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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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47
wpilibc/src/main/native/cpp/RobotController.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,7 +7,10 @@
#include "frc/RobotController.h"
#include <hal/HAL.h>
#include <hal/CAN.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Power.h>
#include "frc/ErrorBase.h"
@@ -16,21 +19,21 @@ using namespace frc;
int RobotController::GetFPGAVersion() {
int32_t status = 0;
int version = HAL_GetFPGAVersion(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return version;
}
int64_t RobotController::GetFPGARevision() {
int32_t status = 0;
int64_t revision = HAL_GetFPGARevision(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return revision;
}
uint64_t RobotController::GetFPGATime() {
int32_t status = 0;
uint64_t time = HAL_GetFPGATime(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return time;
}
@@ -46,112 +49,112 @@ bool RobotController::GetUserButton() {
bool RobotController::IsSysActive() {
int32_t status = 0;
bool retVal = HAL_GetSystemActive(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
bool RobotController::IsBrownedOut() {
int32_t status = 0;
bool retVal = HAL_GetBrownedOut(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
double RobotController::GetInputVoltage() {
int32_t status = 0;
double retVal = HAL_GetVinVoltage(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
double RobotController::GetInputCurrent() {
int32_t status = 0;
double retVal = HAL_GetVinCurrent(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
double RobotController::GetVoltage3V3() {
int32_t status = 0;
double retVal = HAL_GetUserVoltage3V3(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
double RobotController::GetCurrent3V3() {
int32_t status = 0;
double retVal = HAL_GetUserCurrent3V3(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
bool RobotController::GetEnabled3V3() {
int32_t status = 0;
bool retVal = HAL_GetUserActive3V3(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
int RobotController::GetFaultCount3V3() {
int32_t status = 0;
int retVal = HAL_GetUserCurrentFaults3V3(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
double RobotController::GetVoltage5V() {
int32_t status = 0;
double retVal = HAL_GetUserVoltage5V(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
double RobotController::GetCurrent5V() {
int32_t status = 0;
double retVal = HAL_GetUserCurrent5V(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
bool RobotController::GetEnabled5V() {
int32_t status = 0;
bool retVal = HAL_GetUserActive5V(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
int RobotController::GetFaultCount5V() {
int32_t status = 0;
int retVal = HAL_GetUserCurrentFaults5V(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
double RobotController::GetVoltage6V() {
int32_t status = 0;
double retVal = HAL_GetUserVoltage6V(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
double RobotController::GetCurrent6V() {
int32_t status = 0;
double retVal = HAL_GetUserCurrent6V(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
bool RobotController::GetEnabled6V() {
int32_t status = 0;
bool retVal = HAL_GetUserActive6V(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
int RobotController::GetFaultCount6V() {
int32_t status = 0;
int retVal = HAL_GetUserCurrentFaults6V(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return retVal;
}
@@ -165,7 +168,7 @@ CANStatus RobotController::GetCANStatus() {
HAL_CAN_GetCANStatus(&percentBusUtilization, &busOffCount, &txFullCount,
&receiveErrorCount, &transmitErrorCount, &status);
if (status != 0) {
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
wpi_setGlobalHALError(status);
return {};
}
return {percentBusUtilization, static_cast<int>(busOffCount),