mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
283
wpilibc/src/main/native/cpp/Utility.cpp
Normal file
283
wpilibc/src/main/native/cpp/Utility.cpp
Normal file
@@ -0,0 +1,283 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2008-2017. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#include "Utility.h"
|
||||
|
||||
#ifndef _WIN32
|
||||
#include <cxxabi.h>
|
||||
#include <execinfo.h>
|
||||
#endif
|
||||
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include <cstring>
|
||||
|
||||
#include "ErrorBase.h"
|
||||
#include "HAL/DriverStation.h"
|
||||
#include "HAL/HAL.h"
|
||||
#include "llvm/SmallString.h"
|
||||
#include "llvm/raw_ostream.h"
|
||||
|
||||
using namespace frc;
|
||||
|
||||
/**
|
||||
* Assert implementation.
|
||||
* This allows breakpoints to be set on an assert.
|
||||
* The users don't call this, but instead use the wpi_assert macros in
|
||||
* Utility.h.
|
||||
*/
|
||||
bool wpi_assert_impl(bool conditionValue, llvm::StringRef conditionText,
|
||||
llvm::StringRef message, llvm::StringRef fileName,
|
||||
int lineNumber, llvm::StringRef funcName) {
|
||||
if (!conditionValue) {
|
||||
llvm::SmallString<128> locBuf;
|
||||
llvm::raw_svector_ostream locStream(locBuf);
|
||||
locStream << funcName << " [";
|
||||
llvm::SmallString<128> fileTemp;
|
||||
|
||||
#ifdef _WIN32
|
||||
char fname[60];
|
||||
char ext[10];
|
||||
_splitpath_s(fileName.c_str(fileTemp), nullptr, 0, nullptr, 0, fname, 60,
|
||||
ext, 10);
|
||||
locStream << fname << ":" << lineNumber << "]";
|
||||
#elif __APPLE__
|
||||
auto file = fileName.c_str(fileTemp);
|
||||
int len = std::strlen(file) + 1;
|
||||
char* basestr = new char[len + 1];
|
||||
std::strncpy(basestr, file, len);
|
||||
locStream << basestr << ":" << lineNumber << "]";
|
||||
delete[] basestr;
|
||||
#else
|
||||
locStream << basename(fileName.c_str(fileTemp)) << ":" << lineNumber << "]";
|
||||
#endif
|
||||
|
||||
llvm::SmallString<128> errorBuf;
|
||||
llvm::raw_svector_ostream errorStream(errorBuf);
|
||||
|
||||
errorStream << "Assertion \"" << conditionText << "\" ";
|
||||
|
||||
if (!message.empty()) {
|
||||
errorStream << "failed: " << message << "\n";
|
||||
} else {
|
||||
errorStream << "failed.\n";
|
||||
}
|
||||
|
||||
std::string stack = GetStackTrace(2);
|
||||
std::string location = locStream.str();
|
||||
std::string error = errorStream.str();
|
||||
|
||||
// Print the error and send it to the DriverStation
|
||||
HAL_SendError(1, 1, 0, error.c_str(), location.c_str(), stack.c_str(), 1);
|
||||
}
|
||||
|
||||
return conditionValue;
|
||||
}
|
||||
|
||||
/**
|
||||
* Common error routines for wpi_assertEqual_impl and wpi_assertNotEqual_impl
|
||||
* This should not be called directly; it should only be used by
|
||||
* wpi_assertEqual_impl and wpi_assertNotEqual_impl.
|
||||
*/
|
||||
void wpi_assertEqual_common_impl(llvm::StringRef valueA, llvm::StringRef valueB,
|
||||
llvm::StringRef equalityType,
|
||||
llvm::StringRef message,
|
||||
llvm::StringRef fileName, int lineNumber,
|
||||
llvm::StringRef funcName) {
|
||||
llvm::SmallString<128> locBuf;
|
||||
llvm::raw_svector_ostream locStream(locBuf);
|
||||
locStream << funcName << " [";
|
||||
llvm::SmallString<128> fileTemp;
|
||||
|
||||
#ifdef _WIN32
|
||||
char fname[60];
|
||||
char ext[10];
|
||||
_splitpath_s(fileName.c_str(fileTemp), nullptr, 0, nullptr, 0, fname, 60, ext,
|
||||
10);
|
||||
locStream << fname << ":" << lineNumber << "]";
|
||||
#elif __APPLE__
|
||||
auto file = fileName.c_str(fileTemp);
|
||||
int len = std::strlen(file) + 1;
|
||||
char* basestr = new char[len + 1];
|
||||
std::strncpy(basestr, file, len);
|
||||
locStream << basestr << ":" << lineNumber << "]";
|
||||
delete[] basestr;
|
||||
#else
|
||||
locStream << basename(fileName.c_str(fileTemp)) << ":" << lineNumber << "]";
|
||||
#endif
|
||||
|
||||
llvm::SmallString<128> errorBuf;
|
||||
llvm::raw_svector_ostream errorStream(errorBuf);
|
||||
|
||||
errorStream << "Assertion \"" << valueA << " " << equalityType << " "
|
||||
<< valueB << "\" ";
|
||||
|
||||
if (!message.empty()) {
|
||||
errorStream << "failed: " << message << "\n";
|
||||
} else {
|
||||
errorStream << "failed.\n";
|
||||
}
|
||||
|
||||
std::string trace = GetStackTrace(3);
|
||||
std::string location = locStream.str();
|
||||
std::string error = errorStream.str();
|
||||
|
||||
// Print the error and send it to the DriverStation
|
||||
HAL_SendError(1, 1, 0, error.c_str(), location.c_str(), trace.c_str(), 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* Assert equal implementation.
|
||||
* This determines whether the two given integers are equal. If not,
|
||||
* the value of each is printed along with an optional message string.
|
||||
* The users don't call this, but instead use the wpi_assertEqual macros in
|
||||
* Utility.h.
|
||||
*/
|
||||
bool wpi_assertEqual_impl(int valueA, int valueB, llvm::StringRef valueAString,
|
||||
llvm::StringRef valueBString, llvm::StringRef message,
|
||||
llvm::StringRef fileName, int lineNumber,
|
||||
llvm::StringRef funcName) {
|
||||
if (!(valueA == valueB)) {
|
||||
wpi_assertEqual_common_impl(valueAString, valueBString, "==", message,
|
||||
fileName, lineNumber, funcName);
|
||||
}
|
||||
return valueA == valueB;
|
||||
}
|
||||
|
||||
/**
|
||||
* Assert not equal implementation.
|
||||
* This determines whether the two given integers are equal. If so,
|
||||
* the value of each is printed along with an optional message string.
|
||||
* The users don't call this, but instead use the wpi_assertNotEqual macros in
|
||||
* Utility.h.
|
||||
*/
|
||||
bool wpi_assertNotEqual_impl(int valueA, int valueB,
|
||||
llvm::StringRef valueAString,
|
||||
llvm::StringRef valueBString,
|
||||
llvm::StringRef message, llvm::StringRef fileName,
|
||||
int lineNumber, llvm::StringRef funcName) {
|
||||
if (!(valueA != valueB)) {
|
||||
wpi_assertEqual_common_impl(valueAString, valueBString, "!=", message,
|
||||
fileName, lineNumber, funcName);
|
||||
}
|
||||
return valueA != valueB;
|
||||
}
|
||||
|
||||
namespace frc {
|
||||
|
||||
/**
|
||||
* Return the FPGA Version number.
|
||||
*
|
||||
* For now, expect this to be competition year.
|
||||
* @return FPGA Version number.
|
||||
*/
|
||||
int GetFPGAVersion() {
|
||||
int32_t status = 0;
|
||||
int version = HAL_GetFPGAVersion(&status);
|
||||
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
return version;
|
||||
}
|
||||
|
||||
/**
|
||||
* Return the FPGA Revision number.
|
||||
* The format of the revision is 3 numbers.
|
||||
* The 12 most significant bits are the Major Revision.
|
||||
* the next 8 bits are the Minor Revision.
|
||||
* The 12 least significant bits are the Build Number.
|
||||
* @return FPGA Revision number.
|
||||
*/
|
||||
int64_t GetFPGARevision() {
|
||||
int32_t status = 0;
|
||||
int64_t revision = HAL_GetFPGARevision(&status);
|
||||
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
return revision;
|
||||
}
|
||||
|
||||
/**
|
||||
* Read the microsecond-resolution timer on the FPGA.
|
||||
*
|
||||
* @return The current time in microseconds according to the FPGA (since FPGA
|
||||
* reset).
|
||||
*/
|
||||
uint64_t GetFPGATime() {
|
||||
int32_t status = 0;
|
||||
uint64_t time = HAL_GetFPGATime(&status);
|
||||
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
return time;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the state of the "USER" button on the roboRIO.
|
||||
*
|
||||
* @return True if the button is currently pressed down
|
||||
*/
|
||||
bool GetUserButton() {
|
||||
int32_t status = 0;
|
||||
|
||||
bool value = HAL_GetFPGAButton(&status);
|
||||
wpi_setGlobalError(status);
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
#ifndef _WIN32
|
||||
|
||||
/**
|
||||
* Demangle a C++ symbol, used for printing stack traces.
|
||||
*/
|
||||
static std::string demangle(char const* mangledSymbol) {
|
||||
char buffer[256];
|
||||
size_t length;
|
||||
int32_t status;
|
||||
|
||||
if (std::sscanf(mangledSymbol, "%*[^(]%*[(]%255[^)+]", buffer)) {
|
||||
char* symbol = abi::__cxa_demangle(buffer, nullptr, &length, &status);
|
||||
if (status == 0) {
|
||||
return symbol;
|
||||
} else {
|
||||
// If the symbol couldn't be demangled, it's probably a C function,
|
||||
// so just return it as-is.
|
||||
return buffer;
|
||||
}
|
||||
}
|
||||
|
||||
// If everything else failed, just return the mangled symbol
|
||||
return mangledSymbol;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get a stack trace, ignoring the first "offset" symbols.
|
||||
* @param offset The number of symbols at the top of the stack to ignore
|
||||
*/
|
||||
std::string GetStackTrace(int offset) {
|
||||
void* stackTrace[128];
|
||||
int stackSize = backtrace(stackTrace, 128);
|
||||
char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
|
||||
llvm::SmallString<1024> buf;
|
||||
llvm::raw_svector_ostream trace(buf);
|
||||
|
||||
for (int i = offset; i < stackSize; i++) {
|
||||
// Only print recursive functions once in a row.
|
||||
if (i == 0 || stackTrace[i] != stackTrace[i - 1]) {
|
||||
trace << "\tat " << demangle(mangledSymbols[i]) << "\n";
|
||||
}
|
||||
}
|
||||
|
||||
std::free(mangledSymbols);
|
||||
|
||||
return trace.str();
|
||||
}
|
||||
|
||||
#else
|
||||
static std::string demangle(char const* mangledSymbol) {
|
||||
return "no demangling on windows";
|
||||
}
|
||||
|
||||
std::string GetStackTrace(int offset) { return "no stack trace on windows"; }
|
||||
#endif
|
||||
|
||||
} // namespace frc
|
||||
Reference in New Issue
Block a user