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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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22
wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp
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@@ -7,7 +7,7 @@
#include "frc/InterruptableSensorBase.h"
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include "frc/Utility.h"
#include "frc/WPIErrors.h"
@@ -36,7 +36,7 @@ void InterruptableSensorBase::RequestInterrupts(
&status);
SetUpSourceEdge(true, false);
HAL_AttachInterruptHandler(m_interrupt, handler, param, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
void InterruptableSensorBase::RequestInterrupts(InterruptEventHandler handler) {
@@ -69,7 +69,7 @@ void InterruptableSensorBase::RequestInterrupts(InterruptEventHandler handler) {
(*self)(res);
},
m_interruptHandler.get(), &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
void InterruptableSensorBase::RequestInterrupts() {
@@ -84,7 +84,7 @@ void InterruptableSensorBase::RequestInterrupts() {
m_interrupt, GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(GetAnalogTriggerTypeForRouting()),
&status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
SetUpSourceEdge(true, false);
}
@@ -106,7 +106,7 @@ InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(
int result;
result = HAL_WaitForInterrupt(m_interrupt, timeout, ignorePrevious, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
// Rising edge result is the interrupt bit set in the byte 0xFF
// Falling edge result is the interrupt bit set in the byte 0xFF00
@@ -122,7 +122,7 @@ void InterruptableSensorBase::EnableInterrupts() {
wpi_assert(m_interrupt != HAL_kInvalidHandle);
int32_t status = 0;
HAL_EnableInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
void InterruptableSensorBase::DisableInterrupts() {
@@ -130,7 +130,7 @@ void InterruptableSensorBase::DisableInterrupts() {
wpi_assert(m_interrupt != HAL_kInvalidHandle);
int32_t status = 0;
HAL_DisableInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
double InterruptableSensorBase::ReadRisingTimestamp() {
@@ -138,7 +138,7 @@ double InterruptableSensorBase::ReadRisingTimestamp() {
wpi_assert(m_interrupt != HAL_kInvalidHandle);
int32_t status = 0;
int64_t timestamp = HAL_ReadInterruptRisingTimestamp(m_interrupt, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
return timestamp * 1e-6;
}
@@ -147,7 +147,7 @@ double InterruptableSensorBase::ReadFallingTimestamp() {
wpi_assert(m_interrupt != HAL_kInvalidHandle);
int32_t status = 0;
int64_t timestamp = HAL_ReadInterruptFallingTimestamp(m_interrupt, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
return timestamp * 1e-6;
}
@@ -163,7 +163,7 @@ void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge,
if (m_interrupt != HAL_kInvalidHandle) {
int32_t status = 0;
HAL_SetInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
}
@@ -172,5 +172,5 @@ void InterruptableSensorBase::AllocateInterrupts(bool watcher) {
// Expects the calling leaf class to allocate an interrupt index.
int32_t status = 0;
m_interrupt = HAL_InitializeInterrupts(watcher, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}