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>
diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 7d12fd5..fc08280 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -329,10 +329,10 @@
output_builder.add_forks_release(forks_release_output);
output_builder.add_voltage_winch(voltage_winch_output);
- output->Send(output_builder.Finish());
+ output->CheckOk(output->Send(output_builder.Finish()));
}
- status->Send(status_builder.Finish());
+ (void)status->Send(status_builder.Finish());
}
void Superstructure::SendColors(float red, float green, float blue) {
@@ -344,7 +344,8 @@
status_light_builder.add_green(green);
status_light_builder.add_blue(blue);
- if (!builder.Send(status_light_builder.Finish())) {
+ if (builder.Send(status_light_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Failed to send lights.\n");
}
}
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 9d2c10e..c52d8db 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -262,7 +262,8 @@
position_builder.add_left_intake(left_intake_offset);
position_builder.add_right_intake(right_intake_offset);
position_builder.add_arm(arm_offset);
- EXPECT_TRUE(builder.Send(position_builder.Finish()));
+ EXPECT_EQ(builder.Send(position_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Sets the difference between the commanded and applied powers.
@@ -409,7 +410,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -440,7 +442,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -469,7 +472,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -508,7 +512,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -552,7 +557,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
{
@@ -570,7 +576,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
VerifyNearGoal();
@@ -598,7 +605,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -627,7 +635,8 @@
goal_builder.add_arm_goal_position(arm::UpIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -675,7 +684,8 @@
goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
EXPECT_EQ(arm::Arm::State::RUNNING, superstructure_.arm().state());
@@ -699,7 +709,8 @@
goal_builder.add_arm_goal_position(arm::FrontHighBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -721,7 +732,8 @@
goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -748,7 +760,8 @@
goal_builder.add_arm_goal_position(arm::BackLowBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -770,7 +783,8 @@
goal_builder.add_arm_goal_position(arm::ReadyAboveBoxIndex());
goal_builder.add_open_claw(true);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));