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[wpilibc] DriverStation: Remove ReportError and ReportWarning

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Change use cases to directly call FRC_ReportError.
This commit is contained in:
Peter Johnson
2021-05-24 23:36:26 -07:00
parent 831c10bdfc
commit a04d1b4f97
26 changed files with 169 additions and 146 deletions
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4
wpilibc/src/main/native/cpp/ADXL362.cpp
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@@ -6,7 +6,7 @@
#include <hal/FRCUsageReporting.h>
#include "frc/DriverStation.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -56,7 +56,7 @@ ADXL362::ADXL362(SPI::Port port, Range range)
commands[2] = 0;
m_spi.Transaction(commands, commands, 3);
if (commands[2] != 0xF2) {
DriverStation::ReportError("could not find ADXL362");
FRC_ReportError(err::Error, "{}", "could not find ADXL362");
m_gsPerLSB = 0.0;
return;
}

4
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -6,7 +6,7 @@
#include <hal/FRCUsageReporting.h>
#include "frc/DriverStation.h"
#include "frc/Errors.h"
#include "frc/Timer.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -46,7 +46,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
if (!m_simDevice) {
// Validate the part ID
if ((ReadRegister(kPIDRegister) & 0xff00) != 0x5200) {
DriverStation::ReportError("could not find ADXRS450 gyro");
FRC_ReportError(err::Error, "{}", "could not find ADXRS450 gyro");
return;
}

5
wpilibc/src/main/native/cpp/AnalogEncoder.cpp
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@@ -7,7 +7,7 @@
#include "frc/AnalogInput.h"
#include "frc/Base.h"
#include "frc/Counter.h"
#include "frc/DriverStation.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
@@ -72,7 +72,8 @@ units::turn_t AnalogEncoder::Get() const {
}
}
frc::DriverStation::GetInstance().ReportWarning(
FRC_ReportError(
warn::Warning, "{}",
"Failed to read Analog Encoder. Potential Speed Overrun. Returning last "
"value");
return m_lastPosition;

63
wpilibc/src/main/native/cpp/DriverStation.cpp
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@@ -14,8 +14,6 @@
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/SmallString.h>
#include <wpi/StringRef.h>
#include "frc/Errors.h"
#include "frc/MotorSafety.h"
@@ -113,31 +111,6 @@ DriverStation& DriverStation::GetInstance() {
return instance;
}
void DriverStation::ReportError(const wpi::Twine& error) {
wpi::SmallString<128> temp;
HAL_SendError(1, 1, 0, error.toNullTerminatedStringRef(temp).data(), "", "",
1);
}
void DriverStation::ReportWarning(const wpi::Twine& error) {
wpi::SmallString<128> temp;
HAL_SendError(0, 1, 0, error.toNullTerminatedStringRef(temp).data(), "", "",
1);
}
void DriverStation::ReportError(bool isError, int32_t code,
const wpi::Twine& error,
const wpi::Twine& location,
const wpi::Twine& stack) {
wpi::SmallString<128> errorTemp;
wpi::SmallString<128> locationTemp;
wpi::SmallString<128> stackTemp;
HAL_SendError(isError, code, 0,
error.toNullTerminatedStringRef(errorTemp).data(),
location.toNullTerminatedStringRef(locationTemp).data(),
stack.toNullTerminatedStringRef(stackTemp).data(), 1);
}
bool DriverStation::GetStickButton(int stick, int button) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
@@ -145,7 +118,7 @@ bool DriverStation::GetStickButton(int stick, int button) {
}
if (button <= 0) {
ReportJoystickUnpluggedError(
"ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
"Joystick Button {} index out of range; indexes begin at 1", button);
return false;
}
@@ -154,7 +127,9 @@ bool DriverStation::GetStickButton(int stick, int button) {
if (button > buttons.count) {
ReportJoystickUnpluggedWarning(
"Joystick Button missing, check if all controllers are plugged in");
"Joystick Button {} missing (max {}), check if all controllers are "
"plugged in",
button, buttons.count);
return false;
}
@@ -168,7 +143,7 @@ bool DriverStation::GetStickButtonPressed(int stick, int button) {
}
if (button <= 0) {
ReportJoystickUnpluggedError(
"ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
"Joystick Button {} index out of range; indexes begin at 1", button);
return false;
}
@@ -177,7 +152,9 @@ bool DriverStation::GetStickButtonPressed(int stick, int button) {
if (button > buttons.count) {
ReportJoystickUnpluggedWarning(
"Joystick Button missing, check if all controllers are plugged in");
"Joystick Button {} missing (max {}), check if all controllers are "
"plugged in",
button, buttons.count);
return false;
}
std::unique_lock lock(m_buttonEdgeMutex);
@@ -197,7 +174,7 @@ bool DriverStation::GetStickButtonReleased(int stick, int button) {
}
if (button <= 0) {
ReportJoystickUnpluggedError(
"ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
"Joystick Button {} index out of range; indexes begin at 1", button);
return false;
}
@@ -206,7 +183,9 @@ bool DriverStation::GetStickButtonReleased(int stick, int button) {
if (button > buttons.count) {
ReportJoystickUnpluggedWarning(
"Joystick Button missing, check if all controllers are plugged in");
"Joystick Button {} missing (max {}), check if all controllers are "
"plugged in",
button, buttons.count);
return false;
}
std::unique_lock lock(m_buttonEdgeMutex);
@@ -234,7 +213,9 @@ double DriverStation::GetStickAxis(int stick, int axis) {
if (axis >= axes.count) {
ReportJoystickUnpluggedWarning(
"Joystick Axis missing, check if all controllers are plugged in");
"Joystick Axis {} missing (max {}), check if all controllers are "
"plugged in",
axis, axes.count);
return 0.0;
}
@@ -256,7 +237,9 @@ int DriverStation::GetStickPOV(int stick, int pov) {
if (pov >= povs.count) {
ReportJoystickUnpluggedWarning(
"Joystick POV missing, check if all controllers are plugged in");
"Joystick POV {} missing (max {}), check if all controllers are "
"plugged in",
pov, povs.count);
return -1;
}
@@ -600,19 +583,21 @@ DriverStation::DriverStation() {
m_dsThread = std::thread(&DriverStation::Run, this);
}
void DriverStation::ReportJoystickUnpluggedError(const wpi::Twine& message) {
void DriverStation::ReportJoystickUnpluggedErrorV(fmt::string_view format,
fmt::format_args args) {
double currentTime = Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
ReportError(message);
ReportErrorV(err::Error, "", 0, "", format, args);
m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
}
}
void DriverStation::ReportJoystickUnpluggedWarning(const wpi::Twine& message) {
void DriverStation::ReportJoystickUnpluggedWarningV(fmt::string_view format,
fmt::format_args args) {
if (IsFMSAttached() || !m_silenceJoystickWarning) {
double currentTime = Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
ReportWarning(message);
ReportErrorV(warn::Warning, "", 0, "", format, args);
m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
}
}

5
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
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@@ -8,8 +8,8 @@
#include "frc/Counter.h"
#include "frc/DigitalInput.h"
#include "frc/DigitalSource.h"
#include "frc/DriverStation.h"
#include "frc/DutyCycle.h"
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
@@ -94,7 +94,8 @@ units::turn_t DutyCycleEncoder::Get() const {
}
}
frc::DriverStation::GetInstance().ReportWarning(
FRC_ReportError(
warn::Warning, "{}",
"Failed to read DutyCycle Encoder. Potential Speed Overrun. Returning "
"last value");
return m_lastPosition;

8
wpilibc/src/main/native/cpp/Errors.cpp
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@@ -35,13 +35,15 @@ void RuntimeError::Report() const {
}
const char* frc::GetErrorMessage(int32_t* code) {
using namespace err;
using namespace warn;
switch (*code) {
#define S(label, offset, message) \
case label: \
case err::label: \
return message;
#include "frc/WPIErrors.mac"
#undef S
#define S(label, offset, message) \
case warn::label: \
return message;
#include "frc/WPIWarnings.mac"
#undef S
default:

13
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
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@@ -6,11 +6,9 @@
#include <hal/DriverStation.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/Format.h>
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>
#include "frc/DriverStation.h"
#include "frc/Errors.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/shuffleboard/Shuffleboard.h"
#include "frc/smartdashboard/SmartDashboard.h"
@@ -197,11 +195,6 @@ void IterativeRobotBase::LoopFunc() {
}
void IterativeRobotBase::PrintLoopOverrunMessage() {
wpi::SmallString<128> str;
wpi::raw_svector_ostream buf(str);
buf << "Loop time of " << wpi::format("%.6f", m_period.to<double>())
<< "s overrun\n";
DriverStation::ReportWarning(str);
FRC_ReportError(err::Error, "Loop time of {:.6f}s overrun",
m_period.to<double>());
}

4
wpilibc/src/main/native/cpp/Tracer.cpp
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@@ -8,7 +8,7 @@
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>
#include "frc/DriverStation.h"
#include "frc/Errors.h"
using namespace frc;
@@ -36,7 +36,7 @@ void Tracer::PrintEpochs() {
wpi::raw_svector_ostream os(buf);
PrintEpochs(os);
if (!buf.empty()) {
DriverStation::ReportWarning(buf);
FRC_ReportError(warn::Warning, "{}", buf.c_str());
}
}

14
wpilibc/src/main/native/cpp/Watchdog.cpp
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@@ -5,15 +5,14 @@
#include "frc/Watchdog.h"
#include <atomic>
#include <thread>
#include <utility>
#include <fmt/format.h>
#include <hal/Notifier.h>
#include <wpi/Format.h>
#include <wpi/SmallString.h>
#include <wpi/mutex.h>
#include <wpi/priority_queue.h>
#include <wpi/raw_ostream.h>
#include "frc/DriverStation.h"
#include "frc/Errors.h"
#include "frc2/Timer.h"
@@ -114,11 +113,8 @@ void Watchdog::Impl::Main() {
if (now - watchdog->m_lastTimeoutPrintTime > kMinPrintPeriod) {
watchdog->m_lastTimeoutPrintTime = now;
if (!watchdog->m_suppressTimeoutMessage) {
wpi::SmallString<128> buf;
wpi::raw_svector_ostream err(buf);
err << "Watchdog not fed within "
<< wpi::format("%.6f", watchdog->m_timeout.to<double>()) << "s\n";
frc::DriverStation::ReportWarning(err.str());
FRC_ReportError(warn::Warning, "Watchdog not fed within {:.6f}s",
watchdog->m_timeout.to<double>());
}
}

11
wpilibc/src/main/native/cpp/controller/PIDController.cpp
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@@ -9,7 +9,7 @@
#include <hal/FRCUsageReporting.h>
#include "frc/DriverStation.h"
#include "frc/Errors.h"
#include "frc/MathUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -20,10 +20,13 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
units::second_t period)
: m_Kp(Kp), m_Ki(Ki), m_Kd(Kd), m_period(period) {
if (period <= 0_s) {
frc::DriverStation::ReportError(
"Controller period must be a non-zero positive number!");
FRC_ReportError(
frc::err::Error,
"Controller period must be a non-zero positive number, got {}!",
period.to<double>());
m_period = 20_ms;
frc::DriverStation::ReportWarning("Controller period defaulted to 20ms.");
FRC_ReportError(frc::warn::Warning, "{}",
"Controller period defaulted to 20ms.");
}
static int instances = 0;
instances++;

5
wpilibc/src/main/native/cpp/shuffleboard/RecordingController.cpp
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@@ -4,7 +4,7 @@
#include "frc/shuffleboard/RecordingController.h"
#include "frc/DriverStation.h"
#include "frc/Errors.h"
using namespace frc;
using namespace frc::detail;
@@ -38,7 +38,8 @@ void RecordingController::AddEventMarker(
wpi::StringRef name, wpi::StringRef description,
ShuffleboardEventImportance importance) {
if (name.empty()) {
DriverStation::ReportError("Shuffleboard event name was not specified");
FRC_ReportError(err::Error, "{}",
"Shuffleboard event name was not specified");
return;
}
m_eventsTable->GetSubTable(name)->GetEntry("Info").SetStringArray(

2
wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
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@@ -8,6 +8,8 @@
#include <utility>
#include <wpi/MathExtras.h>
#include "frc/RobotController.h"
#include "frc/system/NumericalIntegration.h"