2/Timer.cpp @@ -10,7 +10,7 @@ #include #include -#include +#include #include "frc/DriverStation.h" #include "frc/RobotController.h" diff --git a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp index a50b77fd6a..9717a8e861 100644 --- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp +++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp @@ -7,7 +7,7 @@ #include "frc/shuffleboard/ShuffleboardInstance.h" -#include +#include #include #include #include diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp index e8c9700d73..22ee2971e8 100644 --- a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp +++ b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp @@ -7,7 +7,7 @@ #include "frc/smartdashboard/SmartDashboard.h" -#include +#include #include #include #include diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp index 65c072d12f..5fd824d46e 100644 --- a/wpilibc/src/main/native/cppcs/RobotBase.cpp +++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp @@ -14,7 +14,8 @@ #include #include -#include +#include +#include #include #include "WPILibVersion.h" @@ -117,11 +118,6 @@ bool RobotBase::IsNewDataAvailable() const { return m_ds.IsNewControlData(); } std::thread::id RobotBase::GetThreadId() { return m_threadId; } RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) { - if (!HAL_Initialize(500, 0)) { - wpi::errs() << "FATAL ERROR: HAL could not be initialized\n"; - wpi::errs().flush(); - std::terminate(); - } m_threadId = std::this_thread::get_id(); SetupCameraServerShared(); diff --git a/wpilibc/src/main/native/include/frc/ErrorBase.h b/wpilibc/src/main/native/include/frc/ErrorBase.h index 7235352bcd..e9168aa53d 100644 --- a/wpilibc/src/main/native/include/frc/ErrorBase.h +++ b/wpilibc/src/main/native/include/frc/ErrorBase.h @@ -16,6 +16,9 @@ #include "frc/Base.h" #include "frc/Error.h" +// Forward declared manually to avoid needing to pull in entire HAL header. +extern "C" const char* HAL_GetErrorMessage(int32_t code); + #define wpi_setErrnoErrorWithContext(context) \ this->SetErrnoError((context), __FILE__, __FUNCTION__, __LINE__) #define wpi_setErrnoError() wpi_setErrnoErrorWithContext("") @@ -35,6 +38,22 @@ this->SetErrorRange((code), (min), (max), (req), (context), __FILE__, \ __FUNCTION__, __LINE__); \ } while (0) + +#define wpi_setHALError(code) \ + do { \ + if ((code) != 0) \ + this->SetError((code), HAL_GetErrorMessage(code), __FILE__, \ + __FUNCTION__, __LINE__); \ + } while (0) + +#define wpi_setHALErrorWithRange(code, min, max, req) \ + do { \ + if ((code) != 0) \ + this->SetErrorRange((code), (min), (max), (req), \ + HAL_GetErrorMessage(code), __FILE__, __FUNCTION__, \ + __LINE__); \ + } while (0) + #define wpi_setError(code) wpi_setErrorWithContext(code, "") #define wpi_setStaticErrorWithContext(object, code, context) \ do { \ @@ -43,12 +62,21 @@ } while (0) #define wpi_setStaticError(object, code) \ wpi_setStaticErrorWithContext(object, code, "") + #define wpi_setGlobalErrorWithContext(code, context) \ do { \ if ((code) != 0) \ ::frc::ErrorBase::SetGlobalError((code), (context), __FILE__, \ __FUNCTION__, __LINE__); \ } while (0) + +#define wpi_setGlobalHALError(code) \ + do { \ + if ((code) != 0) \ + ::frc::ErrorBase::SetGlobalError((code), HAL_GetErrorMessage(code), \ + __FILE__, __FUNCTION__, __LINE__); \ + } while (0) + #define wpi_setGlobalError(code) wpi_setGlobalErrorWithContext(code, "") #define wpi_setWPIErrorWithContext(error, context) \ this->SetWPIError(wpi_error_s_##error(), wpi_error_value_##error(), \ diff --git a/wpilibc/src/test/native/cpp/main.cpp b/wpilibc/src/test/native/cpp/main.cpp index 0e00efa33d..c6b6c58115 100644 --- a/wpilibc/src/test/native/cpp/main.cpp +++ b/wpilibc/src/test/native/cpp/main.cpp @@ -1,11 +1,11 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ /*----------------------------------------------------------------------------*/ -#include +#include #include "gtest/gtest.h"