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Use std::string_view and fmtlib across all libraries (#3402)

Browse Source 
- Twine, StringRef, Format, and NativeFormatting have been removed
- Logging now uses fmtlib style formatting
- Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or
std::puts()/std::fputs() (for unformatted strings).
- A wpi/fmt/raw_ostream.h header has been added to enable
fmt::print() with wpi::raw_ostream
This commit is contained in:
Peter Johnson
2021-06-06 16:13:58 -07:00
committed by GitHub
parent 4f1cecb8e7
commit b2c3b2dd8e
441 changed files with 5061 additions and 9749 deletions
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17
hal/src/main/native/athena/AddressableLED.cpp
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@@ -7,6 +7,7 @@
#include <cstring>
#include <FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga_HMB.h>
#include <fmt/format.h>
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
@@ -145,9 +146,11 @@ void HAL_SetAddressableLEDLength(HAL_AddressableLEDHandle handle,
if (length > HAL_kAddressableLEDMaxLength || length < 0) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "LED length must be less than or equal to " +
wpi::Twine(HAL_kAddressableLEDMaxLength) +
". " + wpi::Twine(length) + " was requested");
hal::SetLastError(
status,
fmt::format(
"LED length must be less than or equal to {}. {} was requested",
HAL_kAddressableLEDMaxLength, length));
return;
}
@@ -179,9 +182,11 @@ void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
if (length > led->stringLength || length < 0) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Data length must be less than or equal to " +
wpi::Twine(led->stringLength) + ". " +
wpi::Twine(length) + " was requested");
hal::SetLastError(
status,
fmt::format(
"Data length must be less than or equal to {}. {} was requested",
led->stringLength, length));
return;
}

6
hal/src/main/native/athena/AnalogGyro.cpp
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@@ -7,7 +7,7 @@
#include <string>
#include <thread>
#include <wpi/raw_ostream.h>
#include <fmt/format.h>
#include "AnalogInternal.h"
#include "HALInitializer.h"
@@ -193,8 +193,8 @@ void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
if (*status != 0) {
return;
}
wpi::outs() << "Calibrating analog gyro for " << kCalibrationSampleTime
<< " seconds." << '\n';
fmt::print("Calibrating analog gyro for {} seconds.\n",
kCalibrationSampleTime);
Wait(kCalibrationSampleTime);
int64_t value;

12
hal/src/main/native/athena/CTREPCM.cpp
View File

@@ -4,6 +4,8 @@
#include "hal/CTREPCM.h"
#include <fmt/format.h>
#include "HALInitializer.h"
#include "HALInternal.h"
#include "PortsInternal.h"
@@ -342,8 +344,9 @@ void HAL_FireCTREPCMOneShot(HAL_CTREPCMHandle handle, int32_t index,
int32_t* status) {
if (index > 7 || index < 0) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Only [0-7] are valid index values. Requested " +
wpi::Twine(index));
hal::SetLastError(
status,
fmt::format("Only [0-7] are valid index values. Requested {}", index));
return;
}
@@ -373,8 +376,9 @@ void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
int32_t durMs, int32_t* status) {
if (index > 7 || index < 0) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Only [0-7] are valid index values. Requested " +
wpi::Twine(index));
hal::SetLastError(
status,
fmt::format("Only [0-7] are valid index values. Requested {}", index));
return;
}

9
hal/src/main/native/athena/Counter.cpp
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@@ -4,6 +4,8 @@
#include "hal/Counter.h"
#include <fmt/format.h>
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HALInitializer.h"
@@ -264,10 +266,9 @@ void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
}
if (samplesToAverage < 1 || samplesToAverage > 127) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(
status,
"Samples to average must be between 1 and 127 inclusive. Requested " +
wpi::Twine(samplesToAverage));
hal::SetLastError(status, fmt::format("Samples to average must be between "
"1 and 127 inclusive. Requested {}",
samplesToAverage));
return;
}
counter->counter->writeTimerConfig_AverageSize(samplesToAverage, status);

7
hal/src/main/native/athena/DIO.cpp
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@@ -5,10 +5,9 @@
#include "hal/DIO.h"
#include <cmath>
#include <cstdio>
#include <thread>
#include <wpi/raw_ostream.h>
#include "DigitalInternal.h"
#include "HALInitializer.h"
#include "HALInternal.h"
@@ -143,8 +142,8 @@ void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
while (port.use_count() != 1) {
auto current = hal::fpga_clock::now();
if (start + std::chrono::seconds(1) < current) {
wpi::outs() << "DIO handle free timeout\n";
wpi::outs().flush();
std::puts("DIO handle free timeout");
std::fflush(stdout);
break;
}
std::this_thread::yield();

14
hal/src/main/native/athena/Encoder.cpp
View File

@@ -4,6 +4,8 @@
#include "hal/Encoder.h"
#include <fmt/format.h>
#include "EncoderInternal.h"
#include "FPGAEncoder.h"
#include "HALInitializer.h"
@@ -47,9 +49,8 @@ Encoder::Encoder(HAL_Handle digitalSourceHandleA,
}
default:
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Encoding type " +
wpi::Twine(static_cast<int>(encodingType)) +
" invalid.");
hal::SetLastError(status, fmt::format("Encoding type {} invalid.",
static_cast<int>(encodingType)));
return;
}
}
@@ -185,10 +186,9 @@ void Encoder::SetReverseDirection(bool reverseDirection, int32_t* status) {
void Encoder::SetSamplesToAverage(int32_t samplesToAverage, int32_t* status) {
if (samplesToAverage < 1 || samplesToAverage > 127) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(
status,
"Samples to average must be between 1 and 127 inclusive. Requested " +
wpi::Twine(samplesToAverage));
hal::SetLastError(status, fmt::format("Samples to average must be between "
"1 and 127 inclusive. Requested {}",
samplesToAverage));
return;
}
if (m_counter) {

9
hal/src/main/native/athena/FPGAEncoder.cpp
View File

@@ -6,6 +6,8 @@
#include <memory>
#include <fmt/format.h>
#include "DigitalInternal.h"
#include "HALInitializer.h"
#include "HALInternal.h"
@@ -194,10 +196,9 @@ void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle,
}
if (samplesToAverage < 1 || samplesToAverage > 127) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(
status,
"Samples to average must be between 1 and 127 inclusive. Requested " +
wpi::Twine(samplesToAverage));
hal::SetLastError(status, fmt::format("Samples to average must be between "
"1 and 127 inclusive. Requested {}",
samplesToAverage));
return;
}
encoder->encoder->writeTimerConfig_AverageSize(samplesToAverage, status);

22
hal/src/main/native/athena/FRCDriverStation.cpp
View File

@@ -7,13 +7,15 @@
#include <cstdlib>
#include <cstring>
#include <limits>
#include <string>
#include <string_view>
#include <FRC_NetworkCommunication/FRCComm.h>
#include <FRC_NetworkCommunication/NetCommRPCProxy_Occur.h>
#include <fmt/format.h>
#include <wpi/SafeThread.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include <wpi/raw_ostream.h>
#include "hal/DriverStation.h"
@@ -161,9 +163,9 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
}
int retval = 0;
if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= std::chrono::seconds(1)) {
wpi::StringRef detailsRef{details};
wpi::StringRef locationRef{location};
wpi::StringRef callStackRef{callStack};
std::string_view detailsRef{details};
std::string_view locationRef{location};
std::string_view callStackRef{callStack};
// 1 tag, 4 timestamp, 2 seqnum
// 2 numOccur, 4 error code, 1 flags, 6 strlen
@@ -199,14 +201,16 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
newCallStack.c_str());
}
if (printMsg) {
fmt::memory_buffer buf;
if (location && location[0] != '\0') {
wpi::errs() << (isError ? "Error" : "Warning") << " at " << location
<< ": ";
fmt::format_to(buf, "{} at {}: ", isError ? "Error" : "Warning",
location);
}
wpi::errs() << details << "\n";
fmt::format_to(buf, "{}\n", details);
if (callStack && callStack[0] != '\0') {
wpi::errs() << callStack << "\n";
fmt::format_to(buf, "{}\n", callStack);
}
std::fwrite(buf.data(), buf.size(), 1, stderr);
}
if (i == KEEP_MSGS) {
// replace the oldest one
@@ -226,7 +230,7 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
}
int32_t HAL_SendConsoleLine(const char* line) {
wpi::StringRef lineRef{line};
std::string_view lineRef{line};
if (lineRef.size() <= 65535) {
// Send directly
return FRC_NetworkCommunication_sendConsoleLine(line);

23
hal/src/main/native/athena/HAL.cpp
View File

@@ -9,6 +9,7 @@
#include <unistd.h>
#include <atomic>
#include <cstdio>
#include <cstdlib>
#include <fstream>
#include <thread>
@@ -16,8 +17,8 @@
#include <FRC_NetworkCommunication/FRCComm.h>
#include <FRC_NetworkCommunication/LoadOut.h>
#include <FRC_NetworkCommunication/UsageReporting.h>
#include <fmt/format.h>
#include <wpi/mutex.h>
#include <wpi/raw_ostream.h>
#include <wpi/timestamp.h>
#include "HALInitializer.h"
@@ -330,18 +331,19 @@ static bool killExistingProgram(int timeout, int mode) {
// see if the pid is around, but we don't want to mess with init id=1, or
// ourselves
if (pid >= 2 && kill(pid, 0) == 0 && pid != getpid()) {
wpi::outs() << "Killing previously running FRC program...\n";
std::puts("Killing previously running FRC program...");
kill(pid, SIGTERM); // try to kill it
std::this_thread::sleep_for(std::chrono::milliseconds(timeout));
if (kill(pid, 0) == 0) {
// still not successful
wpi::outs() << "FRC pid " << pid << " did not die within " << timeout
<< "ms. Force killing with kill -9\n";
fmt::print(
"FRC pid {} did not die within {} ms. Force killing with kill -9\n",
pid, timeout);
// Force kill -9
auto forceKill = kill(pid, SIGKILL);
if (forceKill != 0) {
auto errorMsg = std::strerror(forceKill);
wpi::outs() << "Kill -9 error: " << errorMsg << "\n";
fmt::print("Kill -9 error: {}\n", errorMsg);
}
// Give a bit of time for the kill to take place
std::this_thread::sleep_for(std::chrono::milliseconds(250));
@@ -378,7 +380,6 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
setlinebuf(stdin);
setlinebuf(stdout);
wpi::outs().SetUnbuffered();
prctl(PR_SET_PDEATHSIG, SIGTERM);
@@ -412,11 +413,11 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
int32_t status = 0;
uint64_t rv = HAL_GetFPGATime(&status);
if (status != 0) {
wpi::errs()
<< "Call to HAL_GetFPGATime failed in wpi::Now() with status "
<< status
<< ". Initialization might have failed. Time will not be correct\n";
wpi::errs().flush();
fmt::print(stderr,
"Call to HAL_GetFPGATime failed in wpi::Now() with status {}. "
"Initialization might have failed. Time will not be correct\n",
status);
std::fflush(stderr);
return 0u;
}
return rv;

10
hal/src/main/native/athena/HALInternal.h
View File

@@ -6,15 +6,15 @@
#include <stdint.h>
#include <wpi/Twine.h>
#include <string_view>
namespace hal {
void ReleaseFPGAInterrupt(int32_t interruptNumber);
void SetLastError(int32_t* status, const wpi::Twine& value);
void SetLastErrorIndexOutOfRange(int32_t* status, const wpi::Twine& message,
void SetLastError(int32_t* status, std::string_view value);
void SetLastErrorIndexOutOfRange(int32_t* status, std::string_view message,
int32_t minimum, int32_t maximum,
int32_t channel);
void SetLastErrorPreviouslyAllocated(int32_t* status, const wpi::Twine& message,
void SetLastErrorPreviouslyAllocated(int32_t* status, std::string_view message,
int32_t channel,
const wpi::Twine& previousAllocation);
std::string_view previousAllocation);
} // namespace hal

6
hal/src/main/native/athena/I2C.cpp
View File

@@ -12,6 +12,8 @@
#include <cstring>
#include <fmt/format.h>
#include "DigitalInternal.h"
#include "HALInitializer.h"
#include "hal/DIO.h"
@@ -56,7 +58,7 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
}
int handle = open("/dev/i2c-2", O_RDWR);
if (handle < 0) {
std::printf("Failed to open onboard i2c bus: %s\n", std::strerror(errno));
fmt::print("Failed to open onboard i2c bus: {}\n", std::strerror(errno));
return;
}
i2COnBoardHandle = handle;
@@ -79,7 +81,7 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
digitalSystem->readEnableMXPSpecialFunction(status) | 0xC000, status);
int handle = open("/dev/i2c-1", O_RDWR);
if (handle < 0) {
std::printf("Failed to open MXP i2c bus: %s\n", std::strerror(errno));
fmt::print("Failed to open MXP i2c bus: {}\n", std::strerror(errno));
return;
}
i2CMXPHandle = handle;

5
hal/src/main/native/athena/PDP.cpp
View File

@@ -4,6 +4,7 @@
#include "hal/PDP.h"
#include <fmt/format.h>
#include <wpi/mutex.h>
#include "HALInitializer.h"
@@ -118,7 +119,7 @@ HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status) {
hal::init::CheckInit();
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Invalid pdp module " + wpi::Twine(module));
hal::SetLastError(status, fmt::format("Invalid pdp module {}", module));
return HAL_kInvalidHandle;
}
@@ -194,7 +195,7 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
int32_t* status) {
if (!HAL_CheckPDPChannel(channel)) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Invalid pdp channel " + wpi::Twine(channel));
hal::SetLastError(status, fmt::format("Invalid pdp channel {}", channel));
return 0;
}

8
hal/src/main/native/athena/PWM.cpp
View File

@@ -4,11 +4,11 @@
#include "hal/PWM.h"
#include <algorithm>
#include <cmath>
#include <cstdio>
#include <thread>
#include <wpi/raw_ostream.h>
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HALInitializer.h"
@@ -138,8 +138,8 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
while (port.use_count() != 1) {
auto current = hal::fpga_clock::now();
if (start + std::chrono::seconds(1) < current) {
wpi::outs() << "PWM handle free timeout\n";
wpi::outs().flush();
std::puts("PWM handle free timeout");
std::fflush(stdout);
break;
}
std::this_thread::yield();

90
hal/src/main/native/athena/SPI.cpp
View File

@@ -11,10 +11,11 @@
#include <array>
#include <atomic>
#include <cstdio>
#include <cstring>
#include <fmt/format.h>
#include <wpi/mutex.h>
#include <wpi/raw_ostream.h>
#include "DigitalInternal.h"
#include "HALInitializer.h"
@@ -78,14 +79,14 @@ static void CommonSPIPortInit(int32_t* status) {
if ((digitalHandles[3] = HAL_InitializeDIOPort(createPortHandleForSPI(29),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::printf("Failed to allocate DIO 29 (MISO)\n");
std::puts("Failed to allocate DIO 29 (MISO)");
return;
}
// MOSI
if ((digitalHandles[4] = HAL_InitializeDIOPort(createPortHandleForSPI(30),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::printf("Failed to allocate DIO 30 (MOSI)\n");
std::puts("Failed to allocate DIO 30 (MOSI)");
HAL_FreeDIOPort(digitalHandles[3]); // free the first port allocated
return;
}
@@ -104,9 +105,10 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
hal::init::CheckInit();
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Serial port must be between 0 and " +
wpi::Twine(kSpiMaxHandles) + ". Requested " +
wpi::Twine(static_cast<int>(port)));
hal::SetLastError(
status,
fmt::format("Serial port must be between 0 and {}. Requested {}",
kSpiMaxHandles, static_cast<int>(port)));
return;
}
@@ -123,8 +125,8 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
// CS0 is not a DIO port, so nothing to allocate
handle = open("/dev/spidev0.0", O_RDWR);
if (handle < 0) {
std::printf("Failed to open SPI port %d: %s\n", port,
std::strerror(errno));
fmt::print("Failed to open SPI port {}: {}\n", port,
std::strerror(errno));
CommonSPIPortFree();
return;
}
@@ -139,14 +141,14 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
if ((digitalHandles[0] = HAL_InitializeDIOPort(createPortHandleForSPI(26),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::printf("Failed to allocate DIO 26 (CS1)\n");
std::puts("Failed to allocate DIO 26 (CS1)");
CommonSPIPortFree();
return;
}
handle = open("/dev/spidev0.1", O_RDWR);
if (handle < 0) {
std::printf("Failed to open SPI port %d: %s\n", port,
std::strerror(errno));
fmt::print("Failed to open SPI port {}: {}\n", port,
std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[0]);
return;
@@ -162,14 +164,14 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
if ((digitalHandles[1] = HAL_InitializeDIOPort(createPortHandleForSPI(27),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::printf("Failed to allocate DIO 27 (CS2)\n");
std::puts("Failed to allocate DIO 27 (CS2)");
CommonSPIPortFree();
return;
}
handle = open("/dev/spidev0.2", O_RDWR);
if (handle < 0) {
std::printf("Failed to open SPI port %d: %s\n", port,
std::strerror(errno));
fmt::print("Failed to open SPI port {}: {}\n", port,
std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[1]);
return;
@@ -185,14 +187,14 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
if ((digitalHandles[2] = HAL_InitializeDIOPort(createPortHandleForSPI(28),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::printf("Failed to allocate DIO 28 (CS3)\n");
std::puts("Failed to allocate DIO 28 (CS3)");
CommonSPIPortFree();
return;
}
handle = open("/dev/spidev0.3", O_RDWR);
if (handle < 0) {
std::printf("Failed to open SPI port %d: %s\n", port,
std::strerror(errno));
fmt::print("Failed to open SPI port {}: {}\n", port,
std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[2]);
return;
@@ -207,20 +209,20 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
if ((digitalHandles[5] = HAL_InitializeDIOPort(createPortHandleForSPI(14),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
wpi::outs() << "Failed to allocate DIO 14\n";
std::puts("Failed to allocate DIO 14");
return;
}
if ((digitalHandles[6] = HAL_InitializeDIOPort(createPortHandleForSPI(15),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
wpi::outs() << "Failed to allocate DIO 15\n";
std::puts("Failed to allocate DIO 15");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
return;
}
if ((digitalHandles[7] = HAL_InitializeDIOPort(createPortHandleForSPI(16),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
wpi::outs() << "Failed to allocate DIO 16\n";
std::puts("Failed to allocate DIO 16");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
return;
@@ -228,7 +230,7 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
if ((digitalHandles[8] = HAL_InitializeDIOPort(createPortHandleForSPI(17),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
wpi::outs() << "Failed to allocate DIO 17\n";
std::puts("Failed to allocate DIO 17");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
HAL_FreeDIOPort(digitalHandles[7]); // free the third port allocated
@@ -238,8 +240,8 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
digitalSystem->readEnableMXPSpecialFunction(status) | 0x00F0, status);
handle = open("/dev/spidev1.0", O_RDWR);
if (handle < 0) {
std::printf("Failed to open SPI port %d: %s\n", port,
std::strerror(errno));
fmt::print("Failed to open SPI port {}: {}\n", port,
std::strerror(errno));
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
HAL_FreeDIOPort(digitalHandles[7]); // free the third port allocated
@@ -251,7 +253,7 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
default:
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(
status, "Invalid SPI port " + wpi::Twine(static_cast<int>(port)));
status, fmt::format("Invalid SPI port {}", static_cast<int>(port)));
break;
}
}
@@ -380,9 +382,10 @@ void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Serial port must be between 0 and " +
wpi::Twine(kSpiMaxHandles) + ". Requested " +
wpi::Twine(static_cast<int>(port)));
hal::SetLastError(
status,
fmt::format("Serial port must be between 0 and {}. Requested {}",
kSpiMaxHandles, static_cast<int>(port)));
return;
}
@@ -398,9 +401,10 @@ void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {
void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) {
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Serial port must be between 0 and " +
wpi::Twine(kSpiMaxHandles) + ". Requested " +
wpi::Twine(static_cast<int>(port)));
hal::SetLastError(
status,
fmt::format("Serial port must be between 0 and {}. Requested {}",
kSpiMaxHandles, static_cast<int>(port)));
return;
}
@@ -465,9 +469,10 @@ void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle) {
void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status) {
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Serial port must be between 0 and " +
wpi::Twine(kSpiMaxHandles) + ". Requested " +
wpi::Twine(static_cast<int>(port)));
hal::SetLastError(
status,
fmt::format("Serial port must be between 0 and {}. Requested {}",
kSpiMaxHandles, static_cast<int>(port)));
return;
}
@@ -499,9 +504,10 @@ void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status) {
void HAL_FreeSPIAuto(HAL_SPIPort port, int32_t* status) {
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Serial port must be between 0 and " +
wpi::Twine(kSpiMaxHandles) + ". Requested " +
wpi::Twine(static_cast<int>(port)));
hal::SetLastError(
status,
fmt::format("Serial port must be between 0 and {}. Requested {}",
kSpiMaxHandles, static_cast<int>(port)));
return;
}
@@ -605,16 +611,20 @@ void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend,
if (dataSize < 0 || dataSize > 32) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(
status, "Data size must be between 0 and 32 inclusive. Requested " +
wpi::Twine(dataSize));
status,
fmt::format(
"Data size must be between 0 and 32 inclusive. Requested {}",
dataSize));
return;
}
if (zeroSize < 0 || zeroSize > 127) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(
status, "Zero size must be between 0 and 127 inclusive. Requested " +
wpi::Twine(zeroSize));
status,
fmt::format(
"Zero size must be between 0 and 127 inclusive. Requested {}",
zeroSize));
return;
}

12
hal/src/main/native/athena/SerialPort.cpp
View File

@@ -19,6 +19,8 @@
#include <string>
#include <thread>
#include <fmt/format.h>
#include "HALInternal.h"
#include "hal/cpp/SerialHelper.h"
#include "hal/handles/HandlesInternal.h"
@@ -184,7 +186,7 @@ void HAL_SetSerialBaudRate(HAL_SerialPortHandle handle, int32_t baud,
BAUDCASE(4000000)
default:
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Invalid BaudRate: " + wpi::Twine(baud));
hal::SetLastError(status, fmt::format("Invalid BaudRate: {}", baud));
return;
}
int err = cfsetospeed(&port->tty, static_cast<speed_t>(port->baudRate));
@@ -227,7 +229,7 @@ void HAL_SetSerialDataBits(HAL_SerialPortHandle handle, int32_t bits,
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Invalid data bits: " + wpi::Twine(bits));
hal::SetLastError(status, fmt::format("Invalid data bits: {}", bits));
return;
}
@@ -275,7 +277,7 @@ void HAL_SetSerialParity(HAL_SerialPortHandle handle, int32_t parity,
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Invalid parity bits: " + wpi::Twine(parity));
hal::SetLastError(status, fmt::format("Invalid parity bits: {}", parity));
return;
}
@@ -303,7 +305,7 @@ void HAL_SetSerialStopBits(HAL_SerialPortHandle handle, int32_t stopBits,
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Invalid stop bits: " + wpi::Twine(stopBits));
hal::SetLastError(status, fmt::format("Invalid stop bits: {}", stopBits));
return;
}
@@ -339,7 +341,7 @@ void HAL_SetSerialFlowControl(HAL_SerialPortHandle handle, int32_t flow,
break;
default:
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, "Invalid fc bits: " + wpi::Twine(flow));
hal::SetLastError(status, fmt::format("Invalid fc bits: {}", flow));
return;
}

48
hal/src/main/native/athena/cpp/SerialHelper.cpp
View File

@@ -7,8 +7,9 @@
#include <algorithm>
#include <cstdio>
#include <cstring>
#include <string_view>
#include <wpi/StringRef.h>
#include <wpi/StringExtras.h>
#include <wpi/fs.h>
#include "hal/Errors.h"
@@ -53,7 +54,7 @@ std::string SerialHelper::GetVISASerialPortName(HAL_SerialPort port,
return "";
// Error
} else {
return m_visaResource[visaIndex].str();
return std::string{m_visaResource[visaIndex].str()};
}
}
@@ -80,7 +81,7 @@ std::string SerialHelper::GetOSSerialPortName(HAL_SerialPort port,
return "";
// Error
} else {
return m_osResource[osIndex].str();
return std::string{m_osResource[osIndex].str()};
}
}
@@ -136,8 +137,8 @@ void SerialHelper::SortHubPathVector() {
std::sort(m_sortedHubPath.begin(), m_sortedHubPath.end(),
[](const wpi::SmallVectorImpl<char>& lhs,
const wpi::SmallVectorImpl<char>& rhs) -> int {
wpi::StringRef lhsRef(lhs.begin(), lhs.size());
wpi::StringRef rhsRef(rhs.begin(), rhs.size());
std::string_view lhsRef(lhs.begin(), lhs.size());
std::string_view rhsRef(rhs.begin(), rhs.size());
return lhsRef.compare(rhsRef);
});
}
@@ -147,9 +148,9 @@ void SerialHelper::CoiteratedSort(
wpi::SmallVector<wpi::SmallString<16>, 4> sortedVec;
for (auto& str : m_sortedHubPath) {
for (size_t i = 0; i < m_unsortedHubPath.size(); i++) {
if (wpi::StringRef{m_unsortedHubPath[i].begin(),
m_unsortedHubPath[i].size()}
.equals(wpi::StringRef{str.begin(), str.size()})) {
if (wpi::equals(std::string_view{m_unsortedHubPath[i].begin(),
m_unsortedHubPath[i].size()},
std::string_view{str.begin(), str.size()})) {
sortedVec.push_back(vec[i]);
break;
}
@@ -206,14 +207,14 @@ void SerialHelper::QueryHubPaths(int32_t* status) {
*status = 0;
// split until (/dev/
wpi::StringRef devNameRef = wpi::StringRef{osName}.split("(/dev/").second;
std::string_view devNameRef = wpi::split(osName, "(/dev/").second;
// String not found, continue
if (devNameRef.equals(""))
if (wpi::equals(devNameRef, ""))
continue;
// Split at )
wpi::StringRef matchString = devNameRef.split(')').first;
if (matchString.equals(devNameRef))
std::string_view matchString = wpi::split(devNameRef, ')').first;
if (wpi::equals(matchString, devNameRef))
continue;
// Search directories to get a list of system accessors
@@ -223,7 +224,7 @@ void SerialHelper::QueryHubPaths(int32_t* status) {
for (auto& p : fs::recursive_directory_iterator("/sys/devices/soc0", ec)) {
if (ec)
break;
std::string path = p.path().string();
std::string path = p.path();
if (path.find("amba") == std::string::npos)
continue;
if (path.find("usb") == std::string::npos)
@@ -231,22 +232,22 @@ void SerialHelper::QueryHubPaths(int32_t* status) {
if (path.find(matchString) == std::string::npos)
continue;
wpi::SmallVector<wpi::StringRef, 16> pathSplitVec;
wpi::SmallVector<std::string_view, 16> pathSplitVec;
// Split path into individual directories
wpi::StringRef{path}.split(pathSplitVec, '/', -1, false);
wpi::split(path, pathSplitVec, '/', -1, false);
// Find each individual item index
int findusb = -1;
int findtty = -1;
int findregex = -1;
for (size_t i = 0; i < pathSplitVec.size(); i++) {
if (findusb == -1 && pathSplitVec[i].equals("usb1")) {
if (findusb == -1 && wpi::equals(pathSplitVec[i], "usb1")) {
findusb = i;
}
if (findtty == -1 && pathSplitVec[i].equals("tty")) {
if (findtty == -1 && wpi::equals(pathSplitVec[i], "tty")) {
findtty = i;
}
if (findregex == -1 && pathSplitVec[i].equals(matchString)) {
if (findregex == -1 && wpi::equals(pathSplitVec[i], matchString)) {
findregex = i;
}
}
@@ -263,10 +264,10 @@ void SerialHelper::QueryHubPaths(int32_t* status) {
// Add our devices to our list
m_unsortedHubPath.emplace_back(
wpi::StringRef{pathSplitVec[hubIndex - 2]});
std::string_view{pathSplitVec[hubIndex - 2]});
m_visaResource.emplace_back(desc);
m_osResource.emplace_back(
wpi::StringRef{osName}.split("(").second.split(")").first);
wpi::split(wpi::split(osName, "(").second, ")").first);
break;
}
}
@@ -291,8 +292,9 @@ int32_t SerialHelper::GetIndexForPort(HAL_SerialPort port, int32_t* status) {
if (portString.empty()) {
for (size_t i = 0; i < 2; i++) {
// Remove all used ports
auto idx = std::find(m_sortedHubPath.begin(), m_sortedHubPath.end(),
m_usbNames[i]);
auto idx = std::find_if(
m_sortedHubPath.begin(), m_sortedHubPath.end(),
[&](const auto& s) { return wpi::equals(s, m_usbNames[i]); });
if (idx != m_sortedHubPath.end()) {
// found
m_sortedHubPath.erase(idx);
@@ -327,7 +329,7 @@ int32_t SerialHelper::GetIndexForPort(HAL_SerialPort port, int32_t* status) {
int retIndex = -1;
for (size_t i = 0; i < m_sortedHubPath.size(); i++) {
if (m_sortedHubPath[i].equals(portString)) {
if (wpi::equals(m_sortedHubPath[i], portString)) {
retIndex = i;
break;
}