feat: improve exception handling

vexide · Dec 6, 2024 · ece75c5 · ece75c5
1 parent 2fe77ab
commit ece75c5
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Showing 7 changed files with 147 additions and 8 deletions.
diff --git a/build.gradle.kts b/build.gradle.kts
@@ -100,7 +100,7 @@ jreleaser {
 }
 
 dependencies {
-    implementation("org.jetbrains:annotations:24.0.0")
+    compileOnly("org.jetbrains:annotations:24.0.0")
 
     implementation(project(":vex-sdk"))
 }

diff --git a/hydrozoa.bin b/hydrozoa.bin
diff --git a/src/main/java/dev/vexide/hydrozoa/CompetitionRuntime.java b/src/main/java/dev/vexide/hydrozoa/CompetitionRuntime.java
@@ -47,7 +47,7 @@ public static void assertRobotEnabled() throws DeviceException {
      * @param factory a function which creates a robot instance from the peripherals
      * @throws IllegalStateException if the peripherals have already been taken or this method has already been called
      */
-    public static void start(@NotNull Function<@NotNull Peripherals, @NotNull CompetitionRobot> factory) throws IllegalStateException {
+    public static void start(@NotNull Function<@NotNull Peripherals, @NotNull CompetitionRobot> factory) {
         try {
             var robot = factory.apply(Peripherals.take().orElseThrow(() -> new IllegalStateException("Peripherals already taken")));
 
@@ -96,8 +96,7 @@ public static void start(@NotNull Function<@NotNull Peripherals, @NotNull Compet
                 }
             }
         } catch (Throwable e) {
-            System.err.println("Uncaught exception in competition runtime");
-            e.printStackTrace();
+            Platform.handleException(e);
         }
     }
 

diff --git a/src/main/java/dev/vexide/hydrozoa/Platform.java b/src/main/java/dev/vexide/hydrozoa/Platform.java
@@ -1,6 +1,13 @@
 package dev.vexide.hydrozoa;
 
+import dev.vexide.hydrozoa.sdk.Hydrozoa;
 import dev.vexide.hydrozoa.sdk.VexSdk;
+import org.jetbrains.annotations.Contract;
+import org.jetbrains.annotations.NotNull;
+
+import java.io.PrintWriter;
+import java.io.StringWriter;
+import java.time.Duration;
 
 /**
  * A utility class for platform-specific operations.
@@ -9,11 +16,64 @@ public final class Platform {
     private Platform() {
     }
 
+    public static final int STDOUT_BUFFER_SIZE = 2048;
+    public static final int STDIN_BUFFER_SIZE = 4096;
+    private static final int STDIO_CHANNEL = 1;
+
     /**
      * Yields the current task so that background processing may run, sensors may be updated, and the serial port may be
      * flushed.
      */
     public static void yield() {
         VexSdk.vexTasksRun();
     }
+    private static final Duration FLUSH_TIMEOUT = Duration.ofMillis(15);
+
+    // TODO: Does System.exit() work in Hydrozoa?
+//    /**
+//     * Exits the program, flushing the serial port before returning to the VEX V5's home screen.
+//     * <p>
+//     * This method does not return.
+//     */
+//    @SuppressWarnings("InfiniteLoopStatement")
+//    @Contract("-> fail")
+//    public static void exit() {
+//        var exitTime = Instant.now().plus(FLUSH_TIMEOUT);
+//
+//        while (Instant.now().isBefore(exitTime)) {
+//            VexSdk.vexTasksRun();
+//
+//            if (VexSdk.Serial.vexSerialWriteFree(STDIO_CHANNEL) == STDOUT_BUFFER_SIZE) {
+//                break;
+//            }
+//        }
+//
+//        VexSdk.System.vexSystemExitRequest();
+//
+//        while (true) {
+//            VexSdk.vexTasksRun();
+//        }
+//    }
+
+    private static final int SKIPPED_FRAMES = 7;
+    private static final String EXCEPTION_PREFIX = "Uncaught exception: ";
+
+    @Contract("_ -> fail")
+    public static void handleException(@NotNull Throwable error) {
+        System.out.println(EXCEPTION_PREFIX);
+        error.printStackTrace();
+
+        StringWriter sw = new StringWriter();
+        PrintWriter pw = new PrintWriter(sw);
+
+        pw.print(EXCEPTION_PREFIX);
+        pw.println(error);
+
+        var stackTraceElements = error.getStackTrace();
+        for (int i = SKIPPED_FRAMES; i < stackTraceElements.length; i++) {
+            pw.println("\tat " + stackTraceElements[i]);
+        }
+
+        Hydrozoa.panic(sw.toString());
+    }
 }
diff --git a/vex-sdk/build.gradle.kts b/vex-sdk/build.gradle.kts
@@ -44,7 +44,7 @@ publishing {
 }
 
 dependencies {
-    implementation("org.jetbrains:annotations:24.0.0")
+    compileOnly("org.jetbrains:annotations:24.0.0")
 
     implementation(teavm.libs.interop)
 }

diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/Hydrozoa.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/Hydrozoa.java
@@ -0,0 +1,22 @@
+package dev.vexide.hydrozoa.sdk;
+
+import org.jetbrains.annotations.Contract;
+import org.jetbrains.annotations.NotNull;
+import org.teavm.interop.Import;
+
+/**
+ * A utility class for operations specific to the Hydrozoa runtime.
+ */
+public final class Hydrozoa {
+    private Hydrozoa() {
+    }
+
+    /**
+     * Causes the program to abnormally terminate with the given message.
+     *
+     * @param message a message describing the cause of the panic
+     */
+    @Import(module = "hydrozoa", name = "panic")
+    @Contract("_ -> fail")
+    public static native void panic(@NotNull String message);
+}
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/VexSdk.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/VexSdk.java
@@ -8,6 +8,9 @@
 @SuppressWarnings("MissingJavadoc")
 @StaticInit
 public final class VexSdk {
+    private VexSdk() {
+    }
+
     @Import(module = "vex", name = "vexTasksRun")
     public static native void vexTasksRun();
 
@@ -16,6 +19,9 @@ public final class VexSdk {
 
     @StaticInit
     public static final class Display {
+        private Display() {
+        }
+
         @Import(module = "vex", name = "vexDisplayRender")
         public static native void vexDisplayRender(boolean bVsyncWait, boolean bRunScheduler);
 
@@ -81,6 +87,9 @@ public static final class Display {
 
     @StaticInit
     public static final class Controller {
+        private Controller() {
+        }
+
         /**
          * Get the value of a controller's data channel.
          */
@@ -102,9 +111,11 @@ public static int vexControllerGet(@NotNull V5_ControllerId id, @NotNull V5_Cont
         private static native byte vexControllerConnectionStatusGetRaw(byte id);
     }
 
-
     @StaticInit
     public static final class Device {
+        private Device() {
+        }
+
         public static final int V5_MAX_DEVICE_PORTS = 32;
 
         @Import(module = "vex", name = "vexControllerConnectionStatusGet")
@@ -131,6 +142,9 @@ public static int vexDevicesGetNumberByType(@NotNull V5_DeviceType deviceType) {
 
     @StaticInit
     public static final class Motor {
+        private Motor() {
+        }
+
         //    TODO:
         //    vexDeviceMotorZeroPositionFlagGet(device: V5_DeviceT) -> bool,
         //    vexDeviceMotorReverseFlagGet(device: V5_DeviceT) -> bool,
@@ -310,7 +324,7 @@ public static boolean vexDeviceMotorZeroPositionFlagGet(@NotNull V5_Device devic
         @Import(module = "vex", name = "vexDeviceMotorZeroPositionFlagGet")
         private static native boolean vexDeviceMotorZeroPositionFlagGetRaw(int device);
 
-        public static void vexDeviceMotorGearingSet(@NotNull V5_Device device, V5MotorGearset gearset) {
+        public static void vexDeviceMotorGearingSet(@NotNull V5_Device device, @NotNull V5MotorGearset gearset) {
             vexDeviceMotorGearingSetRaw(device.raw(), gearset.value());
         }
 
@@ -330,7 +344,7 @@ public static void vexDeviceMotorReverseFlagSet(@NotNull V5_Device device, boole
         @Import(module = "vex", name = "vexDeviceMotorReverseFlagSet")
         private static native void vexDeviceMotorReverseFlagSetRaw(int device, boolean flag);
 
-        public static void vexDeviceMotorEncoderUnitsSet(@NotNull V5_Device device, V5MotorEncoderUnits units) {
+        public static void vexDeviceMotorEncoderUnitsSet(@NotNull V5_Device device, @NotNull V5MotorEncoderUnits units) {
             vexDeviceMotorEncoderUnitsSetRaw(device.raw(), units.value());
         }
         @Import(module = "vex", name = "vexDeviceMotorEncoderUnitsSet")
@@ -351,4 +365,48 @@ public static void vexDeviceMotorVoltageGet(@NotNull V5_Device device, int volta
         private static native void vexDeviceMotorVoltageGetRaw(int device, int voltage);
     }
 
+    @StaticInit
+    public static final class Serial {
+        private Serial() {
+        }
+
+        @Import(module = "vex", name = "vexSerialWriteChar")
+        public static native int vexSerialWriteChar(int channel, byte c);
+
+        @Import(module = "vex", name = "vexSerialReadChar")
+        public static native int vexSerialReadChar(int channel);
+
+        @Import(module = "vex", name = "vexSerialPeekChar")
+        public static native int vexSerialPeekChar(int channel);
+
+        @Import(module = "vex", name = "vexSerialWriteFree")
+        public static native int vexSerialWriteFree(int channel);
+    }
+
+    @StaticInit
+    public static final class System {
+        private System() {
+        }
+
+        @Import(module = "vex", name = "vexSystemTimeGet")
+        public static native int vexSystemTimeGet();
+
+        @Import(module = "vex", name = "vexSystemExitRequest")
+        public static native void vexSystemExitRequest();
+
+        @Import(module = "vex", name = "vexSystemHighResTimeGet")
+        public static native long vexSystemHighResTimeGet();
+
+        @Import(module = "vex", name = "vexSystemPowerupTimeGet")
+        public static native long vexSystemPowerupTimeGet();
+
+        @Import(module = "vex", name = "vexSystemLinkAddrGet")
+        public static native int vexSystemLinkAddrGet();
+
+        @Import(module = "vex", name = "vexSystemVersion")
+        public static native int vexSystemVersion();
+
+        @Import(module = "vex", name = "vexStdlibVersion")
+        public static native int vexStdlibVersion();
+    }
 }