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TrajectoryGenerator: Allow replacement of error reporting function (C++) (#2267)

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C++ version of #2234.
This commit is contained in:
Peter Johnson
2020-01-13 20:36:16 -08:00
committed by GitHub
parent 60d48fec57
commit dcb96cb50c
3 changed files with 29 additions and 4 deletions
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15
wpilibc/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
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@@ -9,7 +9,8 @@
#include <utility>
#include "frc/DriverStation.h"
#include <wpi/raw_ostream.h>
#include "frc/spline/SplineHelper.h"
#include "frc/spline/SplineParameterizer.h"
#include "frc/trajectory/TrajectoryParameterizer.h"
@@ -18,6 +19,14 @@ using namespace frc;
const Trajectory TrajectoryGenerator::kDoNothingTrajectory(
std::vector<Trajectory::State>{Trajectory::State()});
std::function<void(const char*)> TrajectoryGenerator::s_errorFunc;
void TrajectoryGenerator::ReportError(const char* error) {
if (s_errorFunc)
s_errorFunc(error);
else
wpi::errs() << "TrajectoryGenerator error: " << error << "\n";
}
Trajectory TrajectoryGenerator::GenerateTrajectory(
Spline<3>::ControlVector initial,
@@ -40,7 +49,7 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
SplinePointsFromSplines(SplineHelper::CubicSplinesFromControlVectors(
initial, interiorWaypoints, end));
} catch (SplineParameterizer::MalformedSplineException& e) {
DriverStation::ReportError(e.what());
ReportError(e.what());
return kDoNothingTrajectory;
}
@@ -84,7 +93,7 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
points = SplinePointsFromSplines(
SplineHelper::QuinticSplinesFromControlVectors(controlVectors));
} catch (SplineParameterizer::MalformedSplineException& e) {
DriverStation::ReportError(e.what());
ReportError(e.what());
return kDoNothingTrajectory;
}