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Add HAL specific version of wpi_setError (#2055)

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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.
This commit is contained in:
Thad House
2019-11-08 22:53:20 -08:00
committed by Peter Johnson
parent 326aecc9a0
commit 9bcff37b93
84 changed files with 421 additions and 377 deletions
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2
wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
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@@ -7,7 +7,7 @@
#include "frc/ADXL345_I2C.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"

2
wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
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@@ -7,7 +7,7 @@
#include "frc/ADXL345_SPI.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"

2
wpilibc/src/main/native/cpp/ADXL362.cpp
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@@ -7,7 +7,7 @@
#include "frc/ADXL362.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/DriverStation.h"
#include "frc/smartdashboard/SendableBuilder.h"

2
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -7,7 +7,7 @@
#include "frc/ADXRS450_Gyro.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/DriverStation.h"
#include "frc/Timer.h"

2
wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
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@@ -7,7 +7,7 @@
#include "frc/AnalogAccelerometer.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"

24
wpilibc/src/main/native/cpp/AnalogGyro.cpp
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@@ -12,7 +12,7 @@
#include <hal/AnalogGyro.h>
#include <hal/Errors.h>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/AnalogInput.h"
#include "frc/Timer.h"
@@ -56,7 +56,7 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> 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);
}

46
wpilibc/src/main/native/cpp/AnalogInput.cpp
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@@ -11,7 +11,8 @@
#include <hal/AnalogAccumulator.h>
#include <hal/AnalogInput.h>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Ports.h>
#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<int>::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;
}

11
wpilibc/src/main/native/cpp/AnalogOutput.cpp
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@@ -10,7 +10,9 @@
#include <limits>
#include <utility>
#include <hal/HAL.h>
#include <hal/AnalogOutput.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Ports.h>
#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<int>::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;
}

22
wpilibc/src/main/native/cpp/AnalogTrigger.cpp
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@@ -9,7 +9,7 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#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;
}

4
wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp
View File

@@ -7,7 +7,7 @@
#include "frc/AnalogTriggerOutput.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#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<HAL_AnalogTriggerType>(m_outputType),
&status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
return result;
}

2
wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
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@@ -8,7 +8,7 @@
#include "frc/BuiltInAccelerometer.h"
#include <hal/Accelerometer.h>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"

19
wpilibc/src/main/native/cpp/CAN.cpp
View File

@@ -13,7 +13,6 @@
#include <hal/CANAPI.h>
#include <hal/Errors.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
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<HAL_CANManufacturer>(deviceManufacturer), deviceId,
static_cast<HAL_CANDeviceType>(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;

5
wpilibc/src/main/native/cpp/Compressor.cpp
View File

@@ -8,7 +8,7 @@
#include "frc/Compressor.h"
#include <hal/Compressor.h>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/Ports.h>
#include <hal/Solenoid.h>
@@ -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);

49
wpilibc/src/main/native/cpp/Counter.cpp
View File

@@ -9,7 +9,8 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/Counter.h>
#include <hal/FRCUsageReporting.h>
#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<DigitalSource> 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<DigitalSource> 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;
}

2
wpilibc/src/main/native/cpp/DMC60.cpp
View File

@@ -7,7 +7,7 @@
#include "frc/DMC60.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"

12
wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
View File

@@ -13,7 +13,7 @@
#include <hal/Constants.h>
#include <hal/DIO.h>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#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<uint64_t>(fpgaCycles) * 1000L /
static_cast<uint64_t>(HAL_GetSystemClockTicksPerMicrosecond() / 4);

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

@@ -11,7 +11,8 @@
#include <utility>
#include <hal/DIO.h>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Ports.h>
#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<int>::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;
}

28
wpilibc/src/main/native/cpp/DigitalOutput.cpp
View File

@@ -11,7 +11,8 @@
#include <utility>
#include <hal/DIO.h>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Ports.h>
#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<int>::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) {

19
wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
View File

@@ -9,7 +9,8 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include <hal/Solenoid.h>
@@ -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;

4
wpilibc/src/main/native/cpp/DriverStation.cpp
View File

@@ -9,7 +9,9 @@
#include <chrono>
#include <hal/HAL.h>
#include <hal/DriverStation.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Power.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>

13
wpilibc/src/main/native/cpp/DutyCycle.cpp
View File

@@ -9,7 +9,6 @@
#include <hal/DutyCycle.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include "frc/DigitalSource.h"
#include "frc/WPIErrors.h"
@@ -49,7 +48,7 @@ void DutyCycle::InitDutyCycle() {
static_cast<HAL_AnalogTriggerType>(
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;
}

45
wpilibc/src/main/native/cpp/Encoder.cpp
View File

@@ -11,7 +11,6 @@
#include <hal/Encoder.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include "frc/DigitalInput.h"
#include "frc/WPIErrors.h"
@@ -60,14 +59,14 @@ Encoder::Encoder(std::shared_ptr<DigitalSource> 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;
}

3
wpilibc/src/main/native/cpp/ErrorBase.cpp
View File

@@ -12,7 +12,8 @@
#include <cstring>
#include <set>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <wpi/Format.h>
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>

3
wpilibc/src/main/native/cpp/GenericHID.cpp
View File

@@ -7,7 +7,8 @@
#include "frc/GenericHID.h"
#include <hal/HAL.h>
#include <hal/DriverStation.h>
#include <hal/FRCUsageReporting.h>
#include "frc/DriverStation.h"
#include "frc/WPIErrors.h"

6
wpilibc/src/main/native/cpp/I2C.cpp
View File

@@ -9,7 +9,7 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/I2C.h>
#include "frc/WPIErrors.h"
@@ -20,7 +20,7 @@ I2C::I2C(Port port, int deviceAddress)
: m_port(static_cast<HAL_I2CPort>(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;
}

22
wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp
View File

@@ -7,7 +7,7 @@
#include "frc/InterruptableSensorBase.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#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<HAL_AnalogTriggerType>(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);
}

3
wpilibc/src/main/native/cpp/IterativeRobot.cpp
View File

@@ -7,7 +7,8 @@
#include "frc/IterativeRobot.h"
#include <hal/HAL.h>
#include <hal/DriverStation.h>
#include <hal/FRCUsageReporting.h>
#include "frc/DriverStation.h"

3
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
View File

@@ -9,7 +9,8 @@
#include <cstdio>
#include <hal/HAL.h>
#include <hal/DriverStation.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/Format.h>
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>

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

@@ -7,7 +7,7 @@
#include "frc/Jaguar.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"

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

@@ -9,7 +9,7 @@
#include <cmath>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/math>
#include "frc/DriverStation.h"

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

@@ -10,7 +10,7 @@
#include <cassert>
#include <cmath>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
using namespace frc;

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

@@ -7,7 +7,7 @@
#include "frc/NidecBrushless.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"

11
wpilibc/src/main/native/cpp/Notifier.cpp
View File

@@ -9,7 +9,8 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/Notifier.h>
#include "frc/Timer.h"
#include "frc/Utility.h"
@@ -23,7 +24,7 @@ Notifier::Notifier(std::function<void()> 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() {

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

@@ -10,7 +10,7 @@
#include <algorithm>
#include <cmath>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/PIDOutput.h"
#include "frc/smartdashboard/SendableBuilder.h"

40
wpilibc/src/main/native/cpp/PWM.cpp
View File

@@ -9,7 +9,8 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/PWM.h>
#include <hal/Ports.h>
@@ -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<int>::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; }

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

@@ -7,7 +7,7 @@
#include "frc/PWMSparkMax.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"

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

@@ -7,7 +7,7 @@
#include "frc/PWMTalonSRX.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"

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

@@ -7,7 +7,7 @@
#include "frc/PWMVictorSPX.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"

5
wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
View File

@@ -7,7 +7,7 @@
#include "frc/PowerDistributionPanel.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/PDP.h>
#include <hal/Ports.h>
#include <wpi/SmallString.h>
@@ -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;
}

4
wpilibc/src/main/native/cpp/Preferences.cpp
View File

@@ -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 <algorithm>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/StringRef.h>

17
wpilibc/src/main/native/cpp/Relay.cpp
View File

@@ -9,7 +9,8 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include <hal/Relay.h>
#include <wpi/raw_ostream.h>
@@ -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; }

47
wpilibc/src/main/native/cpp/RobotController.cpp
View File

@@ -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 <hal/HAL.h>
#include <hal/CAN.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Power.h>
#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<int>(busOffCount),

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

@@ -10,7 +10,7 @@
#include <algorithm>
#include <cmath>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/GenericHID.h"
#include "frc/Joystick.h"

2
wpilibc/src/main/native/cpp/SD540.cpp
View File

@@ -7,7 +7,7 @@
#include "frc/SD540.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"

26
wpilibc/src/main/native/cpp/SPI.cpp
View File

@@ -10,7 +10,7 @@
#include <cstring>
#include <utility>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/SPI.h>
#include <wpi/SmallVector.h>
#include <wpi/mutex.h>
@@ -155,7 +155,7 @@ void SPI::Accumulator::Update() {
SPI::SPI(Port port) : m_port(static_cast<HAL_SPIPort>(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<uint8_t>(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<uint8_t> 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<double>(), &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<double>(), &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;
}

4
wpilibc/src/main/native/cpp/SensorUtil.cpp
View File

@@ -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 <hal/AnalogInput.h>
#include <hal/AnalogOutput.h>
#include <hal/DIO.h>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/PDP.h>
#include <hal/PWM.h>
#include <hal/Ports.h>

48
wpilibc/src/main/native/cpp/SerialPort.cpp
View File

@@ -9,7 +9,7 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/SerialPort.h>
using namespace frc;
@@ -21,17 +21,17 @@ SerialPort::SerialPort(int baudRate, Port port, int dataBits,
m_portHandle =
HAL_InitializeSerialPort(static_cast<HAL_SerialPort>(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<HAL_SerialPort>(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);
}

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

@@ -7,7 +7,7 @@
#include "frc/Servo.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"

14
wpilibc/src/main/native/cpp/Solenoid.cpp
View File

@@ -9,7 +9,8 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include <hal/Solenoid.h>
@@ -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) {

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

@@ -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 <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/Solenoid.h>
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;
}

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

@@ -7,7 +7,7 @@
#include "frc/Spark.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"

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

@@ -7,7 +7,7 @@
#include "frc/Talon.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"

10
wpilibc/src/main/native/cpp/Threads.cpp
View File

@@ -7,7 +7,7 @@
#include "frc/Threads.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/Threads.h>
#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;
}

10
wpilibc/src/main/native/cpp/TimedRobot.cpp
View File

@@ -11,7 +11,9 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/DriverStation.h>
#include <hal/FRCUsageReporting.h>
#include <hal/Notifier.h>
#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<uint64_t>(m_expirationTime * 1e6), &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}

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

@@ -10,7 +10,7 @@
#include <chrono>
#include <thread>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/DriverStation.h"
#include "frc/RobotController.h"

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

@@ -7,7 +7,7 @@
#include "frc/Ultrasonic.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/Counter.h"
#include "frc/DigitalInput.h"

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

@@ -17,7 +17,7 @@
#include <cstring>
#include <hal/DriverStation.h>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/Path.h>
#include <wpi/SmallString.h>
#include <wpi/StackTrace.h>

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

@@ -7,7 +7,7 @@
#include "frc/Victor.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"

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

@@ -7,7 +7,7 @@
#include "frc/VictorSP.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"

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

@@ -7,7 +7,7 @@
#include "frc/XboxController.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
using namespace frc;

2
wpilibc/src/main/native/cpp/controller/PIDController.cpp
View File

@@ -10,7 +10,7 @@
#include <algorithm>
#include <cmath>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"

2
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
View File

@@ -10,7 +10,7 @@
#include <algorithm>
#include <cmath>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/SpeedController.h"
#include "frc/smartdashboard/SendableBuilder.h"

2
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
View File

@@ -10,7 +10,7 @@
#include <algorithm>
#include <cmath>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/math>
#include "frc/SpeedController.h"

2
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
View File

@@ -10,7 +10,7 @@
#include <algorithm>
#include <cmath>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/math>
#include "frc/SpeedController.h"

2
wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
View File

@@ -11,7 +11,7 @@
#include <cmath>
#include <cstddef>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/Base.h"
#include "frc/SpeedController.h"

2
wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp
View File

@@ -10,7 +10,7 @@
#include <cassert>
#include <cmath>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
using namespace frc;

2
wpilibc/src/main/native/cpp/frc2/Timer.cpp
View File

@@ -10,7 +10,7 @@
#include <chrono>
#include <thread>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/DriverStation.h"
#include "frc/RobotController.h"

2
wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
View File

@@ -7,7 +7,7 @@
#include "frc/shuffleboard/ShuffleboardInstance.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/StringMap.h>

2
wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
View File

@@ -7,7 +7,7 @@
#include "frc/smartdashboard/SmartDashboard.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/StringMap.h>