Improved error messages

commands2/commandscheduler.py

@@ -360,7 +360,11 @@ def setDefaultCommand(self, subsystem: Subsystem, defaultCommand: Command) -> No
         self.requireNotComposed(defaultCommand)
 
         if subsystem not in defaultCommand.getRequirements():
-            raise IllegalCommandUse("Default commands must require their subsystem!")
+            raise IllegalCommandUse(
+                "Default commands must require their subsystem!",
+                command=defaultCommand,
+                subsystem=subsystem,
+            )
 
         if (
             defaultCommand.getInterruptionBehavior()
@@ -589,7 +593,8 @@ def requireNotComposed(self, *commands: Command) -> None:
             if location is not None:
                 raise IllegalCommandUse(
                     "Commands that have been composed may not be added to another"
-                    f"composition or scheduled individually (originally composed at {location})"
+                    f"composition or scheduled individually (originally composed at {location})",
+                    command=command,
                 )
 
     def requireNotComposedOrScheduled(self, *commands: Command) -> None:
@@ -604,7 +609,8 @@ def requireNotComposedOrScheduled(self, *commands: Command) -> None:
         for command in commands:
             if self.isScheduled(command):
                 raise IllegalCommandUse(
-                    "Commands that have been scheduled individually may not be added to a composition!"
+                    "Commands that have been scheduled individually may not be added to a composition!",
+                    command=command,
                 )
             self.requireNotComposed(command)
 

commands2/exceptions.py

@@ -1,8 +1,19 @@
 # notrack
+
+import typing
+
+
 class IllegalCommandUse(Exception):
     """
     This exception is raised when a command is used in a way that it shouldn't be.
 
     You shouldn't try to catch this exception, if it occurs it means your code is
     doing something it probably shouldn't be doing
     """
+
+    def __init__(self, msg: str, **kwargs: typing.Any) -> None:
+        if kwargs:
+            args_repr = ", ".join(f"{k}={v!r}" for k, v in kwargs.items())
+            msg = f"{msg} ({args_repr})"
+
+        super().__init__(msg)

commands2/parallelcommandgroup.py

@@ -47,9 +47,11 @@ def addCommands(self, *commands: Command):
         CommandScheduler.getInstance().registerComposedCommands(commands)
 
         for command in commands:
-            if not command.getRequirements().isdisjoint(self.requirements):
+            in_common = command.getRequirements().intersection(self.requirements)
+            if in_common:
                 raise IllegalCommandUse(
-                    "Multiple comands in a parallel composition cannot require the same subsystems."
+                    "Multiple commands in a parallel composition cannot require the same subsystems.",
+                    common=in_common,
                 )
 
             self._commands[command] = False

commands2/paralleldeadlinegroup.py

@@ -60,7 +60,8 @@ def setDeadline(self, deadline: Command):
 
         if deadline in self._commands:
             raise IllegalCommandUse(
-                f"The deadline command cannot also be in the other commands!"
+                f"The deadline command cannot also be in the other commands!",
+                deadline=deadline,
             )
         self.addCommands(deadline)
         self._deadline = deadline
@@ -82,9 +83,11 @@ def addCommands(self, *commands: Command):
         CommandScheduler.getInstance().registerComposedCommands(commands)
 
         for command in commands:
-            if not command.getRequirements().isdisjoint(self.requirements):
+            in_common = command.getRequirements().intersection(self.requirements)
+            if in_common:
                 raise IllegalCommandUse(
-                    "Multiple commands in a parallel composition cannot require the same subsystems."
+                    "Multiple commands in a parallel composition cannot require the same subsystems.",
+                    common=in_common,
                 )
 
             self._commands[command] = False

commands2/parallelracegroup.py

@@ -49,9 +49,11 @@ def addCommands(self, *commands: Command):
         CommandScheduler.getInstance().registerComposedCommands(commands)
 
         for command in commands:
-            if not command.getRequirements().isdisjoint(self.requirements):
+            in_common = command.getRequirements().intersection(self.requirements)
+            if in_common:
                 raise IllegalCommandUse(
-                    "Multiple comands in a parallel composition cannot require the same subsystems."
+                    "Multiple commands in a parallel composition cannot require the same subsystems.",
+                    common=in_common,
                 )
 
             self._commands.add(command)

commands2/pidsubsystem.py

@@ -71,15 +71,15 @@ def useOutput(self, output: float, setpoint: float):
         :param output: The output of the PIDController.
         :param setpoint: The setpoint of the PIDController (for feedforward).
         """
-        raise NotImplementedError("Subclasses must implement this method")
+        raise NotImplementedError(f"{self.__class__} must implement useOutput")
 
     def getMeasurement(self) -> float:
         """
         Returns the measurement of the process variable used by the PIDController.
 
         :return: The measurement of the process variable.
         """
-        raise NotImplementedError("Subclasses must implement this method")
+        raise NotImplementedError(f"{self.__class__} must implement getMeasurement")
 
     def enable(self):
         """Enables the PID control. Resets the controller."""

commands2/trapezoidprofilesubsystem.py

@@ -76,4 +76,4 @@ def useState(self, state: TrapezoidProfile.State):
 
         :param state: The current state of the motion profile.
         """
-        raise NotImplementedError("Subclasses must implement this method")
+        raise NotImplementedError(f"{self.__class__} must implement useState")