commit eb9f6fbb317120243ad2ced75adf8c4b3bf7f6ec
author James Kuszmaul <jabukuszmaul@gmail.com> Sun Feb 27 21:04:00 2022 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Tue Mar 01 19:32:21 2022 -0800
tree 45205ba495595aca312c5ec983912380010047e9
parent 296710bc088979541bccefe8ddde98c926dd32dc

Die on duplicate/invalid DigitalInput's

Haven't actually checked whether running FATAL checks on every single
access causes any issues, but the CHECK's in the constructors are fine
at least.

Change-Id: Icdca5556c5d041f8812468b19de6690dc80bf416
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

frc971/wpilib/ahal/PWM.cc

diff --git a/frc971/wpilib/ahal/PWM.cc b/frc971/wpilib/ahal/PWM.cc
index 31b9863..7184643 100644
--- a/frc971/wpilib/ahal/PWM.cc
+++ b/frc971/wpilib/ahal/PWM.cc
@@ -17,8 +17,6 @@
 
 using namespace frc;
 
-#define HAL_FATAL_ERROR()
-
 /**
  * Allocate a PWM given a channel number.
  *
@@ -42,7 +40,7 @@
     //    wpi_setErrorWithContextRange(status, 0, HAL_GetNumPWMChannels(),
     //    channel,
     //                                 HAL_GetErrorMessage(status));
-    HAL_FATAL_ERROR();
+    HAL_CHECK_STATUS(status) << ": Channel " << channel;
     m_channel = std::numeric_limits<int>::max();
     m_handle = HAL_kInvalidHandle;
     return;
@@ -51,10 +49,10 @@
   m_channel = channel;
 
   HAL_SetPWMDisabled(m_handle, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status) << ": Channel " << channel;
   status = 0;
   HAL_SetPWMEliminateDeadband(m_handle, false, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status) << ": Channel " << channel;
 
   HAL_Report(HALUsageReporting::kResourceType_PWM, channel);
 }
@@ -68,10 +66,10 @@
   int32_t status = 0;
 
   HAL_SetPWMDisabled(m_handle, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 
   HAL_FreePWMPort(m_handle, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 }
 
 /**
@@ -85,7 +83,7 @@
 void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
   int32_t status = 0;
   HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 }
 
 /**
@@ -106,7 +104,7 @@
   int32_t status = 0;
   HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
                    &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 }
 
 /**
@@ -127,7 +125,7 @@
   int32_t status = 0;
   HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
                       &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 }
 
 /**
@@ -148,7 +146,7 @@
   int32_t status = 0;
   HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
                       &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 }
 
 /**
@@ -164,7 +162,7 @@
 void PWM::SetPosition(double pos) {
   int32_t status = 0;
   HAL_SetPWMPosition(m_handle, pos, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 }
 
 /**
@@ -180,7 +178,7 @@
 double PWM::GetPosition() const {
   int32_t status = 0;
   double position = HAL_GetPWMPosition(m_handle, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
   return position;
 }
 
@@ -200,7 +198,7 @@
 void PWM::SetSpeed(double speed) {
   int32_t status = 0;
   HAL_SetPWMSpeed(m_handle, speed, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 }
 
 /**
@@ -218,7 +216,7 @@
 double PWM::GetSpeed() const {
   int32_t status = 0;
   double speed = HAL_GetPWMSpeed(m_handle, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
   return speed;
 }
 
@@ -232,7 +230,7 @@
 void PWM::SetRaw(uint16_t value) {
   int32_t status = 0;
   HAL_SetPWMRaw(m_handle, value, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 }
 
 /**
@@ -245,7 +243,7 @@
 uint16_t PWM::GetRaw() const {
   int32_t status = 0;
   uint16_t value = HAL_GetPWMRaw(m_handle, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 
   return value;
 }
@@ -274,7 +272,7 @@
       LOG(FATAL) << "Invalid multiplier " << mult;
   }
 
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 }
 
 /**
@@ -285,12 +283,12 @@
   int32_t status = 0;
 
   HAL_SetPWMDisabled(m_handle, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 }
 
 void PWM::SetZeroLatch() {
   int32_t status = 0;
 
   HAL_LatchPWMZero(m_handle, &status);
-  HAL_FATAL_ERROR();
+  HAL_CHECK_STATUS(status);
 }