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servo: throw exception(s) on fatal errors

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Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Jon Trulson 2015-09-11 11:04:05 -06:00 committed by Mihai Tudor Panu
parent 60a3f6cd7e
commit d3bfebeca0
1 changed files with 17 additions and 11 deletions
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28
src/servo/servo.cxx
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@ -23,6 +23,9 @@
*/ */
#include <iostream> #include <iostream>
#include <sstream>
#include <string>
#include <stdexcept>
#include <unistd.h> #include <unistd.h>
#include <stdlib.h> #include <stdlib.h>
#include <math.h> #include <math.h>
@ -58,12 +61,14 @@ Servo::~Servo () {
* *
* */ * */
mraa_result_t Servo::setAngle (int angle) { mraa_result_t Servo::setAngle (int angle) {
if (m_pwmServoContext == NULL) {
std::cout << "PWM context is NULL" << std::endl;
return MRAA_ERROR_UNSPECIFIED;
}
if (angle > m_maxAngle || angle < 0) { if (angle > m_maxAngle || angle < 0) {
// C++11 std::to_string() would be nice, but...
std::ostringstream str;
str << m_maxAngle;
throw std::out_of_range(std::string(__FUNCTION__) +
": angle must be between 0 and " +
str.str());
return MRAA_ERROR_UNSPECIFIED; return MRAA_ERROR_UNSPECIFIED;
} }
@ -81,11 +86,6 @@ mraa_result_t Servo::setAngle (int angle) {
} }
mraa_result_t Servo::haltPwm () { mraa_result_t Servo::haltPwm () {
if (m_pwmServoContext == NULL) {
std::cout << "PWM context is NULL" << std::endl;
return MRAA_ERROR_UNSPECIFIED;
}
return mraa_pwm_enable (m_pwmServoContext, 0); return mraa_pwm_enable (m_pwmServoContext, 0);
} }
@ -150,7 +150,13 @@ Servo::init (int pin, int minPulseWidth, int maxPulseWidth, int waitAndDisablePw
m_maxAngle = 180.0; m_maxAngle = 180.0;
m_servoPin = pin; m_servoPin = pin;
m_pwmServoContext = mraa_pwm_init (m_servoPin);
if ( !(m_pwmServoContext = mraa_pwm_init (m_servoPin)) )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_pwm_init() failed, invalid pin?");
return;
}
m_currAngle = 180; m_currAngle = 180;