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/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index 9e7a5fe..e796f0b 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -119,7 +119,7 @@
output_struct.intake_roller_voltage = 0.0;
}
- output->Send(Output::Pack(*output->fbb(), &output_struct));
+ output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
if (unsafe_goal) {
@@ -196,7 +196,7 @@
}
}
- status->Send(status_offset);
+ (void)status->Send(status_offset);
}
void Superstructure::SendColors(float red, float green, float blue) {
@@ -208,7 +208,8 @@
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/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index cabb4e2..d6b4f2d 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -7,6 +7,7 @@
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
+#include "glog/logging.h"
#include "gtest/gtest.h"
#include "y2019/constants.h"
#include "y2019/control_loops/superstructure/elevator/elevator_plant.h"
@@ -166,7 +167,8 @@
position_builder.add_stilts(stilts_offset);
position_builder.add_suction_pressure(simulated_pressure_);
- builder.Send(position_builder.Finish());
+ CHECK_EQ(builder.Send(position_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
double elevator_position() const { return elevator_plant_->X(0, 0); }
@@ -501,7 +503,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
VerifyNearGoal();
@@ -550,7 +553,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- 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.
@@ -593,7 +597,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
VerifyNearGoal();
@@ -630,7 +635,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_elevator_velocity(23.0);
superstructure_plant_.set_peak_elevator_acceleration(0.2);
@@ -682,7 +688,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
WaitUntilZeroed();
VerifyNearGoal();
@@ -743,7 +750,8 @@
goal_builder.add_intake(intake_offset);
goal_builder.add_stilts(stilts_offset);
- 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.
@@ -783,7 +791,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_roller_voltage(6.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -818,7 +827,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_roller_voltage(6.0);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -860,7 +870,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
RunFor(Vacuum::kTimeAtHigherVoltage - chrono::milliseconds(10));
@@ -904,7 +915,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Verify that at 0 pressure after short time voltage is still high
@@ -954,7 +966,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
// Get a Gamepiece
@@ -991,7 +1004,8 @@
goal_builder.add_stilts(stilts_offset);
goal_builder.add_suction(suction_offset);
- ASSERT_TRUE(builder.Send(goal_builder.Finish()));
+ ASSERT_EQ(builder.Send(goal_builder.Finish()),
+ aos::RawSender::Error::kOk);
}
superstructure_plant_.set_simulated_pressure(1.0);