自学教程：C++ wpi_setErrorWithContext函数代码示例

void PWM::SetZeroLatch() {  if (StatusIsFatal()) return;  int32_t status = 0;  latchPWMZero(m_pwm_ports[m_channel], &status);  wpi_setErrorWithContext(status, getHALErrorMessage(status));}

/** * Disable Interrupts without without deallocating structures. */void InterruptableSensorBase::DisableInterrupts(){	if (StatusIsFatal()) return;	wpi_assert(m_interrupt != NULL);	int32_t status = 0;	disableInterrupts(m_interrupt, &status);	wpi_setErrorWithContext(status, getHALErrorMessage(status));}

/** * Returns the voltage coming in from the battery. * * @return The input voltage in volts. */float CANTalon::GetBusVoltage() const {  double voltage;  CTR_Code status = m_impl->GetBatteryV(voltage);  if (status != CTR_OKAY) {    wpi_setErrorWithContext(status, getHALErrorMessage(status));  }  return voltage;}

/** * Return the timestamp for the falling interrupt that occurred most recently. * This is in the same time domain as GetClock(). * The falling-edge interrupt should be enabled with * {@link #DigitalInput.SetUpSourceEdge} * @return Timestamp in seconds since boot.*/double InterruptableSensorBase::ReadFallingTimestamp() {  if (StatusIsFatal()) return 0.0;  wpi_assert(m_interrupt != nullptr);  int32_t status = 0;  double timestamp = readFallingTimestamp(m_interrupt, &status);  wpi_setErrorWithContext(status, getHALErrorMessage(status));  return timestamp;}

/** * Sets the number of nanoseconds that the input must not change state for. * * @param nanoseconds The number of nanoseconds. */void DigitalGlitchFilter::SetPeriodNanoSeconds(uint64_t nanoseconds) {  int32_t status = 0;  uint32_t fpga_cycles =      nanoseconds * kSystemClockTicksPerMicrosecond / 4 / 1000;  setFilterPeriod(m_channelIndex, fpga_cycles, &status);  wpi_setErrorWithContext(status, getHALErrorMessage(status));}

/** * Gets the number of cycles that the input must not change state for. * * @return The number of cycles. */uint32_t DigitalGlitchFilter::GetPeriodCycles() {  int32_t status = 0;  uint32_t fpga_cycles = getFilterPeriod(m_channelIndex, &status);  wpi_setErrorWithContext(status, getHALErrorMessage(status));  return fpga_cycles;}

/** * Read the battery voltage. * * @return The battery voltage in Volts. */float DriverStation::GetBatteryVoltage(){	int32_t status = 0;	float voltage = getVinVoltage(&status);	wpi_setErrorWithContext(status, "getVinVoltage");	return voltage;}

/** * Returns the current error in the controller. * * @return the difference between the setpoint and the sensor value. */int CANTalon::GetClosedLoopError() {  int error;  CTR_Code status = m_impl->GetCloseLoopErr(error);	if(status != CTR_OKAY) {		wpi_setErrorWithContext(status, getHALErrorMessage(status));	}  return error;}

/** * Return the TriggerState output of the analog trigger. * True if above upper limit. * False if below lower limit. * If in Hysteresis, maintain previous state. * @return True if above upper limit. False if below lower limit. If in Hysteresis, maintain previous state. */bool AnalogTrigger::GetTriggerState(){	if (StatusIsFatal()) return false;	int32_t status = 0;	bool result = getAnalogTriggerTriggerState(m_trigger, &status);	wpi_setErrorWithContext(status, getHALErrorMessage(status));	return result;}

/** * @return The voltage being output by the Talon, in Volts. */float CANTalon::GetOutputVoltage() const {  int throttle11;  CTR_Code status = m_impl->GetAppliedThrottle(throttle11);  float voltage = GetBusVoltage() * (float(throttle11) / 1023.0);  if (status != CTR_OKAY) {    wpi_setErrorWithContext(status, getHALErrorMessage(status));  }  return voltage;}

/** * Get the PWM value directly from the hardware. * * Read a raw value from a PWM channel. * * @return Raw PWM control value. */unsigned short PWM::GetRaw() const {  if (StatusIsFatal()) return 0;  int32_t status = 0;  unsigned short value = getPWM(m_pwm_ports[m_channel], &status);  wpi_setErrorWithContext(status, getHALErrorMessage(status));  return value;}

/** * Common initialization code for Encoders. * This code allocates resources for Encoders and is common to all constructors. * * The counter will start counting immediately. * * @param reverseDirection If true, counts down instead of up (this is all * relative) * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X * decoding. If 4X is * selected, then an encoder FPGA object is used and the returned counts will be * 4x the encoder * spec'd value since all rising and falling edges are counted. If 1X or 2X are * selected then * a counter object will be used and the returned value will either exactly * match the spec'd count * or be double (2x) the spec'd count. */void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {  m_encodingType = encodingType;  switch (encodingType) {    case k4X: {      m_encodingScale = 4;      if (m_aSource->StatusIsFatal()) {        CloneError(*m_aSource);        return;      }      if (m_bSource->StatusIsFatal()) {        CloneError(*m_bSource);        return;      }      int32_t status = 0;      m_encoder = initializeEncoder(          m_aSource->GetModuleForRouting(), m_aSource->GetChannelForRouting(),          m_aSource->GetAnalogTriggerForRouting(),          m_bSource->GetModuleForRouting(), m_bSource->GetChannelForRouting(),          m_bSource->GetAnalogTriggerForRouting(), reverseDirection, &m_index,          &status);      wpi_setErrorWithContext(status, getHALErrorMessage(status));      m_counter = nullptr;      SetMaxPeriod(.5);      break;    }    case k1X:    case k2X: {      m_encodingScale = encodingType == k1X ? 1 : 2;      m_counter = std::make_unique<Counter>(m_encodingType, m_aSource,                                              m_bSource, reverseDirection);      m_index = m_counter->GetFPGAIndex();      break;    }    default:      wpi_setErrorWithContext(-1, "Invalid encodingType argument");      break;  }  HALReport(HALUsageReporting::kResourceType_Encoder, m_index, encodingType);#if FULL_WPILIB  LiveWindow::GetInstance()->AddSensor("Encoder",                                       m_aSource->GetChannelForRouting(), this);#endif}