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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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28
wpilibc/src/main/native/cpp/DigitalOutput.cpp
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@@ -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) {