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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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49
wpilibc/src/main/native/cpp/Counter.cpp
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@@ -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;
}