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[hal] Fix CAN ID validation and reporting for CTRE and REV devices (#7178)

Browse Source 
REV: 1-63, 63 devices
CTRE: 0-62, 63 devices
This commit is contained in:
Ryan Blue
2024-10-11 01:06:53 -04:00
committed by GitHub
parent a65f6b94ee
commit fc83d4868c
7 changed files with 30 additions and 16 deletions
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2
hal/src/main/native/athena/CTREPCM.cpp
View File

@@ -185,7 +185,7 @@ HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
pcm->previousAllocation);
} else {
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PCM", 0,
kNumCTREPCMModules, module);
kNumCTREPCMModules - 1, module);
}
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
}

7
hal/src/main/native/athena/CTREPDP.cpp
View File

@@ -133,8 +133,9 @@ HAL_PDPHandle HAL_InitializePDP(int32_t module, const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, fmt::format("Invalid pdp module {}", module));
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
kNumCTREPDPModules - 1, module);
return HAL_kInvalidHandle;
}
@@ -147,7 +148,7 @@ HAL_PDPHandle HAL_InitializePDP(int32_t module, const char* allocationLocation,
pdp->previousAllocation);
} else {
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
kNumCTREPDPModules, module);
kNumCTREPDPModules - 1, module);
}
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
}

9
hal/src/main/native/athena/REVPDH.cpp
View File

@@ -205,17 +205,20 @@ HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t module,
hal::init::CheckInit();
if (!HAL_CheckREVPDHModuleNumber(module)) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
kNumREVPDHModules, module);
return HAL_kInvalidHandle;
}
HAL_REVPDHHandle handle;
auto hpdh = REVPDHHandles->Allocate(module, &handle, status);
// Module starts at 1
auto hpdh = REVPDHHandles->Allocate(module - 1, &handle, status);
if (*status != 0) {
if (hpdh) {
hal::SetLastErrorPreviouslyAllocated(status, "REV PDH", module,
hpdh->previousAllocation);
} else {
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 0,
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
kNumREVPDHModules, module);
}
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
@@ -253,7 +256,7 @@ int32_t HAL_GetREVPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status) {
}
HAL_Bool HAL_CheckREVPDHModuleNumber(int32_t module) {
return ((module >= 1) && (module < kNumREVPDHModules)) ? 1 : 0;
return ((module >= 1) && (module <= kNumREVPDHModules)) ? 1 : 0;
}
HAL_Bool HAL_CheckREVPDHChannelNumber(int32_t channel) {

6
hal/src/main/native/athena/REVPH.cpp
View File

@@ -196,13 +196,15 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
int32_t* status) {
hal::init::CheckInit();
if (!HAL_CheckREVPHModuleNumber(module)) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
kNumREVPHModules, module);
return HAL_kInvalidHandle;
}
HAL_REVPHHandle handle;
auto hph = REVPHHandles->Allocate(module, &handle, status);
// Module starts at 1
auto hph = REVPHHandles->Allocate(module - 1, &handle, status);
if (*status != 0) {
if (hph) {
hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
@@ -247,7 +249,7 @@ void HAL_FreeREVPH(HAL_REVPHHandle handle) {
}
HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module) {
return module >= 1 && module < kNumREVPDHModules;
return module >= 1 && module <= kNumREVPHModules;
}
HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel) {

2
hal/src/main/native/sim/CTREPCM.cpp
View File

@@ -49,7 +49,7 @@ HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
pcm->previousAllocation);
} else {
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PCM", 0,
kNumCTREPCMModules, module);
kNumCTREPCMModules - 1, module);
}
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
}

12
hal/src/main/native/sim/PowerDistribution.cpp
View File

@@ -44,8 +44,14 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
}
if (!HAL_CheckPowerDistributionModule(module, type)) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, fmt::format("Invalid pdp module {}", module));
*status = RESOURCE_OUT_OF_RANGE;
if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
kNumCTREPDPModules - 1, module);
} else {
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
kNumREVPDHModules, module);
}
return HAL_kInvalidHandle;
}
hal::init::CheckInit();
@@ -74,7 +80,7 @@ HAL_Bool HAL_CheckPowerDistributionModule(int32_t module,
if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
return module < kNumCTREPDPModules && module >= 0;
} else {
return module < kNumREVPDHModules && module >= 1;
return module <= kNumREVPDHModules && module >= 1;
}
}

8
hal/src/main/native/sim/REVPH.cpp
View File

@@ -40,14 +40,16 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
int32_t* status) {
hal::init::CheckInit();
if (module == 0) {
if (!HAL_CheckREVPHModuleNumber(module)) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
kNumREVPHModules, module);
return HAL_kInvalidHandle;
}
HAL_REVPHHandle handle;
auto pcm = pcmHandles->Allocate(module, &handle, status);
// Module starts at 1
auto pcm = pcmHandles->Allocate(module - 1, &handle, status);
if (*status != 0) {
if (pcm) {
@@ -82,7 +84,7 @@ void HAL_FreeREVPH(HAL_REVPHHandle handle) {
}
HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module) {
return module >= 1 && module < kNumREVPDHModules;
return module >= 1 && module <= kNumREVPHModules;
}
HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel) {