commit 1f1dca328a5a0e8642b8d4ad161414ee4401c774
author milind <milind.upadhyay@gmail.com> Sat Jul 03 13:50:07 2021 -0700
committer milind-u <milind.upadhyay@gmail.com> Sat Nov 27 14:16:02 2021 -0800
tree 64421741eb1a070334dd70b82ab0499f51536307
parent 8a3be990c6cecd1c4cf71df73c9c6be7d24a03cf

Create an enum for sender errors

Will replace usages of bools, and will now currently only be used
for indicating that messages were sent too fast

After we merge this commit we will replace this enum with a general
Status class for all of aos, similar to absl::Status.

Change-Id: I4b5b2e7685744b3c6826a241cd3c84190eaa96ee
Signed-off-by: milind-u <milind.upadhyay@gmail.com>

y2016/control_loops/shooter/shooter.cc

diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 8b719c3..d317d4f 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -186,12 +186,12 @@
       output_builder.add_push_to_shooter(shoot);
     }
 
-    output->Send(output_builder.Finish());
+    output->CheckOk(output->Send(output_builder.Finish()));
   }
 
   status_builder.add_shots(shots_);
 
-  status->Send(status_builder.Finish());
+  (void)status->Send(status_builder.Finish());
 }
 
 }  // namespace shooter

y2016/control_loops/shooter/shooter_lib_test.cc

diff --git a/y2016/control_loops/shooter/shooter_lib_test.cc b/y2016/control_loops/shooter/shooter_lib_test.cc
index 6934a75..46b96c0 100644
--- a/y2016/control_loops/shooter/shooter_lib_test.cc
+++ b/y2016/control_loops/shooter/shooter_lib_test.cc
@@ -76,7 +76,8 @@
 
     position_builder.add_theta_left(shooter_plant_left_->Y(0, 0));
     position_builder.add_theta_right(shooter_plant_right_->Y(0, 0));
-    builder.Send(position_builder.Finish());
+    EXPECT_EQ(builder.Send(position_builder.Finish()),
+              aos::RawSender::Error::kOk);
   }
 
   void set_left_voltage_offset(double voltage_offset) {
@@ -172,7 +173,8 @@
     auto builder = shooter_goal_sender_.MakeBuilder();
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
     goal_builder.add_angular_velocity(0.0);
-    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+    EXPECT_EQ(builder.Send(goal_builder.Finish()),
+              aos::RawSender::Error::kOk);
   }
 
   RunFor(dt() * 3 / 2);
@@ -193,7 +195,8 @@
     auto builder = shooter_goal_sender_.MakeBuilder();
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
     goal_builder.add_angular_velocity(450.0);
-    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+    EXPECT_EQ(builder.Send(goal_builder.Finish()),
+              aos::RawSender::Error::kOk);
   }
 
   RunFor(chrono::seconds(1));
@@ -204,7 +207,8 @@
     auto builder = shooter_goal_sender_.MakeBuilder();
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
     goal_builder.add_angular_velocity(0.0);
-    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+    EXPECT_EQ(builder.Send(goal_builder.Finish()),
+              aos::RawSender::Error::kOk);
   }
 
   // Make sure we don't apply voltage on spin-down.
@@ -230,7 +234,8 @@
     auto builder = shooter_goal_sender_.MakeBuilder();
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
     goal_builder.add_angular_velocity(20.0);
-    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+    EXPECT_EQ(builder.Send(goal_builder.Finish()),
+              aos::RawSender::Error::kOk);
   }
   // Cause problems by adding a voltage error on one side.
   shooter_plant_.set_right_voltage_offset(-4.0);
@@ -267,7 +272,8 @@
     auto builder = shooter_goal_sender_.MakeBuilder();
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
     goal_builder.add_angular_velocity(200.0);
-    EXPECT_TRUE(builder.Send(goal_builder.Finish()));
+    EXPECT_EQ(builder.Send(goal_builder.Finish()),
+              aos::RawSender::Error::kOk);
   }
   RunFor(chrono::seconds(5));
   EXPECT_TRUE(shooter_output_fetcher_.Fetch());