mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
217 lines
8.9 KiB
C++
217 lines
8.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 FIRST. 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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#pragma once
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#include <vector>
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#include <wpi/StringRef.h>
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#include <wpi/Twine.h>
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#include <wpi/mutex.h>
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#include "frc/Base.h"
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#include "frc/Error.h"
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#define wpi_setErrnoErrorWithContext(context) \
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this->SetErrnoError((context), __FILE__, __FUNCTION__, __LINE__)
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#define wpi_setErrnoError() wpi_setErrnoErrorWithContext("")
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#define wpi_setImaqErrorWithContext(code, context) \
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do { \
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if ((code) != 0) \
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this->SetImaqError((code), (context), __FILE__, __FUNCTION__, __LINE__); \
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} while (0)
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#define wpi_setErrorWithContext(code, context) \
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do { \
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if ((code) != 0) \
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this->SetError((code), (context), __FILE__, __FUNCTION__, __LINE__); \
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} while (0)
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#define wpi_setErrorWithContextRange(code, min, max, req, context) \
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do { \
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if ((code) != 0) \
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this->SetErrorRange((code), (min), (max), (req), (context), __FILE__, \
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__FUNCTION__, __LINE__); \
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} while (0)
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#define wpi_setError(code) wpi_setErrorWithContext(code, "")
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#define wpi_setStaticErrorWithContext(object, code, context) \
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do { \
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if ((code) != 0) \
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object->SetError((code), (context), __FILE__, __FUNCTION__, __LINE__); \
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} while (0)
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#define wpi_setStaticError(object, code) \
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wpi_setStaticErrorWithContext(object, code, "")
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#define wpi_setGlobalErrorWithContext(code, context) \
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do { \
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if ((code) != 0) \
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::frc::ErrorBase::SetGlobalError((code), (context), __FILE__, \
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__FUNCTION__, __LINE__); \
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} while (0)
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#define wpi_setGlobalError(code) wpi_setGlobalErrorWithContext(code, "")
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#define wpi_setWPIErrorWithContext(error, context) \
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this->SetWPIError(wpi_error_s_##error(), wpi_error_value_##error(), \
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(context), __FILE__, __FUNCTION__, __LINE__)
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#define wpi_setWPIError(error) (wpi_setWPIErrorWithContext(error, ""))
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#define wpi_setStaticWPIErrorWithContext(object, error, context) \
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object->SetWPIError(wpi_error_s_##error(), (context), __FILE__, \
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__FUNCTION__, __LINE__)
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#define wpi_setStaticWPIError(object, error) \
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wpi_setStaticWPIErrorWithContext(object, error, "")
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#define wpi_setGlobalWPIErrorWithContext(error, context) \
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::frc::ErrorBase::SetGlobalWPIError(wpi_error_s_##error(), (context), \
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__FILE__, __FUNCTION__, __LINE__)
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#define wpi_setGlobalWPIError(error) wpi_setGlobalWPIErrorWithContext(error, "")
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namespace frc {
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/**
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* Base class for most objects.
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*
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* ErrorBase is the base class for most objects since it holds the generated
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* error for that object. In addition, there is a single instance of a global
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* error object.
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*/
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class ErrorBase {
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// TODO: Consider initializing instance variables and cleanup in destructor
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public:
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ErrorBase();
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virtual ~ErrorBase() = default;
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ErrorBase(const ErrorBase&) = default;
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ErrorBase& operator=(const ErrorBase&) = default;
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ErrorBase(ErrorBase&&) = default;
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ErrorBase& operator=(ErrorBase&&) = default;
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/**
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* @brief Retrieve the current error.
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*
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* Get the current error information associated with this sensor.
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*/
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virtual Error& GetError();
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/**
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* @brief Retrieve the current error.
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*
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* Get the current error information associated with this sensor.
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*/
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virtual const Error& GetError() const;
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/**
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* @brief Clear the current error information associated with this sensor.
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*/
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virtual void ClearError() const;
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/**
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* @brief Set error information associated with a C library call that set an
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* error to the "errno" global variable.
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*
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* @param contextMessage A custom message from the code that set the error.
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* @param filename Filename of the error source
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* @param function Function of the error source
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* @param lineNumber Line number of the error source
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*/
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virtual void SetErrnoError(const wpi::Twine& contextMessage,
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wpi::StringRef filename, wpi::StringRef function,
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int lineNumber) const;
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/**
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* @brief Set the current error information associated from the nivision Imaq
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* API.
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*
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* @param success The return from the function
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* @param contextMessage A custom message from the code that set the error.
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* @param filename Filename of the error source
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* @param function Function of the error source
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* @param lineNumber Line number of the error source
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*/
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virtual void SetImaqError(int success, const wpi::Twine& contextMessage,
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wpi::StringRef filename, wpi::StringRef function,
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int lineNumber) const;
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/**
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* @brief Set the current error information associated with this sensor.
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*
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* @param code The error code
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* @param contextMessage A custom message from the code that set the error.
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* @param filename Filename of the error source
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* @param function Function of the error source
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* @param lineNumber Line number of the error source
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*/
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virtual void SetError(Error::Code code, const wpi::Twine& contextMessage,
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wpi::StringRef filename, wpi::StringRef function,
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int lineNumber) const;
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/**
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* @brief Set the current error information associated with this sensor.
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* Range versions use for initialization code.
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*
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* @param code The error code
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* @param minRange The minimum allowed allocation range
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* @param maxRange The maximum allowed allocation range
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* @param requestedValue The requested value to allocate
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* @param contextMessage A custom message from the code that set the error.
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* @param filename Filename of the error source
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* @param function Function of the error source
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* @param lineNumber Line number of the error source
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*/
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virtual void SetErrorRange(Error::Code code, int32_t minRange,
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int32_t maxRange, int32_t requestedValue,
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const wpi::Twine& contextMessage,
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wpi::StringRef filename, wpi::StringRef function,
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int lineNumber) const;
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/**
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* @brief Set the current error information associated with this sensor.
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*
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* @param errorMessage The error message from WPIErrors.h
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* @param contextMessage A custom message from the code that set the error.
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* @param filename Filename of the error source
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* @param function Function of the error source
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* @param lineNumber Line number of the error source
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*/
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virtual void SetWPIError(const wpi::Twine& errorMessage, Error::Code code,
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const wpi::Twine& contextMessage,
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wpi::StringRef filename, wpi::StringRef function,
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int lineNumber) const;
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virtual void CloneError(const ErrorBase& rhs) const;
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/**
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* @brief Check if the current error code represents a fatal error.
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*
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* @return true if the current error is fatal.
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*/
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virtual bool StatusIsFatal() const;
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static void SetGlobalError(Error::Code code, const wpi::Twine& contextMessage,
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wpi::StringRef filename, wpi::StringRef function,
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int lineNumber);
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static void SetGlobalWPIError(const wpi::Twine& errorMessage,
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const wpi::Twine& contextMessage,
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wpi::StringRef filename,
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wpi::StringRef function, int lineNumber);
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/**
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* Retrieve the last global error.
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*/
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static Error GetGlobalError();
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/**
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* Retrieve all global errors.
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*/
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static std::vector<Error> GetGlobalErrors();
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/**
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* Clear global errors.
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*/
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void ClearGlobalErrors();
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protected:
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mutable Error m_error;
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};
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} // namespace frc
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