mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
9bcff37b93
Cleans up error writing, and allows fewer headers to be included in many of the wpilibc cpp files. This removes all usages of the hal/HAL.h header.
245 lines
10 KiB
C++
245 lines
10 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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// Forward declared manually to avoid needing to pull in entire HAL header.
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extern "C" const char* HAL_GetErrorMessage(int32_t code);
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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_setHALError(code) \
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do { \
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if ((code) != 0) \
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this->SetError((code), HAL_GetErrorMessage(code), __FILE__, \
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__FUNCTION__, __LINE__); \
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} while (0)
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#define wpi_setHALErrorWithRange(code, min, max, req) \
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do { \
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if ((code) != 0) \
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this->SetErrorRange((code), (min), (max), (req), \
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HAL_GetErrorMessage(code), __FILE__, __FUNCTION__, \
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__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_setGlobalHALError(code) \
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do { \
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if ((code) != 0) \
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::frc::ErrorBase::SetGlobalError((code), HAL_GetErrorMessage(code), \
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__FILE__, __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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