This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/ErrorBase.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/ErrorBase.cpp
new file mode 100644
index 0000000..21582ad
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/ErrorBase.cpp
@@ -0,0 +1,215 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "ErrorBase.h"
+#include "Synchronized.h"
+#include "nivision.h"
+#define WPI_ERRORS_DEFINE_STRINGS
+#include "WPIErrors.h"
+
+#include <errnoLib.h>
+#include <symLib.h>
+#include <sysSymTbl.h>
+
+SEM_ID ErrorBase::_globalErrorMutex = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE);
+Error ErrorBase::_globalError;
+/**
+ * @brief Initialize the instance status to 0 for now.
+ */
+ErrorBase::ErrorBase()
+{}
+
+ErrorBase::~ErrorBase()
+{}
+
+/**
+ * @brief Retrieve the current error.
+ * Get the current error information associated with this sensor.
+ */
+Error& ErrorBase::GetError()
+{
+ return m_error;
+}
+
+const Error& ErrorBase::GetError() const
+{
+ return m_error;
+}
+
+/**
+ * @brief Clear the current error information associated with this sensor.
+ */
+void ErrorBase::ClearError() const
+{
+ m_error.Clear();
+}
+
+/**
+ * @brief Set error information associated with a C library call that set an error to the "errno" global variable.
+ *
+ * @param contextMessage A custom message from the code that set the error.
+ * @param filename Filename of the error source
+ * @param function Function of the error source
+ * @param lineNumber Line number of the error source
+ */
+void ErrorBase::SetErrnoError(const char *contextMessage,
+ const char* filename, const char* function, UINT32 lineNumber) const
+{
+ char err[256];
+ int errNo = errnoGet();
+ if (errNo == 0)
+ {
+ sprintf(err, "OK: %s", contextMessage);
+ }
+ else
+ {
+ char *statName = new char[MAX_SYS_SYM_LEN + 1];
+ int pval;
+ SYM_TYPE ptype;
+ symFindByValue(statSymTbl, errNo, statName, &pval, &ptype);
+ if (pval != errNo)
+ snprintf(err, 256, "Unknown errno 0x%08X: %s", errNo, contextMessage);
+ else
+ snprintf(err, 256, "%s (0x%08X): %s", statName, errNo, contextMessage);
+ delete [] statName;
+ }
+
+ // Set the current error information for this object.
+ m_error.Set(-1, err, filename, function, lineNumber, this);
+
+ // Update the global error if there is not one already set.
+ Synchronized mutex(_globalErrorMutex);
+ if (_globalError.GetCode() == 0) {
+ _globalError.Clone(m_error);
+ }
+}
+
+/**
+ * @brief Set the current error information associated from the nivision Imaq API.
+ *
+ * @param success The return from the function
+ * @param contextMessage A custom message from the code that set the error.
+ * @param filename Filename of the error source
+ * @param function Function of the error source
+ * @param lineNumber Line number of the error source
+ */
+void ErrorBase::SetImaqError(int success, const char *contextMessage, const char* filename, const char* function, UINT32 lineNumber) const
+{
+ // If there was an error
+ if (success <= 0) {
+ char err[256];
+ sprintf(err, "%s: %s", contextMessage, imaqGetErrorText(imaqGetLastError()));
+
+ // Set the current error information for this object.
+ m_error.Set(imaqGetLastError(), err, filename, function, lineNumber, this);
+
+ // Update the global error if there is not one already set.
+ Synchronized mutex(_globalErrorMutex);
+ if (_globalError.GetCode() == 0) {
+ _globalError.Clone(m_error);
+ }
+ }
+}
+
+/**
+ * @brief Set the current error information associated with this sensor.
+ *
+ * @param code The error code
+ * @param contextMessage A custom message from the code that set the error.
+ * @param filename Filename of the error source
+ * @param function Function of the error source
+ * @param lineNumber Line number of the error source
+ */
+void ErrorBase::SetError(Error::Code code, const char *contextMessage,
+ const char* filename, const char* function, UINT32 lineNumber) const
+{
+ // If there was an error
+ if (code != 0) {
+ // Set the current error information for this object.
+ m_error.Set(code, contextMessage, filename, function, lineNumber, this);
+
+ // Update the global error if there is not one already set.
+ Synchronized mutex(_globalErrorMutex);
+ if (_globalError.GetCode() == 0) {
+ _globalError.Clone(m_error);
+ }
+ }
+}
+
+/**
+ * @brief Set the current error information associated with this sensor.
+ *
+ * @param errorMessage The error message from WPIErrors.h
+ * @param contextMessage A custom message from the code that set the error.
+ * @param filename Filename of the error source
+ * @param function Function of the error source
+ * @param lineNumber Line number of the error source
+ */
+void ErrorBase::SetWPIError(const char *errorMessage, const char *contextMessage,
+ const char* filename, const char* function, UINT32 lineNumber) const
+{
+ char err[256];
+ sprintf(err, "%s: %s", errorMessage, contextMessage);
+
+ // Set the current error information for this object.
+ m_error.Set(-1, err, filename, function, lineNumber, this);
+
+ // Update the global error if there is not one already set.
+ Synchronized mutex(_globalErrorMutex);
+ if (_globalError.GetCode() == 0) {
+ _globalError.Clone(m_error);
+ }
+}
+
+void ErrorBase::CloneError(ErrorBase *rhs) const
+{
+ m_error.Clone(rhs->GetError());
+}
+
+/**
+@brief Check if the current error code represents a fatal error.
+
+@return true if the current error is fatal.
+*/
+bool ErrorBase::StatusIsFatal() const
+{
+ return m_error.GetCode() < 0;
+}
+
+void ErrorBase::SetGlobalError(Error::Code code, const char *contextMessage,
+ const char* filename, const char* function, UINT32 lineNumber)
+{
+ // If there was an error
+ if (code != 0) {
+ Synchronized mutex(_globalErrorMutex);
+
+ // Set the current error information for this object.
+ _globalError.Set(code, contextMessage, filename, function, lineNumber, NULL);
+ }
+}
+
+void ErrorBase::SetGlobalWPIError(const char *errorMessage, const char *contextMessage,
+ const char* filename, const char* function, UINT32 lineNumber)
+{
+ char err[256];
+ sprintf(err, "%s: %s", errorMessage, contextMessage);
+
+ Synchronized mutex(_globalErrorMutex);
+ if (_globalError.GetCode() != 0) {
+ _globalError.Clear();
+ }
+ _globalError.Set(-1, err, filename, function, lineNumber, NULL);
+}
+
+/**
+ * Retrieve the current global error.
+*/
+Error& ErrorBase::GetGlobalError()
+{
+ Synchronized mutex(_globalErrorMutex);
+ return _globalError;
+}
+