Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add HAL specific version of wpi_setError (#2055)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

46
wpilibc/src/main/native/cpp/AnalogInput.cpp
View File

@@ -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;
}