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feat: 🥅 Stop motors when thread crashes due to exception #745

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feat: 🥅 Stop motors when thread crashes due to exception #745

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9 changes: 9 additions & 0 deletions src/system/cpp_support.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#include <cstdlib>
#include <stdexcept>

#include "pros/motors.h"
#include "rtos/FreeRTOS.h"
#include "rtos/task.h"
#include "v5_api.h"
Expand All @@ -30,16 +31,24 @@ extern "C" void task_fn_wrapper(task_fn_t fn, void* args) {
vexDisplayString(5, "A runtime error occurred:");
vexDisplayString(6, "%s", re.what());
vexDisplayString(7, "Note: open terminal for error message");
goto kill_motors;
} catch (const std::exception& ex) {
fprintf(stderr, "Exception occurred: %s \n", ex.what());
vexDisplayString(5, "An exception occurred:");
vexDisplayString(6, "%s", ex.what());
vexDisplayString(7, "Note: open terminal for error message");
goto kill_motors;
} catch (...) {
fprintf(stderr, "Unknown error occurred. \n");
vexDisplayString(5, "An unknown error occurred");
goto kill_motors;
}
#endif
return;
kill_motors:
for(uint8_t i = 1; i <= 21; i++) {
motor_move_voltage(i, 0);
}
}

/******************************************************************************/
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