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https://github.com/wpilibsuite/allwpilib
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Initial commit of the WPILib simulation support in an alpha quality state.
Fixes to deal with the switch to .hpp files in the HAL and other misc problems due to rebasing. Added Omar's changes to the compressor interface Fixes to make C++ plugin compile on linux. Added import of the WPILibSim code from the graduate class. It shows up as wpilibJavaSim to follow the convention set by wpilibJava, wpilibJavaJNI and wpilibJavaFinal. Fixed wpilibJavaSim artifactId to mirror the new convention. Modified the build of the java plugin to pull in the simulation dependencies. Added stacktrace printing. Fixed support for creating projects. Added support for the isReal() and isSimulation() methods along with the AnalogPotentiometer object to support simulating GearsBot. Added support for a "WPILib Simulate" button. Added GearsBot to the built in examples. Added support for specifying the world file during project creation and switched the default from BluntObjectBot to GearsBot. Removed unused import. Added file browser for world files. Added support for debugging in simulation. Change simulate icon to be a Gazebo icon. Switched over to the gazebo messaging system. Updated location of default world file. Reverted cmake change. Fixed bug in WPILibJSim, added better logging and cleaned up code. Made the frc_gazebo_plugin build using raw cmake instead of catkin, breaking the final ROS dependencies. Added installation to frc_gazebo_plugin Makefile. Fixed running of simulation to actually use frcsim. Initial commit of simulation library for C++. Has the minimal subset of features necessary for having a Simple Robot run in teleoperated mode. Added notes for generating protobuf messages. Import of the debuild process into the main repository. Moved frc_gazebo_plugin under simulation and removed the gazebo folder. Updated the gazebo plugin to remove excessive printing and limit motor signal to [-1,1]. Updated WPILibJSim to support latching messages and to sleep for 20ms in iterative robot. Reduced delay between starting frcsim and the users program to 1 second. Updated GearsBot example. Fixed a few minor issues for demoable state. Added simulator support for Victors, Jaguars and Talons. Added NetworkTables, SmartDashboard and LiveWindow to the simulator. Added AnalogPotentiometer for simulation. Added support for simulating encoders. Added simulation support for Gyro. Added IterativeRobot, Fixed Timers, Notifiers, PIDControllers and other minor fixes + cleanup. Added RobotDrive support to simulation. Separated out JavaGazebo so that SimDS will be able to reuse it. Separated out SimDS into its own application.. Fixes so that the SimDS is distributed and runs properly for Java with the eclipse plugins. Added DriverStation support to WPILibCSim Cleanup of DriverStation, WaitUntilCommand and AnalogPotentiometer for WPILibCSim. Cleanup of includes for WPILibCSim Added AnalogPotentiometer to the real WPILibC. Added AnalogPotentiometer to the real WPILibC. Added GearsBot example to C++ eclipse plugin. WPILibCSim fixes to work with launching from the plugin. Package libwpilibsim in a deb file. Added includes to plugin distribution. Added support for external-limit-switches to Gazebo, Java and C++. Added support for Gazebo Rangefinders and Analog channels to read their values in C++ and Java. Added support for internal limit switches. Updated GearsBot programs to use limit switches + range finders. Added disabling of motors when robot is disabled to more closely mimic the real robot. Fixes to deal with the switch to .hpp files in the HAL and other misc problems due to rebasing. Change-Id: I624c5f4d0f28282616a7c92083575bf68adcdce2
This commit is contained in:
Alex Henning
committed by
thomasclark
thomasclark
parent
d5a509c7e7
commit
cb56c9a144
211
wpilibc/wpilibC++Sim/src/ErrorBase.cpp
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211
wpilibc/wpilibC++Sim/src/ErrorBase.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "ErrorBase.h"
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#include "HAL/cpp/Synchronized.hpp"
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#include "HAL/cpp/StackTrace.hpp"
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#define WPI_ERRORS_DEFINE_STRINGS
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#include "WPIErrors.h"
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#include <errno.h>
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#include <cstdio>
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MUTEX_ID ErrorBase::_globalErrorMutex = initializeMutexNormal();
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Error ErrorBase::_globalError;
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/**
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* @brief Initialize the instance status to 0 for now.
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*/
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ErrorBase::ErrorBase()
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{}
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ErrorBase::~ErrorBase()
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{}
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/**
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* @brief Retrieve the current error.
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* Get the current error information associated with this sensor.
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*/
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Error& ErrorBase::GetError()
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{
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return m_error;
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}
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const Error& ErrorBase::GetError() const
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{
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return m_error;
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}
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/**
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* @brief Clear the current error information associated with this sensor.
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*/
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void ErrorBase::ClearError() const
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{
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m_error.Clear();
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}
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/**
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* @brief Set error information associated with a C library call that set an error to the "errno" global variable.
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*
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* @param contextMessage A custom message from the code that set the error.
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* @param filename Filename of the error source
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* @param function Function of the error source
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* @param lineNumber Line number of the error source
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*/
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void ErrorBase::SetErrnoError(const char *contextMessage,
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const char* filename, const char* function, uint32_t lineNumber) const
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{
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char err[256];
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int errNo = errno;
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if (errNo == 0)
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{
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sprintf(err, "OK: %s", contextMessage);
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}
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else
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{
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char *statName = new char[256 + 1]; // TODO: MAX_SYS_SYM_LEN or linux equivalent.
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if (getErrnoToName(errNo, statName))
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snprintf(err, 256, "%s (0x%08X): %s", statName, errNo, contextMessage);
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else
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snprintf(err, 256, "Unknown errno 0x%08X: %s", errNo, contextMessage);
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delete [] statName;
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}
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// Set the current error information for this object.
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m_error.Set(-1, err, filename, function, lineNumber, this);
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// Update the global error if there is not one already set.
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Synchronized mutex(_globalErrorMutex);
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if (_globalError.GetCode() == 0) {
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_globalError.Clone(m_error);
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}
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}
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/**
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* @brief Set the current error information associated from the nivision Imaq API.
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*
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* @param success The return from the function
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* @param contextMessage A custom message from the code that set the error.
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* @param filename Filename of the error source
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* @param function Function of the error source
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* @param lineNumber Line number of the error source
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*/
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void ErrorBase::SetImaqError(int success, const char *contextMessage, const char* filename, const char* function, uint32_t lineNumber) const
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{
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// If there was an error
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if (success <= 0) {
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char err[256];
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// XXX: sprintf(err, "%s: %s", contextMessage, imaqGetErrorText(imaqGetLastError()));
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// Set the current error information for this object.
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// XXX: m_error.Set(imaqGetLastError(), err, filename, function, lineNumber, this);
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// Update the global error if there is not one already set.
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Synchronized mutex(_globalErrorMutex);
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if (_globalError.GetCode() == 0) {
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_globalError.Clone(m_error);
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}
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}
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}
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/**
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* @brief Set the current error information associated with this sensor.
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*
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* @param code The error code
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* @param contextMessage A custom message from the code that set the error.
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* @param filename Filename of the error source
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* @param function Function of the error source
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* @param lineNumber Line number of the error source
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*/
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void ErrorBase::SetError(Error::Code code, const char *contextMessage,
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const char* filename, const char* function, uint32_t lineNumber) const
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{
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// If there was an error
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if (code != 0) {
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// Set the current error information for this object.
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m_error.Set(code, contextMessage, filename, function, lineNumber, this);
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// Update the global error if there is not one already set.
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Synchronized mutex(_globalErrorMutex);
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if (_globalError.GetCode() == 0) {
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_globalError.Clone(m_error);
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}
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}
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}
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/**
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* @brief Set the current error information associated with this sensor.
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*
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* @param errorMessage The error message from WPIErrors.h
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* @param contextMessage A custom message from the code that set the error.
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* @param filename Filename of the error source
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* @param function Function of the error source
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* @param lineNumber Line number of the error source
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*/
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void ErrorBase::SetWPIError(const char *errorMessage, const char *contextMessage,
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const char* filename, const char* function, uint32_t lineNumber) const
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{
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char err[256];
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sprintf(err, "%s: %s", errorMessage, contextMessage);
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// Set the current error information for this object.
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m_error.Set(-1, err, filename, function, lineNumber, this);
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// Update the global error if there is not one already set.
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Synchronized mutex(_globalErrorMutex);
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if (_globalError.GetCode() == 0) {
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_globalError.Clone(m_error);
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}
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}
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void ErrorBase::CloneError(ErrorBase *rhs) const
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{
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m_error.Clone(rhs->GetError());
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}
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/**
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@brief Check if the current error code represents a fatal error.
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@return true if the current error is fatal.
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*/
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bool ErrorBase::StatusIsFatal() const
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{
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return m_error.GetCode() < 0;
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}
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void ErrorBase::SetGlobalError(Error::Code code, const char *contextMessage,
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const char* filename, const char* function, uint32_t lineNumber)
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{
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// If there was an error
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if (code != 0) {
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Synchronized mutex(_globalErrorMutex);
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// Set the current error information for this object.
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_globalError.Set(code, contextMessage, filename, function, lineNumber, NULL);
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}
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}
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void ErrorBase::SetGlobalWPIError(const char *errorMessage, const char *contextMessage,
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const char* filename, const char* function, uint32_t lineNumber)
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{
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char err[256];
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sprintf(err, "%s: %s", errorMessage, contextMessage);
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Synchronized mutex(_globalErrorMutex);
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if (_globalError.GetCode() != 0) {
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_globalError.Clear();
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}
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_globalError.Set(-1, err, filename, function, lineNumber, NULL);
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}
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/**
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* Retrieve the current global error.
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*/
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Error& ErrorBase::GetGlobalError()
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{
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Synchronized mutex(_globalErrorMutex);
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return _globalError;
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}
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