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🐛 Return proper error code for VDML functions that return floating point numbers #160

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merged 3 commits into from
Sep 12, 2019
Merged

🐛 Return proper error code for VDML functions that return floating point numbers #160

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b21e4e9
:bug: Fix problem of return PROS_ERR_F error code
Jerrylum Aug 29, 2019
c1e6c99
:bug: Improve condition statement and comment VDML function
Jerrylum Aug 29, 2019
7c1f17d
:bug: Undo claim_port_try code to avoid warning
Jerrylum Sep 6, 2019
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41 changes: 31 additions & 10 deletions include/vdml/vdml.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,32 +32,53 @@
* If a port isn't yet registered, it registered as a motor automatically.
* If a mutex cannot be taken, errno is set to EACCES (access denied) and
* returns.
*
* This and other similar macros should only be used in functions that return
* int32_t as PROS_ERR could be returned.
*
* \param port
* The V5 port number from 0-20
* \param device_type
* The v5_device_e_t that the port is configured as
* \param error_code
* The error code that return if error checking failed
*/
#define claim_port(port, device_type) \
#define claim_port(port, device_type, error_code) \
if (!VALIDATE_PORT_NO(port)) { \
errno = ENXIO; \
return PROS_ERR; \
return error_code; \
} \
if (registry_validate_binding(port, device_type) != 0) { \
return PROS_ERR; \
return error_code; \
} \
v5_smart_device_s_t* device = registry_get_device(port); \
if (!port_mutex_take(port)) { \
errno = EACCES; \
return PROS_ERR; \
return error_code; \
}

/**
* A function that executes claim_port for functions that do not return an
* int32_t
* Function like claim_port. This macro should only be used in functions
* that return int32_t or enums as PROS_ERR could be returned.
*
* \param port
* The V5 port number from 0-20
* \param device_type
* The v5_device_e_t that the port is configured as
*/
#define claim_port_i(port, device_type) claim_port(port, device_type, PROS_ERR)

/**
* Function like claim_port. This macro should only be used in functions
* that return double or float as PROS_ERR_F could be returned.
*
* \param port
* The V5 port number from 0-20
* \param device_type
* The v5_device_e_t that the port is configured as
*/
#define claim_port_f(port, device_type) claim_port(port, device_type, PROS_ERR_F)

/**
* A function that executes claim_port and allows you to execute a block of
* code if an error occurs.
*
* This function uses the following values of errno when an error state is
* reached:
Expand All @@ -69,7 +90,7 @@
* \param device_type
* The v5_device_e_t that the port is configured as
*
* \return 1 if the operation was successful or PROS_ERR if the operation
* \return 1 if the operation was successful or 0 if the operation
* failed, setting errno.
*/
int32_t claim_port_try(uint8_t port, v5_device_e_t type);
Expand Down
12 changes: 1 addition & 11 deletions src/devices/vdml.c
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Original file line number Diff line number Diff line change
Expand Up @@ -30,17 +30,7 @@ extern void registry_init();
extern void port_mutex_init();

int32_t claim_port_try(uint8_t port, v5_device_e_t type) {
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if (!VALIDATE_PORT_NO(port)) {
errno = ENXIO;
return PROS_ERR;
}
if (registry_validate_binding(port, type) != 0) {
return PROS_ERR;
}
if (!port_mutex_take(port)) {
errno = EACCES;
return PROS_ERR;
}
claim_port(port, type, 0);
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return 1;
}

Expand Down
50 changes: 25 additions & 25 deletions src/devices/vdml_adi.c
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Original file line number Diff line number Diff line change
Expand Up @@ -93,35 +93,35 @@ typedef union adi_data {

adi_port_config_e_t adi_port_get_config(uint8_t port) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
adi_port_config_e_t rtn = (adi_port_config_e_t)vexDeviceAdiPortConfigGet(device->device_info, port);
return_port(INTERNAL_ADI_PORT, rtn);
}

int32_t adi_port_get_value(uint8_t port) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
int32_t rtn = vexDeviceAdiValueGet(device->device_info, port);
return_port(INTERNAL_ADI_PORT, rtn);
}

int32_t adi_port_set_config(uint8_t port, adi_port_config_e_t type) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
vexDeviceAdiPortConfigSet(device->device_info, port, (V5_AdiPortConfiguration)type);
return_port(INTERNAL_ADI_PORT, 1);
}

int32_t adi_port_set_value(uint8_t port, int32_t value) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
vexDeviceAdiValueSet(device->device_info, port, value);
return_port(INTERNAL_ADI_PORT, 1);
}

int32_t adi_analog_calibrate(uint8_t port) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, port, E_ADI_ANALOG_IN);
uint32_t total = 0;
for (uint32_t i = 0; i < 512; i++) {
Expand All @@ -135,15 +135,15 @@ int32_t adi_analog_calibrate(uint8_t port) {

int32_t adi_analog_read(uint8_t port) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, port, E_ADI_ANALOG_IN);
int32_t rtn = vexDeviceAdiValueGet(device->device_info, port);
return_port(INTERNAL_ADI_PORT, rtn);
}

int32_t adi_analog_read_calibrated(uint8_t port) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, port, E_ADI_ANALOG_IN);
adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[port];
int32_t rtn = (vexDeviceAdiValueGet(device->device_info, port) - (adi_data->analog_data.calib >> 4));
Expand All @@ -152,7 +152,7 @@ int32_t adi_analog_read_calibrated(uint8_t port) {

int32_t adi_analog_read_calibrated_HR(uint8_t port) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, port, E_ADI_ANALOG_IN);
adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[port];
int32_t rtn = ((vexDeviceAdiValueGet(device->device_info, port) << 4) - adi_data->analog_data.calib);
Expand All @@ -161,15 +161,15 @@ int32_t adi_analog_read_calibrated_HR(uint8_t port) {

int32_t adi_digital_read(uint8_t port) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, port, E_ADI_DIGITAL_IN);
int32_t rtn = vexDeviceAdiValueGet(device->device_info, port);
return_port(INTERNAL_ADI_PORT, rtn);
}

int32_t adi_digital_get_new_press(uint8_t port) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, port, E_ADI_DIGITAL_IN);

adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[port];
Expand All @@ -189,7 +189,7 @@ int32_t adi_digital_get_new_press(uint8_t port) {

int32_t adi_digital_write(uint8_t port, const bool value) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, port, E_ADI_DIGITAL_OUT);
vexDeviceAdiValueSet(device->device_info, port, (int32_t)value);
return_port(INTERNAL_ADI_PORT, 1);
Expand Down Expand Up @@ -218,7 +218,7 @@ int32_t adi_pin_mode(uint8_t port, uint8_t mode) {

int32_t adi_motor_set(uint8_t port, int8_t speed) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_motor(device, port);
if (speed > ADI_MOTOR_MAX_SPEED)
speed = ADI_MOTOR_MAX_SPEED;
Expand All @@ -230,7 +230,7 @@ int32_t adi_motor_set(uint8_t port, int8_t speed) {

int32_t adi_motor_get(uint8_t port) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_motor(device, port);
int32_t rtn = vexDeviceAdiValueGet(device->device_info, port) - ADI_MOTOR_MAX_SPEED;
return_port(INTERNAL_ADI_PORT, rtn);
Expand All @@ -243,7 +243,7 @@ int32_t adi_motor_stop(uint8_t port) {
adi_encoder_t adi_encoder_init(uint8_t port_top, uint8_t port_bottom, const bool reverse) {
transform_adi_port(port_top);
transform_adi_port(port_bottom);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_twowire(port_top, port_bottom);

adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[port];
Expand All @@ -254,7 +254,7 @@ adi_encoder_t adi_encoder_init(uint8_t port_top, uint8_t port_bottom, const bool

int32_t adi_encoder_get(adi_encoder_t enc) {
transform_adi_port(enc);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, enc, E_ADI_LEGACY_ENCODER);

int32_t rtn;
Expand All @@ -266,7 +266,7 @@ int32_t adi_encoder_get(adi_encoder_t enc) {

int32_t adi_encoder_reset(adi_encoder_t enc) {
transform_adi_port(enc);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, enc, E_ADI_LEGACY_ENCODER);

vexDeviceAdiValueSet(device->device_info, enc, 0);
Expand All @@ -275,7 +275,7 @@ int32_t adi_encoder_reset(adi_encoder_t enc) {

int32_t adi_encoder_shutdown(adi_encoder_t enc) {
transform_adi_port(enc);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, enc, E_ADI_LEGACY_ENCODER);

vexDeviceAdiPortConfigSet(device->device_info, enc, E_ADI_TYPE_UNDEFINED);
Expand All @@ -291,14 +291,14 @@ adi_ultrasonic_t adi_ultrasonic_init(uint8_t port_ping, uint8_t port_echo) {
return PROS_ERR;
}

claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
vexDeviceAdiPortConfigSet(device->device_info, port, E_ADI_LEGACY_ULTRASONIC);
return_port(INTERNAL_ADI_PORT, port + 1);
}

int32_t adi_ultrasonic_get(adi_ultrasonic_t ult) {
transform_adi_port(ult);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, ult, E_ADI_LEGACY_ULTRASONIC);

int32_t rtn = vexDeviceAdiValueGet(device->device_info, ult);
Expand All @@ -307,7 +307,7 @@ int32_t adi_ultrasonic_get(adi_ultrasonic_t ult) {

int32_t adi_ultrasonic_shutdown(adi_ultrasonic_t ult) {
transform_adi_port(ult);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, ult, E_ADI_LEGACY_ULTRASONIC);

vexDeviceAdiPortConfigSet(device->device_info, ult, E_ADI_TYPE_UNDEFINED);
Expand All @@ -316,7 +316,7 @@ int32_t adi_ultrasonic_shutdown(adi_ultrasonic_t ult) {

adi_gyro_t adi_gyro_init(uint8_t port, double multiplier) {
transform_adi_port(port);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);

if (multiplier == 0) multiplier = 1;
adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[port];
Expand All @@ -340,10 +340,10 @@ adi_gyro_t adi_gyro_init(uint8_t port, double multiplier) {
return_port(INTERNAL_ADI_PORT, port + 1);
}

// Internal wrapper for adi_gyro_get to get around transform_adi_port, claim_port, validate_type and return_port possibly returning PROS_ERR, not PROS_ERR_F
// Internal wrapper for adi_gyro_get to get around transform_adi_port, claim_port_i, validate_type and return_port possibly returning PROS_ERR, not PROS_ERR_F
int32_t _adi_gyro_get(adi_gyro_t gyro, double* out) {
transform_adi_port(gyro);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, gyro, E_ADI_LEGACY_GYRO);

double rtn = (double)vexDeviceAdiValueGet(device->device_info, gyro);
Expand All @@ -362,7 +362,7 @@ double adi_gyro_get(adi_gyro_t gyro) {

int32_t adi_gyro_reset(adi_gyro_t gyro) {
transform_adi_port(gyro);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, gyro, E_ADI_LEGACY_GYRO);

adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[gyro];
Expand All @@ -372,7 +372,7 @@ int32_t adi_gyro_reset(adi_gyro_t gyro) {

int32_t adi_gyro_shutdown(adi_gyro_t gyro) {
transform_adi_port(gyro);
claim_port(INTERNAL_ADI_PORT, E_DEVICE_ADI);
claim_port_i(INTERNAL_ADI_PORT, E_DEVICE_ADI);
validate_type(device, gyro, E_ADI_LEGACY_GYRO);

vexDeviceAdiPortConfigSet(device->device_info, gyro, E_ADI_TYPE_UNDEFINED);
Expand Down
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