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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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19
wpilibc/src/main/native/cpp/CAN.cpp
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@@ -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;