Error.hpp

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#ifndef MARUM_ORO_ERROR_HPP
#define MARUM_ORO_ERROR_HPP

#include <stdexcept>
#include <base/Time.hpp>

#define MARALARM_BASE                   0x1000

#define ACTALARM_BASE                   0x2000
#define UCMALARM_BASE                   0x3000
#define LCUALARM_BASE                   0x4000
#define VISALARM_BASE                   0x6000
#define ALTALARM_BASE                   0x7000
#define CANALARM_BASE                   0x8000

#define MARERROR_BASE                   0x5000

#define MARALARM_COMMS                  MARALARM_BASE +  1

#define MARERROR_CHECKSUM               MARERROR_BASE +  1
#define MARERROR_DEVNAK                 MARERROR_BASE +  2
#define MARERROR_PARAMINV               MARERROR_BASE +  3
#define MARERROR_DEVREPINV              MARERROR_BASE +  4

#define ACTALARM_ENC_LIN_ALARM          ACTALARM_BASE +  1
#define ACTALARM_ENC_RANGE_ERR          ACTALARM_BASE +  2
#define ACTALARM_CTRL_WD_TIME           ACTALARM_BASE +  3
#define ACTALARM_CTRL_EXT_ENC_MAG       ACTALARM_BASE +  4
#define ACTALARM_CTRL_EXT_ENC_COMM      ACTALARM_BASE +  5
#define ACTALARM_CTRL_SH_ENC_MAG        ACTALARM_BASE +  6 
#define ACTALARM_CTRL_WATER             ACTALARM_BASE +  7
#define ACTALARM_CTRL_SH_ENC_COMM       ACTALARM_BASE +  8
#define ACTALARM_DRV_CMD_INC            ACTALARM_BASE +  9
#define ACTALARM_DRV_CMD_INV            ACTALARM_BASE + 10
#define ACTALARM_DRV_FRAME_ERR          ACTALARM_BASE + 11
#define ACTALARM_DRV_VOLT_TEMP          ACTALARM_BASE + 12

#define UCMALARM_AD                     UCMALARM_BASE + 1
#define UCMALARM_DA                     UCMALARM_BASE + 2
#define UCMALARM_EEPROM                 UCMALARM_BASE + 3

#define LCUALARM_FAULT                  LCUALARM_BASE + 1
#define LCUALARM_WATER                  LCUALARM_BASE + 2
#define LCUALARM_WATERLATCH             LCUALARM_BASE + 3
#define LCUALARM_ACJB                   LCUALARM_BASE + 4
#define LCUALARM_ACJB_WATER             LCUALARM_BASE + 5
#define LCUALARM_ACJB_WATERLATCH        LCUALARM_BASE + 6

#define VISALARM_SYNTAX                 VISALARM_BASE + 1
#define VISALARM_BUFF_FULL              VISALARM_BASE + 2
#define VISALARM_CMD_CANCEL             VISALARM_BASE + 3
#define VISALARM_NOSOCK                 VISALARM_BASE + 4
#define VISALARM_CMD_NOEXEC             VISALARM_BASE + 5

#define ALTALARM_SERIAL                 ALTALARM_BASE + 1

#define CANALARM_XMTFULL                CANALARM_BASE + 1
#define CANALARM_OVERRUN                CANALARM_BASE + 2
#define CANALARM_BUSERR                 CANALARM_BASE + 3
#define CANALARM_BUSOFF                 CANALARM_BASE + 4
#define CANALARM_RX_OVERFLOW            CANALARM_BASE + 5
#define CANALARM_TX_OVERFLOW            CANALARM_BASE + 6

#define MARSTR_COMMS                    "Communication failure"
#define MARSTR_CHECKSUM                 "checksum error"
#define MARSTR_DEVNAK                   "device Nak"
#define MARSTR_PARAMINV                 "invalid param"
#define MARSTR_DEVREPINV                "invalid device response"

#define ACTSTR_ENC_LIN_ALARM            "Encoder Linearity Alarm"
#define ACTSTR_ENC_RANGE_ERR            "Encoder Out of Range Error"
#define ACTSTR_CTRL_WD_TIME             "Controller Watchdog Timeout"
#define ACTSTR_CTRL_EXT_ENC_MAG         "Controller Ext. Enc. Magnet Loss"
#define ACTSTR_CTRL_EXT_ENC_COMM        "Controller Ext. Enc. Comm Fail"
#define ACTSTR_CTRL_SH_ENC_MAG          "Controller Shaft Enc. Magnet Loss"
#define ACTSTR_CTRL_WATER               "Controller Water Detection"
#define ACTSTR_CTRL_SH_ENC_COMM         "Controller Shaft Enc. Comm Fail"
#define ACTSTR_DRV_CMD_INC              "Drive Cmd Incomplete"
#define ACTSTR_DRV_CMD_INV              "Drive Invalid Cmd"
#define ACTSTR_DRV_FRAME_ERR            "Drive Frame Error"
#define ACTSTR_DRV_VOLT_TEMP            "Drive U/O Volt or Temp"

#define UCMSTR_AD                       "AD Failure"
#define UCMSTR_DA                       "DA Failure"
#define UCMSTR_EEPROM                   "EEPROM Failure"

#define LCUSTR_FAULT                    "Fault, over-current in channel"
#define LCUSTR_WATER                    "Water Leak detected"
#define LCUSTR_WATERLATCH               "Water Leak Latch"
#define LCUSTR_ACJB                     "AC J-Box communication failure"
#define LCUSTR_ACJB_WATER               "AC J-Box Water Leak detected"
#define LCUSTR_ACJB_WATERLATCH          "AC J-Box Water Leak Latch"

#define VISSTR_SYNTAX                   "syntax error"
#define VISSTR_BUFF_FULL                "command buffer full"
#define VISSTR_CMD_CANCEL               "command cancel"
#define VISSTR_NOSOCK                   "no sockets"
#define VISSTR_CMD_NOEXEC               "command not executable"

#define ALTSTR_SERIAL                   "serial failure, no switches accepted"

#define CANSTR_XMTFULL                  "controller send buffer is full, can be ignored"
#define CANSTR_OVERRUN                  "receive buffer overrun"
#define CANSTR_BUSERR                   "error count at limit"
#define CANSTR_BUSOFF                   "bus error, controller switched to bus-off"
#define CANSTR_RX_OVERFLOW              "receive buffer overflow"
#define CANSTR_TX_OVERFLOW              "transmit buffer overflow"



namespace oro_marum{
  
    enum LogLevel {
        None, Debug, Notification, Warning, Error, Alarm, Fatal
    };
    
    class MarError : public std::runtime_error
    {
        int mId;
        LogLevel mLogLevel;
      public:
        MarError (const std::string& what, const int& id = 0, const LogLevel& level = Error)
          : runtime_error(what),mId(id),mLogLevel(level)
        {}
        int id(){
          return mId;
        }
        LogLevel level(){
          return mLogLevel;
        }
    };
    
    struct LogMessage {
        base::Time      time;
        LogLevel        log_level;
        int             error_id;
        std::string message;
        LogMessage()
            : log_level(None),error_id(0) {};
        LogMessage(LogLevel level, std::string msg, int error = 0)
            : log_level(level), error_id(error)
        {
            time = base::Time::now();
            message = msg;
        }
        LogMessage(std::runtime_error& error)
        {
          time = base::Time::now();
          message = error.what();
          MarError *marError = dynamic_cast<MarError*>(&error);
          if(marError){
            log_level = marError->level();
            error_id = marError->id();
          }
          else{
            log_level = Debug;
            error_id = 0;
          }
        }
    };
    
    
}


#endif