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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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45
wpilibc/src/main/native/cpp/Encoder.cpp
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@@ -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;
}