mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
Renamed folders for consistency, using sim/athena/shared schema (#27)
Rename the following folders: hal/lib/Athena -> hal/lib/athena hal/lib/Desktop -> hal/lib/sim hal/lib/Shared -> hal/lib/shared wpilibc/Athena -> wpilibc/athena wpilibc/simulation -> wpilibc/sim Windows users may need to run gradlew clean after updating.
This commit is contained in:
Peter Mitrano
committed by
Peter Johnson
Peter Johnson
parent
54092378e9
commit
e71f454b9d
212
wpilibc/sim/src/Utility.cpp
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212
wpilibc/sim/src/Utility.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "Utility.h"
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#include <stdio.h>
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#include <string.h>
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#include "Timer.h"
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#include "simulation/simTime.h"
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#include <cstdio>
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#include <cstdlib>
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#include <cstring>
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#include <iostream>
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#include <sstream>
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#if not defined(_WIN32)
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#include <cxxabi.h>
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#include <execinfo.h>
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#endif
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static bool stackTraceEnabled = false;
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static bool suspendOnAssertEnabled = false;
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/**
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* Enable Stack trace after asserts.
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*/
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void wpi_stackTraceOnAssertEnable(bool enabled) { stackTraceEnabled = enabled; }
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/**
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* Enable suspend on asssert.
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*
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* If enabled, the user task will be suspended whenever an assert fails. This
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* will allow the user to attach to the task with the debugger and examine
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* variables around the failure.
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*/
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void wpi_suspendOnAssertEnabled(bool enabled) {
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suspendOnAssertEnabled = enabled;
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}
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static void wpi_handleTracing() {
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// if (stackTraceEnabled)
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// {
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// printf("\n-----------<Stack Trace>----------------\n");
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// printCurrentStackTrace();
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// }
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printf("\n");
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}
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/**
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* Assert implementation.
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* This allows breakpoints to be set on an assert.
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* The users don't call this, but instead use the wpi_assert macros in
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* Utility.h.
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*/
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bool wpi_assert_impl(bool conditionValue, const char* conditionText,
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const char* message, const char* fileName,
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uint32_t lineNumber, const char* funcName) {
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if (!conditionValue) {
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std::stringstream errorStream;
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errorStream << "Assertion \"" << conditionText << "\" ";
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errorStream << "on line " << lineNumber << " ";
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errorStream << "of " << basename(fileName) << " ";
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if (message[0] != '\0') {
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errorStream << "failed: " << message << std::endl;
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} else {
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errorStream << "failed." << std::endl;
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}
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// Print to console and send to remote dashboard
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std::cout << "\n\n>>>>" << errorStream.str();
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wpi_handleTracing();
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}
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return conditionValue;
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}
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/**
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* Common error routines for wpi_assertEqual_impl and wpi_assertNotEqual_impl
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* This should not be called directly; it should only be used by
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* wpi_assertEqual_impl and wpi_assertNotEqual_impl.
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*/
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void wpi_assertEqual_common_impl(int valueA, int valueB,
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const std::string& equalityType,
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const std::string& message,
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const std::string& fileName,
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uint32_t lineNumber,
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const std::string& funcName) {
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// Error string buffer
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std::stringstream error;
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// If an error message was specified, include it
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// Build error string
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if (message.size() > 0) {
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error << "Assertion failed: \"" << message << "\", \"" << valueA << "\" "
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<< equalityType << " \"" << valueB << "\" in " << funcName << "() in "
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<< fileName << " at line " << lineNumber << "\n";
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} else {
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error << "Assertion failed: \"" << valueA << "\" " << equalityType << " \""
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<< valueB << "\" in " << funcName << "() in " << fileName
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<< " at line " << lineNumber << "\n";
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}
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// Print to console and send to remote dashboard
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std::cout << "\n\n>>>>" << error.str();
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wpi_handleTracing();
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}
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/**
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* Assert equal implementation.
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* This determines whether the two given integers are equal. If not,
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* the value of each is printed along with an optional message string.
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* The users don't call this, but instead use the wpi_assertEqual macros in
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* Utility.h.
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*/
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bool wpi_assertEqual_impl(int valueA, int valueB, const std::string& message,
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const std::string& fileName, uint32_t lineNumber,
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const std::string& funcName) {
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if (!(valueA == valueB)) {
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wpi_assertEqual_common_impl(valueA, valueB, "!=", message, fileName,
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lineNumber, funcName);
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}
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return valueA == valueB;
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}
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/**
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* Assert not equal implementation.
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* This determines whether the two given integers are equal. If so,
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* the value of each is printed along with an optional message string.
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* The users don't call this, but instead use the wpi_assertNotEqual macros in
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* Utility.h.
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*/
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bool wpi_assertNotEqual_impl(int valueA, int valueB, const std::string& message,
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const std::string& fileName, uint32_t lineNumber,
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const std::string& funcName) {
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if (!(valueA != valueB)) {
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wpi_assertEqual_common_impl(valueA, valueB, "==", message, fileName,
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lineNumber, funcName);
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}
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return valueA != valueB;
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}
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/**
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* Read the microsecond-resolution timer on the FPGA.
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*
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* @return The current time in microseconds according to the FPGA (since FPGA
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* reset).
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*/
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uint64_t GetFPGATime() { return wpilib::internal::simTime * 1e6; }
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// TODO: implement symbol demangling and backtrace on windows
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#if not defined(_WIN32)
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/**
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* Demangle a C++ symbol, used for printing stack traces.
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*/
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static std::string demangle(char const* mangledSymbol) {
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char buffer[256];
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size_t length;
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int status;
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if (sscanf(mangledSymbol, "%*[^(]%*[^_]%255[^)+]", buffer)) {
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char* symbol = abi::__cxa_demangle(buffer, nullptr, &length, &status);
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if (status == 0) {
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return symbol;
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} else {
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// If the symbol couldn't be demangled, it's probably a C function,
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// so just return it as-is.
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return buffer;
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}
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}
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// If everything else failed, just return the mangled symbol
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return mangledSymbol;
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}
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/**
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* Get a stack trace, ignoring the first "offset" symbols.
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*/
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std::string GetStackTrace(uint32_t offset) {
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void* stackTrace[128];
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int stackSize = backtrace(stackTrace, 128);
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char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
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std::stringstream trace;
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for (int i = offset; i < stackSize; i++) {
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// Only print recursive functions once in a row.
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if (i == 0 || stackTrace[i] != stackTrace[i - 1]) {
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trace << "\tat " << demangle(mangledSymbols[i]) << std::endl;
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}
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}
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free(mangledSymbols);
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return trace.str();
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}
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#else
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static std::string demangle(char const* mangledSymbol) {
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return "no demangling on windows";
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}
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std::string GetStackTrace(uint32_t offset) {
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return "no stack trace on windows";
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}
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#endif
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