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[hal] Add ErrorInfo support to systemcore DS (#7488)

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Thad House
2024-12-07 14:14:21 -08:00
committed by GitHub
parent 52b33edcbd
commit e69c5710b3
8 changed files with 505 additions and 253 deletions
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372
hal/src/generated/main/native/cpp/mrc/protobuf/MrcComm.npb.cpp generated
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@@ -104,166 +104,212 @@ static const uint8_t file_descriptor[] {
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0x16,0x0a,0x0b,0x0a,0x04,0x04,0x06,0x02,0x03,0x12,
0x03,0x34,0x04,0x18,0x0a,0x0c,0x0a,0x05,0x04,0x06,
0x02,0x03,0x05,0x12,0x03,0x34,0x04,0x0a,0x0a,0x0c,
0x0a,0x05,0x04,0x06,0x02,0x03,0x01,0x12,0x03,0x34,
0x0b,0x13,0x0a,0x0c,0x0a,0x05,0x04,0x06,0x02,0x03,
0x03,0x12,0x03,0x34,0x16,0x17,0x0a,0x0b,0x0a,0x04,
0x04,0x06,0x02,0x04,0x12,0x03,0x35,0x04,0x19,0x0a,
0x0c,0x0a,0x05,0x04,0x06,0x02,0x04,0x05,0x12,0x03,
0x35,0x04,0x0a,0x0a,0x0c,0x0a,0x05,0x04,0x06,0x02,
0x04,0x01,0x12,0x03,0x35,0x0b,0x14,0x0a,0x0c,0x0a,
0x05,0x04,0x06,0x02,0x04,0x03,0x12,0x03,0x35,0x17,
0x18,0x62,0x06,0x70,0x72,0x6f,0x74,0x6f,0x33,
};
static const char file_name[] = "MrcComm.proto";
static const char mrc_proto_ProtobufJoystickData_name[] = "mrc.proto.ProtobufJoystickData";
@@ -302,4 +348,10 @@ pb_filedesc_t mrc_proto_ProtobufMatchInfo::file_descriptor(void) noexcept { retu
PB_BIND(mrc_proto_ProtobufMatchInfo, mrc_proto_ProtobufMatchInfo, AUTO)
static const char mrc_proto_ProtobufErrorInfo_name[] = "mrc.proto.ProtobufErrorInfo";
std::string_view mrc_proto_ProtobufErrorInfo::msg_name(void) noexcept { return mrc_proto_ProtobufErrorInfo_name; }
pb_filedesc_t mrc_proto_ProtobufErrorInfo::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
PB_BIND(mrc_proto_ProtobufErrorInfo, mrc_proto_ProtobufErrorInfo, AUTO)

29
hal/src/generated/main/native/cpp/mrc/protobuf/MrcComm.npb.h generated
View File

@@ -81,6 +81,18 @@ typedef struct _mrc_proto_ProtobufMatchInfo {
int32_t MatchType;
} mrc_proto_ProtobufMatchInfo;
typedef struct _mrc_proto_ProtobufErrorInfo {
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
static std::string_view msg_name(void) noexcept;
static pb_filedesc_t file_descriptor(void) noexcept;
bool IsError;
int32_t ErrorCode;
pb_callback_t Details;
pb_callback_t Location;
pb_callback_t CallStack;
} mrc_proto_ProtobufErrorInfo;
/* Initializer values for message structs */
#define mrc_proto_ProtobufJoystickData_init_default {0, 0, {{NULL}, NULL}, {{NULL}, NULL}}
@@ -89,12 +101,14 @@ typedef struct _mrc_proto_ProtobufMatchInfo {
#define mrc_proto_ProtobufJoystickOutputData_init_default {0, 0, 0}
#define mrc_proto_ProtobufVersionInfo_init_default {0, {{NULL}, NULL}, {{NULL}, NULL}}
#define mrc_proto_ProtobufMatchInfo_init_default {{{NULL}, NULL}, 0, 0, 0}
#define mrc_proto_ProtobufErrorInfo_init_default {0, 0, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
#define mrc_proto_ProtobufJoystickData_init_zero {0, 0, {{NULL}, NULL}, {{NULL}, NULL}}
#define mrc_proto_ProtobufControlData_init_zero {0, 0, {{NULL}, NULL}, {{NULL}, NULL}}
#define mrc_proto_ProtobufJoystickDescriptor_init_zero {{{NULL}, NULL}, {{NULL}, NULL}, 0, 0, 0, 0}
#define mrc_proto_ProtobufJoystickOutputData_init_zero {0, 0, 0}
#define mrc_proto_ProtobufVersionInfo_init_zero {0, {{NULL}, NULL}, {{NULL}, NULL}}
#define mrc_proto_ProtobufMatchInfo_init_zero {{{NULL}, NULL}, 0, 0, 0}
#define mrc_proto_ProtobufErrorInfo_init_zero {0, 0, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
/* Field tags (for use in manual encoding/decoding) */
#define mrc_proto_ProtobufJoystickData_ButtonCount_tag 1
@@ -121,6 +135,11 @@ typedef struct _mrc_proto_ProtobufMatchInfo {
#define mrc_proto_ProtobufMatchInfo_MatchNumber_tag 2
#define mrc_proto_ProtobufMatchInfo_ReplayNumber_tag 3
#define mrc_proto_ProtobufMatchInfo_MatchType_tag 4
#define mrc_proto_ProtobufErrorInfo_IsError_tag 1
#define mrc_proto_ProtobufErrorInfo_ErrorCode_tag 2
#define mrc_proto_ProtobufErrorInfo_Details_tag 3
#define mrc_proto_ProtobufErrorInfo_Location_tag 4
#define mrc_proto_ProtobufErrorInfo_CallStack_tag 5
/* Struct field encoding specification for nanopb */
#define mrc_proto_ProtobufJoystickData_FIELDLIST(X, a) \
@@ -172,12 +191,22 @@ X(a, STATIC, SINGULAR, INT32, MatchType, 4)
#define mrc_proto_ProtobufMatchInfo_CALLBACK pb_default_field_callback
#define mrc_proto_ProtobufMatchInfo_DEFAULT NULL
#define mrc_proto_ProtobufErrorInfo_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, BOOL, IsError, 1) \
X(a, STATIC, SINGULAR, SINT32, ErrorCode, 2) \
X(a, CALLBACK, SINGULAR, STRING, Details, 3) \
X(a, CALLBACK, SINGULAR, STRING, Location, 4) \
X(a, CALLBACK, SINGULAR, STRING, CallStack, 5)
#define mrc_proto_ProtobufErrorInfo_CALLBACK pb_default_field_callback
#define mrc_proto_ProtobufErrorInfo_DEFAULT NULL
/* Maximum encoded size of messages (where known) */
/* mrc_proto_ProtobufJoystickData_size depends on runtime parameters */
/* mrc_proto_ProtobufControlData_size depends on runtime parameters */
/* mrc_proto_ProtobufJoystickDescriptor_size depends on runtime parameters */
/* mrc_proto_ProtobufVersionInfo_size depends on runtime parameters */
/* mrc_proto_ProtobufMatchInfo_size depends on runtime parameters */
/* mrc_proto_ProtobufErrorInfo_size depends on runtime parameters */
#define MRC_PROTO_MRCCOMM_NPB_H_MAX_SIZE mrc_proto_ProtobufJoystickOutputData_size
#define mrc_proto_ProtobufJoystickOutputData_size 15

71
hal/src/main/native/cpp/proto/ErrorInfoProto.cpp Normal file
View File

@@ -0,0 +1,71 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <string>
#include <utility>
#include <wpi/protobuf/ProtobufCallbacks.h>
#include "hal/proto/ErrorInfo.h"
std::optional<mrc::ErrorInfo> wpi::Protobuf<mrc::ErrorInfo>::Unpack(
InputStream& Stream) {
wpi::UnpackCallback<std::string> DetailsCb;
wpi::UnpackCallback<std::string> LocationCb;
wpi::UnpackCallback<std::string> CallStackCb;
mrc_proto_ProtobufErrorInfo Msg{
.IsError = false,
.ErrorCode = 0,
.Details = DetailsCb.Callback(),
.Location = LocationCb.Callback(),
.CallStack = CallStackCb.Callback(),
};
if (!Stream.Decode(Msg)) {
return {};
}
auto Details = DetailsCb.Items();
auto Location = LocationCb.Items();
auto CallStack = CallStackCb.Items();
mrc::ErrorInfo ToRet;
ToRet.IsError = Msg.IsError;
ToRet.ErrorCode = Msg.ErrorCode;
if (!Details.empty()) {
ToRet.MoveDetails(std::move(Details[0]));
}
if (!Location.empty()) {
ToRet.MoveLocation(std::move(Location[0]));
}
if (!CallStack.empty()) {
ToRet.MoveCallStack(std::move(CallStack[0]));
}
return ToRet;
}
bool wpi::Protobuf<mrc::ErrorInfo>::Pack(OutputStream& Stream,
const mrc::ErrorInfo& Value) {
std::string_view DetailsView = Value.GetDetails();
std::string_view LocationView = Value.GetLocation();
std::string_view CallStackView = Value.GetCallStack();
wpi::PackCallback DetailsCb{&DetailsView};
wpi::PackCallback LocationCb{&LocationView};
wpi::PackCallback CallStackCb{&CallStackView};
mrc_proto_ProtobufErrorInfo Msg{
.IsError = Value.IsError,
.ErrorCode = Value.ErrorCode,
.Details = DetailsCb.Callback(),
.Location = LocationCb.Callback(),
.CallStack = CallStackCb.Callback(),
};
return Stream.Encode(Msg);
}

21
hal/src/main/native/include/hal/proto/ErrorInfo.h Normal file
View File

@@ -0,0 +1,21 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <stdint.h>
#include <wpi/protobuf/Protobuf.h>
#include "MrcComm.npb.h"
#include "mrc/NetComm.h"
template <>
struct wpi::Protobuf<mrc::ErrorInfo> {
using MessageStruct = mrc_proto_ProtobufErrorInfo;
using InputStream = wpi::ProtoInputStream<mrc::ErrorInfo>;
using OutputStream = wpi::ProtoOutputStream<mrc::ErrorInfo>;
static std::optional<mrc::ErrorInfo> Unpack(InputStream& Stream);
static bool Pack(OutputStream& Stream, const mrc::ErrorInfo& Value);
};

164
hal/src/main/native/systemcore/FRCDriverStation.cpp
View File

@@ -31,6 +31,7 @@
#include "hal/DriverStation.h"
#include "hal/Errors.h"
#include "hal/proto/ControlData.h"
#include "hal/proto/ErrorInfo.h"
#include "hal/proto/JoystickDescriptor.h"
#include "hal/proto/JoystickOutputData.h"
#include "hal/proto/MatchInfo.h"
@@ -77,6 +78,7 @@ struct SystemServerDriverStation {
nt::StringPublisher versionPublisher;
nt::StringPublisher consoleLinePublisher;
nt::ProtobufPublisher<mrc::ErrorInfo> errorInfoPublisher;
std::array<nt::ProtobufPublisher<mrc::JoystickOutputData>,
MRC_MAX_NUM_JOYSTICKS>
@@ -122,6 +124,10 @@ struct SystemServerDriverStation {
consoleLinePublisher =
ntInst.GetStringTopic(ROBOT_CONSOLE_LINE_PATH).Publish(options);
errorInfoPublisher =
ntInst.GetProtobufTopic<mrc::ErrorInfo>(ROBOT_ERROR_INFO_PATH)
.Publish(options);
versionPublisher =
ntInst.GetStringTopic(ROBOT_LIB_VERSION_PATH).Publish(options);
@@ -342,102 +348,74 @@ extern "C" {
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg) {
return 0;
// // Avoid flooding console by keeping track of previous 5 error
// // messages and only printing again if they're longer than 1 second old.
// static constexpr int KEEP_MSGS = 5;
// std::scoped_lock lock(msgMutex);
// static std::string prevMsg[KEEP_MSGS];
// static std::chrono::time_point<std::chrono::steady_clock>
// prevMsgTime[KEEP_MSGS];
// static bool initialized = false;
// if (!initialized) {
// for (int i = 0; i < KEEP_MSGS; i++) {
// prevMsgTime[i] =
// std::chrono::steady_clock::now() - std::chrono::seconds(2);
// }
// initialized = true;
// }
// Avoid flooding console by keeping track of previous 5 error
// messages and only printing again if they're longer than 1 second old.
static constexpr int KEEP_MSGS = 5;
std::scoped_lock lock(msgMutex);
static std::string prevMsg[KEEP_MSGS];
static std::chrono::time_point<std::chrono::steady_clock>
prevMsgTime[KEEP_MSGS];
static bool initialized = false;
if (!initialized) {
for (int i = 0; i < KEEP_MSGS; i++) {
prevMsgTime[i] =
std::chrono::steady_clock::now() - std::chrono::seconds(2);
}
initialized = true;
}
// auto curTime = std::chrono::steady_clock::now();
// int i;
// for (i = 0; i < KEEP_MSGS; ++i) {
// if (prevMsg[i] == details) {
// break;
// }
// }
// int retval = 0;
// if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >=
// std::chrono::seconds(1)) {
// std::string_view detailsRef{details};
// std::string_view locationRef{location};
// std::string_view callStackRef{callStack};
auto curTime = std::chrono::steady_clock::now();
int i;
for (i = 0; i < KEEP_MSGS; ++i) {
if (prevMsg[i] == details) {
break;
}
}
int retval = 0;
if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= std::chrono::seconds(1)) {
std::string_view detailsRef{details};
std::string_view locationRef{location};
std::string_view callStackRef{callStack};
// // 2 size, 1 tag, 4 timestamp, 2 seqnum
// // 2 numOccur, 4 error code, 1 flags, 6 strlen
// // 1 extra needed for padding on Netcomm end.
// size_t baseLength = 23;
mrc::ErrorInfo errorInfo;
errorInfo.IsError = isError ? 1 : 0;
errorInfo.ErrorCode = errorCode;
errorInfo.SetDetails(details);
errorInfo.SetLocation(location);
errorInfo.SetCallStack(callStack);
// if (baseLength + detailsRef.size() + locationRef.size() +
// callStackRef.size() <=
// 65535) {
// // Pass through
// retval = FRC_NetworkCommunication_sendError(isError, errorCode,
// isLVCode,
// details, location,
// callStack);
// } else if (baseLength + detailsRef.size() > 65535) {
// // Details too long, cut both location and stack
// auto newLen = 65535 - baseLength;
// std::string newDetails{details, newLen};
// char empty = '\0';
// retval = FRC_NetworkCommunication_sendError(
// isError, errorCode, isLVCode, newDetails.c_str(), &empty, &empty);
// } else if (baseLength + detailsRef.size() + locationRef.size() > 65535) {
// // Location too long, cut stack
// auto newLen = 65535 - baseLength - detailsRef.size();
// std::string newLocation{location, newLen};
// char empty = '\0';
// retval = FRC_NetworkCommunication_sendError(
// isError, errorCode, isLVCode, details, newLocation.c_str(),
// &empty);
// } else {
// // Stack too long
// auto newLen = 65535 - baseLength - detailsRef.size() -
// locationRef.size(); std::string newCallStack{callStack, newLen}; retval
// = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
// details, location,
// newCallStack.c_str());
// }
// if (printMsg) {
// fmt::memory_buffer buf;
// if (location && location[0] != '\0') {
// fmt::format_to(fmt::appender{buf},
// "{} at {}: ", isError ? "Error" : "Warning",
// location);
// }
// fmt::format_to(fmt::appender{buf}, "{}\n", details);
// if (callStack && callStack[0] != '\0') {
// fmt::format_to(fmt::appender{buf}, "{}\n", callStack);
// }
// auto printError = gPrintErrorImpl.load();
// printError(buf.data(), buf.size());
// }
// if (i == KEEP_MSGS) {
// // replace the oldest one
// i = 0;
// auto first = prevMsgTime[0];
// for (int j = 1; j < KEEP_MSGS; ++j) {
// if (prevMsgTime[j] < first) {
// first = prevMsgTime[j];
// i = j;
// }
// }
// prevMsg[i] = details;
// }
// prevMsgTime[i] = curTime;
// }
// return retval;
fmt::print("{}\n", errorInfo.GetCallStack());
systemServerDs->errorInfoPublisher.Set(errorInfo);
if (printMsg) {
fmt::memory_buffer buf;
if (location && location[0] != '\0') {
fmt::format_to(fmt::appender{buf},
"{} at {}: ", isError ? "Error" : "Warning", location);
}
fmt::format_to(fmt::appender{buf}, "{}\n", details);
if (callStack && callStack[0] != '\0') {
fmt::format_to(fmt::appender{buf}, "{}\n", callStack);
}
auto printError = gPrintErrorImpl.load();
printError(buf.data(), buf.size());
}
if (i == KEEP_MSGS) {
// replace the oldest one
i = 0;
auto first = prevMsgTime[0];
for (int j = 1; j < KEEP_MSGS; ++j) {
if (prevMsgTime[j] < first) {
first = prevMsgTime[j];
i = j;
}
}
prevMsg[i] = details;
}
prevMsgTime[i] = curTime;
}
return retval;
}
void HAL_SetPrintErrorImpl(void (*func)(const char* line, size_t size)) {

91
hal/src/mrc/include/mrc/NetComm.h
View File

@@ -178,6 +178,12 @@ struct MatchInfo {
EventName.size()};
}
bool operator==(const MatchInfo& Other) const {
return MatchNumber == Other.MatchNumber &&
ReplayNumber == Other.ReplayNumber && Type == Other.Type &&
EventName == Other.EventName;
}
private:
std::string EventName;
};
@@ -305,4 +311,89 @@ struct VersionInfo {
std::string Version;
};
struct ErrorInfo {
bool IsError{false};
int32_t ErrorCode{0};
void SetDetails(std::string_view NewDetails) {
if (NewDetails.size() > MRC_MAX_ERROR_INFO_STR_LEN) {
NewDetails = NewDetails.substr(0, MRC_MAX_ERROR_INFO_STR_LEN);
}
Details = NewDetails;
}
void MoveDetails(std::string&& NewDetails) {
Details = std::move(NewDetails);
if (Details.size() > MRC_MAX_ERROR_INFO_STR_LEN) {
Details.resize(MRC_MAX_ERROR_INFO_STR_LEN);
}
}
std::string_view GetDetails() const { return Details; }
std::span<uint8_t> WritableDetailsBuffer(size_t Len) {
if (Len > MRC_MAX_ERROR_INFO_STR_LEN) {
Len = MRC_MAX_ERROR_INFO_STR_LEN;
}
Details.resize(Len);
return std::span<uint8_t>{reinterpret_cast<uint8_t*>(Details.data()),
Details.size()};
}
void SetLocation(std::string_view NewLocation) {
if (NewLocation.size() > MRC_MAX_ERROR_INFO_STR_LEN) {
NewLocation = NewLocation.substr(0, MRC_MAX_ERROR_INFO_STR_LEN);
}
Location = NewLocation;
}
void MoveLocation(std::string&& NewLocation) {
Location = std::move(NewLocation);
if (Location.size() > MRC_MAX_ERROR_INFO_STR_LEN) {
Location.resize(MRC_MAX_ERROR_INFO_STR_LEN);
}
}
std::string_view GetLocation() const { return Location; }
std::span<uint8_t> WritableLocationBuffer(size_t Len) {
if (Len > MRC_MAX_ERROR_INFO_STR_LEN) {
Len = MRC_MAX_ERROR_INFO_STR_LEN;
}
Location.resize(Len);
return std::span<uint8_t>{reinterpret_cast<uint8_t*>(Location.data()),
Location.size()};
}
void SetCallStack(std::string_view NewCallStack) {
if (NewCallStack.size() > MRC_MAX_ERROR_INFO_STR_LEN) {
NewCallStack = NewCallStack.substr(0, MRC_MAX_ERROR_INFO_STR_LEN);
}
CallStack = NewCallStack;
}
void MoveCallStack(std::string&& NewCallStack) {
CallStack = std::move(NewCallStack);
if (CallStack.size() > MRC_MAX_ERROR_INFO_STR_LEN) {
CallStack.resize(MRC_MAX_ERROR_INFO_STR_LEN);
}
}
std::string_view GetCallStack() const { return CallStack; }
std::span<uint8_t> WritableCallStackBuffer(size_t Len) {
if (Len > MRC_MAX_ERROR_INFO_STR_LEN) {
Len = MRC_MAX_ERROR_INFO_STR_LEN;
}
CallStack.resize(Len);
return std::span<uint8_t>{reinterpret_cast<uint8_t*>(CallStack.data()),
CallStack.size()};
}
private:
std::string Details;
std::string Location;
std::string CallStack;
};
} // namespace mrc

2
hal/src/mrc/include/mrc/NtNetComm.h
View File

@@ -31,6 +31,7 @@
#define ROBOT_CONSOLE_DATA_PREFIX "/Netcomm/Console/"
#define ROBOT_CONSOLE_LINE_PATH (ROBOT_CONSOLE_DATA_PREFIX "ConsoleLine")
#define ROBOT_ERROR_INFO_PATH (ROBOT_CONSOLE_DATA_PREFIX "ErrorInfo")
#define ROBOT_REPORTING_DATA_PREFIX "/Netcomm/Reporting/"
#define ROBOT_LIB_VERSION_PATH (ROBOT_REPORTING_DATA_PREFIX "LibVersion")
@@ -58,3 +59,4 @@
#define MRC_MAX_EVENT_NAME_LEN 64
#define MRC_MAX_JOYSTICK_NAME_LEN 256
#define MRC_MAX_VERSION_SIZE 256
#define MRC_MAX_ERROR_INFO_STR_LEN 10000

8
hal/src/mrc/proto/MrcComm.proto
View File

@@ -45,3 +45,11 @@ message ProtobufMatchInfo {
int32 ReplayNumber = 3;
int32 MatchType = 4;
}
message ProtobufErrorInfo {
bool IsError = 1;
sint32 ErrorCode = 2;
string Details = 3;
string Location = 4;
string CallStack = 5;
}