allwpilib/wpilibc/src/main/native/cpp/ErrorBase.cpp

// 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 "frc/ErrorBase.h"

#include <cerrno>
#include <cstring>
#include <set>
#include <utility>

#include <hal/HALBase.h>
#include <wpi/Format.h>
#include <wpi/SmallString.h>
#include <wpi/mutex.h>
#include <wpi/raw_ostream.h>

#include "frc/Base.h"

using namespace frc;

namespace {
struct GlobalErrors {
  wpi::mutex mutex;
  std::set<Error> errors;
  const Error* lastError{nullptr};

  static GlobalErrors& GetInstance();
  static void Insert(const Error& error);
  static void Insert(Error&& error);
};
}  // namespace

GlobalErrors& GlobalErrors::GetInstance() {
  static GlobalErrors inst;
  return inst;
}

void GlobalErrors::Insert(const Error& error) {
  GlobalErrors& inst = GetInstance();
  std::scoped_lock lock(inst.mutex);
  inst.lastError = &(*inst.errors.insert(error).first);
}

void GlobalErrors::Insert(Error&& error) {
  GlobalErrors& inst = GetInstance();
  std::scoped_lock lock(inst.mutex);
  inst.lastError = &(*inst.errors.insert(std::move(error)).first);
}

ErrorBase::ErrorBase() {
  HAL_Initialize(500, 0);
}

Error& ErrorBase::GetError() {
  return m_error;
}

const Error& ErrorBase::GetError() const {
  return m_error;
}

void ErrorBase::ClearError() const {
  m_error.Clear();
}

void ErrorBase::SetErrnoError(const wpi::Twine& contextMessage,
                              wpi::StringRef filename, wpi::StringRef function,
                              int lineNumber) const {
  wpi::SmallString<128> buf;
  wpi::raw_svector_ostream err(buf);
  int errNo = errno;
  if (errNo == 0) {
    err << "OK: ";
  } else {
    err << std::strerror(errNo) << " (" << wpi::format_hex(errNo, 10, true)
        << "): ";
  }

  // Set the current error information for this object.
  m_error.Set(-1, err.str() + contextMessage, filename, function, lineNumber,
              this);

  // Update the global error if there is not one already set.
  GlobalErrors::Insert(m_error);
}

void ErrorBase::SetImaqError(int success, const wpi::Twine& contextMessage,
                             wpi::StringRef filename, wpi::StringRef function,
                             int lineNumber) const {
  // If there was an error
  if (success <= 0) {
    // Set the current error information for this object.
    m_error.Set(success, wpi::Twine(success) + ": " + contextMessage, filename,
                function, lineNumber, this);

    // Update the global error if there is not one already set.
    GlobalErrors::Insert(m_error);
  }
}

void ErrorBase::SetError(Error::Code code, const wpi::Twine& contextMessage,
                         wpi::StringRef filename, wpi::StringRef function,
                         int lineNumber) const {
  //  If there was an error
  if (code != 0) {
    //  Set the current error information for this object.
    m_error.Set(code, contextMessage, filename, function, lineNumber, this);

    // Update the global error if there is not one already set.
    GlobalErrors::Insert(m_error);
  }
}

void ErrorBase::SetErrorRange(Error::Code code, int32_t minRange,
                              int32_t maxRange, int32_t requestedValue,
                              const wpi::Twine& contextMessage,
                              wpi::StringRef filename, wpi::StringRef function,
                              int lineNumber) const {
  //  If there was an error
  if (code != 0) {
    //  Set the current error information for this object.
    m_error.Set(code,
                contextMessage + ", Minimum Value: " + wpi::Twine(minRange) +
                    ", MaximumValue: " + wpi::Twine(maxRange) +
                    ", Requested Value: " + wpi::Twine(requestedValue),
                filename, function, lineNumber, this);

    // Update the global error if there is not one already set.
    GlobalErrors::Insert(m_error);
  }
}

void ErrorBase::SetWPIError(const wpi::Twine& errorMessage, Error::Code code,
                            const wpi::Twine& contextMessage,
                            wpi::StringRef filename, wpi::StringRef function,
                            int lineNumber) const {
  //  Set the current error information for this object.
  m_error.Set(code, errorMessage + ": " + contextMessage, filename, function,
              lineNumber, this);

  // Update the global error if there is not one already set.
  GlobalErrors::Insert(m_error);
}

void ErrorBase::CloneError(const ErrorBase& rhs) const {
  m_error = rhs.GetError();
}

bool ErrorBase::StatusIsFatal() const {
  return m_error.GetCode() < 0;
}

void ErrorBase::SetGlobalError(Error::Code code,
                               const wpi::Twine& contextMessage,
                               wpi::StringRef filename, wpi::StringRef function,
                               int lineNumber) {
  // If there was an error
  if (code != 0) {
    // Set the current error information for this object.
    GlobalErrors::Insert(
        Error(code, contextMessage, filename, function, lineNumber, nullptr));
  }
}

void ErrorBase::SetGlobalWPIError(const wpi::Twine& errorMessage,
                                  const wpi::Twine& contextMessage,
                                  wpi::StringRef filename,
                                  wpi::StringRef function, int lineNumber) {
  GlobalErrors::Insert(Error(-1, errorMessage + ": " + contextMessage, filename,
                             function, lineNumber, nullptr));
}

Error ErrorBase::GetGlobalError() {
  auto& inst = GlobalErrors::GetInstance();
  std::scoped_lock mutex(inst.mutex);
  if (!inst.lastError) {
    return {};
  }
  return *inst.lastError;
}

std::vector<Error> ErrorBase::GetGlobalErrors() {
  auto& inst = GlobalErrors::GetInstance();
  std::scoped_lock mutex(inst.mutex);
  std::vector<Error> rv;
  for (auto&& error : inst.errors) {
    rv.push_back(error);
  }
  return rv;
}

void ErrorBase::ClearGlobalErrors() {
  auto& inst = GlobalErrors::GetInstance();
  std::scoped_lock mutex(inst.mutex);
  inst.errors.clear();
  inst.lastError = nullptr;
}