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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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40
wpilibc/src/main/native/cpp/PWM.cpp
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@@ -9,7 +9,8 @@
#include <utility>
#include <hal/HAL.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/PWM.h>
#include <hal/Ports.h>
@@ -31,8 +32,7 @@ PWM::PWM(int channel) {
int32_t status = 0;
m_handle = HAL_InitializePWMPort(HAL_GetPort(channel), &status);
if (status != 0) {
wpi_setErrorWithContextRange(status, 0, HAL_GetNumPWMChannels(), channel,
HAL_GetErrorMessage(status));
wpi_setHALErrorWithRange(status, 0, HAL_GetNumPWMChannels(), channel);
m_channel = std::numeric_limits<int>::max();
m_handle = HAL_kInvalidHandle;
return;
@@ -41,10 +41,10 @@ PWM::PWM(int channel) {
m_channel = channel;
HAL_SetPWMDisabled(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
status = 0;
HAL_SetPWMEliminateDeadband(m_handle, false, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
@@ -56,10 +56,10 @@ PWM::~PWM() {
int32_t status = 0;
HAL_SetPWMDisabled(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
HAL_FreePWMPort(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
void PWM::StopMotor() { SetDisabled(); }
@@ -73,7 +73,7 @@ void PWM::SetRaw(uint16_t value) {
int32_t status = 0;
HAL_SetPWMRaw(m_handle, value, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
uint16_t PWM::GetRaw() const {
@@ -81,7 +81,7 @@ uint16_t PWM::GetRaw() const {
int32_t status = 0;
uint16_t value = HAL_GetPWMRaw(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
return value;
}
@@ -90,14 +90,14 @@ void PWM::SetPosition(double pos) {
if (StatusIsFatal()) return;
int32_t status = 0;
HAL_SetPWMPosition(m_handle, pos, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
double PWM::GetPosition() const {
if (StatusIsFatal()) return 0.0;
int32_t status = 0;
double position = HAL_GetPWMPosition(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
return position;
}
@@ -105,7 +105,7 @@ void PWM::SetSpeed(double speed) {
if (StatusIsFatal()) return;
int32_t status = 0;
HAL_SetPWMSpeed(m_handle, speed, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
Feed();
}
@@ -114,7 +114,7 @@ double PWM::GetSpeed() const {
if (StatusIsFatal()) return 0.0;
int32_t status = 0;
double speed = HAL_GetPWMSpeed(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
return speed;
}
@@ -124,7 +124,7 @@ void PWM::SetDisabled() {
int32_t status = 0;
HAL_SetPWMDisabled(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
@@ -148,7 +148,7 @@ void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
wpi_assert(false);
}
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
void PWM::SetZeroLatch() {
@@ -157,14 +157,14 @@ void PWM::SetZeroLatch() {
int32_t status = 0;
HAL_LatchPWMZero(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
if (StatusIsFatal()) return;
int32_t status = 0;
HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
void PWM::SetBounds(double max, double deadbandMax, double center,
@@ -173,7 +173,7 @@ void PWM::SetBounds(double max, double deadbandMax, double center,
int32_t status = 0;
HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
@@ -182,7 +182,7 @@ void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
int32_t status = 0;
HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
@@ -190,7 +190,7 @@ void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
int32_t status = 0;
HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setHALError(status);
}
int PWM::GetChannel() const { return m_channel; }