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Linux driver: verbose exception with error code

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This commit is contained in:
Pavel Kirienko
2014-04-20 20:45:26 +04:00
parent 0fd24fd6b0
commit b7b53630d1
1 changed files with 15 additions and 6 deletions
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libuavcan_drivers/linux/include/uavcan_linux/helpers.hpp
+15 -6
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@@ -9,6 +9,7 @@
#include <vector>
#include <chrono>
#include <iostream>
#include <sstream>
#include <uavcan/uavcan.hpp>
namespace uavcan_linux
@@ -54,14 +55,22 @@ class Node : public uavcan::Node<NodeMemPoolSize>
DriverPackPtr driver_pack_;
DefaultLogSink log_sink_;
static void enforce(int error, const char* msg)
static void enforce(int error, const std::string& msg)
{
if (error < 0)
{
throw Exception(msg);
std::ostringstream os;
os << msg << " [" << error << "]";
throw Exception(os.str());
}
}
template <typename DataType>
static std::string getDataTypeName()
{
return DataType::getDataTypeFullName();
}
public:
/**
* Simple forwarding constructor, compatible with uavcan::Node
@@ -87,7 +96,7 @@ public:
makeSubscriber(const typename uavcan::Subscriber<DataType>::Callback& cb)
{
std::shared_ptr<uavcan::Subscriber<DataType>> p(new uavcan::Subscriber<DataType>(*this));
enforce(p->start(cb), "Subscriber start");
enforce(p->start(cb), "Subscriber start failure " + getDataTypeName<DataType>());
return p;
}
@@ -96,7 +105,7 @@ public:
makePublisher(uavcan::MonotonicDuration tx_timeout = uavcan::Publisher<DataType>::getDefaultTxTimeout())
{
std::shared_ptr<uavcan::Publisher<DataType>> p(new uavcan::Publisher<DataType>(*this));
enforce(p->init(), "Publisher init");
enforce(p->init(), "Publisher init failure " + getDataTypeName<DataType>());
p->setTxTimeout(tx_timeout);
return p;
}
@@ -106,7 +115,7 @@ public:
makeServiceServer(const typename uavcan::ServiceServer<DataType>::Callback& cb)
{
std::shared_ptr<uavcan::ServiceServer<DataType>> p(new uavcan::ServiceServer<DataType>(*this));
enforce(p->start(cb), "ServiceServer start");
enforce(p->start(cb), "ServiceServer start failure " + getDataTypeName<DataType>());
return p;
}
@@ -115,7 +124,7 @@ public:
makeServiceClient(const typename uavcan::ServiceClient<DataType>::Callback& cb)
{
std::shared_ptr<uavcan::ServiceClient<DataType>> p(new uavcan::ServiceClient<DataType>(*this));
enforce(p->init(), "ServiceClient init");
enforce(p->init(), "ServiceClient init failure " + getDataTypeName<DataType>());
p->setCallback(cb);
return p;
}