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l298: 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 2015-09-10 13:01:18 -06:00 committed by Mihai Tudor Panu
parent 52274d8b10
commit fe133d7454
1 changed files with 20 additions and 10 deletions
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30
src/l298/l298.cxx
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@ -23,6 +23,8 @@
*/
#include <iostream>
#include <string>
#include <stdexcept>
#include "l298.h"
@ -40,13 +42,15 @@ L298::L298(int pwmA, int dir1, int dir2)
if ( !(m_pwm = mraa_pwm_init(pwmA)) )
{
cerr << __FUNCTION__ << ": mraa_pwm_init(pwm) failed" << endl;
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_pwm_init() failed, invalid pin?");
return;
}
if ( !(m_dir1 = mraa_gpio_init(dir1)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(dir1) failed" << endl;
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(dir1) failed, invalid pin?");
mraa_pwm_close(m_pwm);
return;
}
@ -54,7 +58,8 @@ L298::L298(int pwmA, int dir1, int dir2)
if ( !(m_dir2 = mraa_gpio_init(dir2)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(dir2) failed" << endl;
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(dir2) failed, invalid pin?");
mraa_pwm_close(m_pwm);
mraa_gpio_close(m_dir1);
return;
@ -84,21 +89,24 @@ L298::L298(int stepsPerRev, int en, int i1, int i2, int i3, int i4)
// init the gpio's we will need
if ( !(m_stepEnable = mraa_gpio_init(en)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(en) failed" << endl;
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(en) failed, invalid pin?");
return;
}
mraa_gpio_dir(m_stepEnable, MRAA_GPIO_OUT);
if ( !(m_stepI1 = mraa_gpio_init(i1)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i1) failed" << endl;
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(i1) failed, invalid pin?");
return;
}
mraa_gpio_dir(m_stepI1, MRAA_GPIO_OUT);
if ( !(m_stepI2 = mraa_gpio_init(i2)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i2) failed" << endl;
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(i2) failed, invalid pin?");
mraa_gpio_close(m_stepI1);
return;
}
@ -106,7 +114,8 @@ L298::L298(int stepsPerRev, int en, int i1, int i2, int i3, int i4)
if ( !(m_stepI3 = mraa_gpio_init(i3)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i3) failed" << endl;
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(i3) failed, invalid pin?");
mraa_gpio_close(m_stepI1);
mraa_gpio_close(m_stepI2);
return;
@ -115,7 +124,8 @@ L298::L298(int stepsPerRev, int en, int i1, int i2, int i3, int i4)
if ( !(m_stepI4 = mraa_gpio_init(i4)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i4) failed" << endl;
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(i4) failed, invalid pin?");
mraa_gpio_close(m_stepI1);
mraa_gpio_close(m_stepI2);
mraa_gpio_close(m_stepI3);
@ -190,8 +200,8 @@ void L298::setPeriodMS(int ms)
if (m_motor)
{
if (mraa_pwm_period_ms(m_pwm, ms) != MRAA_SUCCESS)
cerr << __FUNCTION__ << ": period specified is not supported"
<< endl;
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_pwm_period_ms() failed");
}
}