iCub-main
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diagnosticInfoParsers.cpp
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1/*
2 * Copyright (C) Istituto Italiano di Tecnologia (IIT)
3 * All rights reserved.
4 *
5 * This software may be modified and distributed under the terms of the
6 * BSD-3-Clause license. See the accompanying LICENSE file for details.
7 */
8
9#include "diagnosticLowLevelFormatter_hid.h"
10#include "diagnosticLowLevelFormatter.h"
11#include "EoBoards.h"
12#include "embot_core_binary.h"
13#include "serviceParser.h"
14#include <yarp/os/Time.h>
15
16#include <algorithm>
17#include <sstream>
18#include <iomanip>
19
20using namespace Diagnostic::LowLevel;
21
22constexpr uint32_t iCubDegreesPerRevolution = 65536;
23constexpr uint32_t degreesPerRevolution = 360;
24constexpr float iCubDegreesToDegreesFactor = static_cast<float>(degreesPerRevolution) / static_cast<float>(iCubDegreesPerRevolution);
25constexpr float degreesToICubDegreesFactor = static_cast<float>(iCubDegreesPerRevolution) / static_cast<float>(degreesPerRevolution);
26
27
28/**************************************************************************************************************************/
29/****************************************** DefaultParser ***************************************************/
30/**************************************************************************************************************************/
31DefaultParser::DefaultParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):m_dnginfo(dnginfo), m_entityNameProvider(entityNameProvider){;}
32
33void DefaultParser::parseInfo()
34{
35 char str[512] = {0};
36 uint8_t *p64 = (uint8_t*)&(m_dnginfo.param64);
37 snprintf(str, sizeof(str), " src %s, adr %d,(code 0x%.8x, par16 0x%.4x par64 0x%.2x%.2x%.2x%.2x%.2x%.2x%.2x%.2x) -> %s %s %s",
38 m_dnginfo.baseInfo.sourceCANPortStr.c_str(),
39 m_dnginfo.baseInfo.sourceCANBoardAddr,
40 m_dnginfo.errorCode,
41 m_dnginfo.param16,
42 p64[7], p64[6], p64[5], p64[4], p64[3], p64[2], p64[1], p64[0],
43 eoerror_code2string(m_dnginfo.errorCode),
44 eoerror_code2rulesstring(m_dnginfo.errorCode),
45 m_dnginfo.extraMessage.c_str()
46 );
47 m_dnginfo.baseInfo.finalMessage.clear();
48 m_dnginfo.baseInfo.finalMessage.append(str);
49
50}
51
52void DefaultParser::printBaseInfo()
53{
54 char str[512] = {0};
55 snprintf(str, sizeof(str), "%s", m_dnginfo.baseMessage.c_str());
56 m_dnginfo.baseInfo.finalMessage.append(str);
57}
58
59/**************************************************************************************************************************/
60/****************************************** ConfigParser ***************************************************/
61/**************************************************************************************************************************/
62
63ConfigParser::ConfigParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
64
65void ConfigParser::parseInfo()
66{
67 char str[512] = {0};
68 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
69
70 m_dnginfo.baseInfo.finalMessage.clear();
71
72 switch(value)
73 {
74
75 case eoerror_value_CFG_candiscovery_started:
76 {
77 uint16_t maskcan2 = m_dnginfo.param16;
78 eObrd_type_t brdnum = static_cast<eObrd_type_t>((m_dnginfo.param64 & 0x0000ff0000000000) >> 40);
79 const char *canboardname = eoboards_type2string(brdnum);
80 uint16_t maskcan1 = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
81 eObrd_protocolversion_t prot = {0};
82 eObrd_firmwareversion_t appl = {0};
83 uint64_t reqpr = (m_dnginfo.param64 & 0x000000ffff000000) >> 24;
84 uint64_t reqfw = (m_dnginfo.param64 & 0x0000000000ffffff);
85 uint8_t num =0;
86 prot.major = reqpr >> 8;
87 prot.minor = reqpr & 0xff;
88 appl.major = (reqfw >> 16) & 0xff;
89 appl.minor = (reqfw >> 8) & 0xff;
90 appl.build = reqfw & 0xff;
91 num = eo_common_hlfword_bitsetcount(maskcan1)+eo_common_hlfword_bitsetcount(maskcan2);
92
93 snprintf(str, sizeof(str), " %s %d %s boards on (can1map, can2map) = (0x%.4x, 0x%.4x) with target can protocol ver %d.%d and application ver %d.%d.%d.",
94 m_dnginfo.baseMessage.c_str(),
95 num, canboardname,
96 maskcan1, maskcan2,
97 prot.major, prot.minor,
98 appl.major, appl.minor, appl.build
99 );
100 m_dnginfo.baseInfo.finalMessage.append(str);
101 } break;
102
103 case eoerror_value_CFG_candiscovery_ok:
104 {
105 uint8_t num = m_dnginfo.param16 & 0x00ff;
106 eObool_t fakesearch = (0x0000 == (m_dnginfo.param16 & 0xf000)) ? (eobool_false) : (eobool_true);
107 uint64_t brdnum = (m_dnginfo.param64 & 0x0000ff0000000000) >> 40;
108 const char *canboardname = eoboards_type2string(static_cast<eObrd_type_t>(brdnum));
109 uint64_t searchtime = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
110 eObrd_protocolversion_t prot = {0};
111 eObrd_firmwareversion_t appl = {0};
112 uint64_t reqpr = (m_dnginfo.param64 & 0x000000ffff000000) >> 24;
113 uint64_t reqfw = (m_dnginfo.param64 & 0x0000000000ffffff);
114 char strOK[80] = "OK";
115
116 prot.major = reqpr >> 8;
117 prot.minor = reqpr & 0xff;
118 appl.major = (reqfw >> 16) & 0xff;
119 appl.minor = (reqfw >> 8) & 0xff;
120 appl.build = reqfw & 0xff;
121
122
123 if(eobool_true == fakesearch)
124 {
125 snprintf(strOK, sizeof(strOK), "OK but FAKE (without any control on CAN w/ get-fw-version<> message)");
126 }
127
128 snprintf(str, sizeof(str), "%s is %s for %d %s boards with target can protocol ver %d.%d and application ver %d.%d.%d. Search time was %d ms",
129 m_dnginfo.baseMessage.c_str(),
130 strOK,
131 num, canboardname,
132 prot.major, prot.minor,
133 appl.major, appl.minor, appl.build,
134 (int)searchtime
135 );
136 m_dnginfo.baseInfo.finalMessage.append(str);
137 } break;
138
139 case eoerror_value_CFG_candiscovery_detectedboard:
140 {
141 uint64_t brdnum = (m_dnginfo.param64 & 0x0000ff0000000000) >> 40;
142 const char *canboardname = eoboards_type2string(static_cast<eObrd_type_t>(brdnum));
143 uint64_t searchtime = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
144 eObrd_protocolversion_t prot = {0};
145 eObrd_firmwareversion_t appl = {0};
146 uint64_t reqpr = (m_dnginfo.param64 & 0x000000ffff000000) >> 24;
147 uint64_t reqfw = (m_dnginfo.param64 & 0x0000000000ffffff);
148 uint8_t address;
149 prot.major = reqpr >> 8;
150 prot.minor = reqpr & 0xff;
151 appl.major = (reqfw >> 16) & 0xff;
152 appl.minor = (reqfw >> 8) & 0xff;
153 appl.build = reqfw & 0xff;
154 address = m_dnginfo.param16 & 0x000f;
155
156
157 snprintf(str, sizeof(str), "%s %s board in %s addr %d with can protocol ver %d.%d and application ver %d.%d.%d Search time was %d ms",
158 m_dnginfo.baseMessage.c_str(),
159 canboardname,
160 m_dnginfo.baseInfo.sourceCANPortStr.c_str(), address,
161 prot.major, prot.minor,
162 appl.major, appl.minor, appl.build,
163 (int)searchtime
164 );
165 m_dnginfo.baseInfo.finalMessage.append(str);
166 } break;
167
168 case eoerror_value_CFG_candiscovery_boardsmissing:
169 {
170 uint8_t numofmissing = m_dnginfo.param16 & 0x00ff;
171 const char *canboardname = eoboards_type2string(static_cast<eObrd_type_t>((m_dnginfo.param16 >> 8)));
172 uint64_t searchtime = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
173 uint16_t maskofmissing = m_dnginfo.param64 & 0x000000000000ffff;
174
175 uint8_t n = 1;
176 uint8_t i = 0;
177
178 snprintf(str, sizeof(str), "%s %d missing %s boards for %d ms in %s:",
179 m_dnginfo.baseMessage.c_str(),
180 numofmissing,
181 canboardname,
182 (int)searchtime,
183 m_dnginfo.baseInfo.sourceCANPortStr.c_str()
184 );
185 m_dnginfo.baseInfo.finalMessage.append(str);
186 for(i=1; i<15; i++)
187 {
188 if(eobool_true == eo_common_hlfword_bitcheck(maskofmissing, i))
189 {
190 snprintf(str, sizeof(str), "%d of %d: missing %s BOARD %s:%s:%d",
191 n, numofmissing, canboardname,
192 m_dnginfo.baseInfo.sourceBoardIpAddrStr.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), i
193 );
194 m_dnginfo.baseInfo.finalMessage.append(str);
195 n++;
196
197 }
198 }
199
200 } break;
201
202 case eoerror_value_CFG_candiscovery_boardsinvalid:
203 {
204 uint8_t numofinvalid = m_dnginfo.param16 & 0x00ff;
205 const char *canboardname = eoboards_type2string(static_cast<eObrd_type_t>(m_dnginfo.param16 >> 8));
206 uint64_t invalidmask = m_dnginfo.param64;
207 uint8_t n = 1;
208 uint8_t i = 0;
209 const char *empty = "";
210 const char *wrongtype = "WRONG BOARD TYPE";
211 const char *wrongprot = "WRONG PROTOCOL VERSION";
212 const char *wrongappl = "WRONG APPLICATION VERSION";
213
214 snprintf(str, sizeof(str), "%s %d invalid %s boards in %s:\n",
215 m_dnginfo.baseMessage.c_str(),
216 numofinvalid,
217 canboardname,
218 m_dnginfo.baseInfo.sourceCANPortStr.c_str()
219 );
220 m_dnginfo.baseInfo.finalMessage.append(str);
221
222 for(int i=1; i<15; i++)
223 {
224 uint64_t val = (invalidmask >> (4*i)) & 0x0f;
225 if(0 != val)
226 {
227 snprintf(str, sizeof(str), "\t %d of %d: wrong %s because it has: %s%s%s \n",
228 n, numofinvalid, canboardname,
229 ((val & 0x1) == 0x1) ? (wrongtype) : (empty),
230 ((val & 0x2) == 0x2) ? (wrongappl) : (empty),
231 ((val & 0x4) == 0x4) ? (wrongprot) : (empty)
232 );
233
234 m_dnginfo.baseInfo.finalMessage.append(str);
235 n++;
236
237 }
238 }
239
240 } break;
241
242 case eoerror_value_CFG_skin_ok:
243 {
244 uint16_t maskcan1 = (m_dnginfo.param64 & 0x0000ffff00000000) >> 32;
245 uint16_t maskcan2 = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
246 eObrd_protocolversion_t prot = {0};
247 eObrd_firmwareversion_t appl = {0};
248 uint64_t reqpr = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
249 uint64_t reqfw = (m_dnginfo.param64 & 0x000000000000ffff);
250 prot.major = reqpr >> 8;
251 prot.minor = reqpr & 0xff;
252 appl.major = (reqfw >> 8) & 0xff;
253 appl.minor = reqfw & 0xff;
254 uint16_t numOfpatches = m_dnginfo.param16;
255
256 snprintf(str, sizeof(str), "%s on %d skin patches for boards on (can1map, can2map) = (0x%.4x, 0x%.4x) with target can protocol ver %d.%d and application ver %d.%d",
257 m_dnginfo.baseMessage.c_str(),
258 numOfpatches,
259 maskcan1, maskcan2,
260 prot.major, prot.minor,
261 appl.major, appl.minor
262 );
263 m_dnginfo.baseInfo.finalMessage.append(str);
264 } break;
265
266 case eoerror_value_CFG_skin_failed_toomanyboards:
267 case eoerror_value_CFG_inertials3_failed_toomanyboards:
268 case eoerror_value_CFG_temperatures_failed_toomanyboards:
269 {
270 uint8_t numOfReqBoards = (m_dnginfo.param16 & 0xff00) >> 8;
271 uint8_t numOfMaxBoards = m_dnginfo.param16 & 0x00ff;
272
273 uint16_t maskcan1 = (m_dnginfo.param64 & 0x000000000000ffff);
274 uint16_t maskcan2 = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
275
276 snprintf(str, sizeof(str), " %s for %d boards. Limit of max number of boards is %d. Boards are on (can1map, can2map) = (0x%.4x, 0x%.4x)",
277 m_dnginfo.baseMessage.c_str(),
278 numOfReqBoards, numOfMaxBoards,
279 maskcan1, maskcan2
280 );
281 m_dnginfo.baseInfo.finalMessage.append(str);
282 } break;
283
284 case eoerror_value_CFG_skin_failed_candiscovery:
285 case eoerror_value_CFG_inertials3_failed_candiscovery:
286 case eoerror_value_CFG_temperatures_failed_candiscovery:
287 {
288 uint16_t incompMaskcan2 = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
289 uint16_t incompMaskcan1 = (m_dnginfo.param64 & 0x0000ffff00000000) >> 32;
290 uint16_t missMaskcan2 = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
291 uint16_t missMaskcan1 = (m_dnginfo.param64 & 0x000000000000ffff);
292 uint16_t numOfPatches = m_dnginfo.param16;
293
294 if (eoerror_value_CFG_skin_failed_candiscovery == value)
295 {
296 snprintf(str, sizeof(str), "%s for %d skin patches. ", m_dnginfo.baseMessage.c_str(), numOfPatches);
297 m_dnginfo.baseInfo.finalMessage.append(str);
298 }
299 else
300 {
301 snprintf(str, sizeof(str), "%s. ", m_dnginfo.baseMessage.c_str());
302 m_dnginfo.baseInfo.finalMessage.append(str);
303 }
304
305 snprintf(str, sizeof(str), "Missing can boards on (can1map, can2map) = (0x%.4x, 0x%.4x) and found but incompatible can boards on (can1map, can2map) = (0x%.4x, 0x%.4x)",
306 missMaskcan1, missMaskcan2,
307 incompMaskcan1, incompMaskcan2
308 );
309
310 m_dnginfo.baseInfo.finalMessage.append(str);
311 } break;
312
313 case eoerror_value_CFG_strain_ok:
314 case eoerror_value_CFG_strain_failed_candiscovery:
315 {
316 eObrd_protocolversion_t prot = {0};
317 eObrd_firmwareversion_t appl = {0};
318 uint64_t reqpr = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
319 uint64_t reqfw = (m_dnginfo.param64 & 0x000000000000ffff);
320 prot.major = reqpr >> 8;
321 prot.minor = reqpr & 0xff;
322 appl.major = (reqfw >> 8) & 0xff;
323 appl.minor = reqfw & 0xff;
324 uint8_t strain = (m_dnginfo.param64 & 0x0000000f00000000) >> 20;
325 uint8_t address = m_dnginfo.param16 & 0x00ff;
326 uint8_t port = m_dnginfo.param16 >> 8;
327
328 snprintf(str, sizeof(str), "%s for board at addr:%d and port:%d with can protocol ver %d.%d and application ver %d.%d. Strain number is:%d",
329 m_dnginfo.baseMessage.c_str(),
330 address, port,
331 prot.major, prot.minor,
332 appl.major, appl.minor,
333 strain
334 );
335 m_dnginfo.baseInfo.finalMessage.append(str);
336 } break;
337
338 case eoerror_value_CFG_mais_ok:
339 case eoerror_value_CFG_mais_failed_candiscovery:
340 case eoerror_value_CFG_psc_ok:
341 case eoerror_value_CFG_psc_failed_candiscovery:
342 case eoerror_value_CFG_pos_ok:
343 case eoerror_value_CFG_pos_failed_candiscovery:
344 {
345 eObrd_protocolversion_t prot = {0};
346 eObrd_firmwareversion_t appl = {0};
347 uint64_t reqpr = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
348 uint64_t reqfw = (m_dnginfo.param64 & 0x000000000000ffff);
349 prot.major = reqpr >> 8;
350 prot.minor = reqpr & 0xff;
351 appl.major = (reqfw >> 8) & 0xff;
352 appl.minor = reqfw & 0xff;
353 uint8_t address = m_dnginfo.param16 & 0x00ff;
354 uint8_t port = m_dnginfo.param16 >> 8;
355
356 snprintf(str, sizeof(str), "%s on board at addr: %d and port:%d with can protocol ver %d.%d and application ver %d.%d.",
357 m_dnginfo.baseMessage.c_str(),
358 address,
359 port,
360 prot.major, prot.minor,
361 appl.major, appl.minor
362 );
363 m_dnginfo.baseInfo.finalMessage.append(str);
364 } break;
365
366 case eoerror_value_CFG_mais_failed_verify_because_active:
367 case eoerror_value_CFG_mc_foc_ok:
368 case eoerror_value_CFG_mc_foc_failed_candiscovery_of_foc:
369 case eoerror_value_CFG_mc_foc_failed_encoders_verify:
370 case eoerror_value_CFG_mc_mc4_ok:
371 case eoerror_value_CFG_mc_mc4_failed_candiscovery_of_mc4:
372 case eoerror_value_CFG_mc_mc4_failed_mais_verify:
373 case eoerror_value_CFG_mc_mc4plus_ok:
374 case eoerror_value_CFG_mc_mc4plus_failed_encoders_verify:
375 case eoerror_value_CFG_comm_cannotloadaregularrop:
376 case eoerror_value_CFG_mc_mc4plusmais_ok:
377 case eoerror_value_CFG_mc_mc4plusmais_failed_encoders_verify:
378 case eoerror_value_CFG_mc_mc4plusmais_failed_candiscovery_of_mais:
379 case eoerror_value_CFG_services_not_verified_yet:
380 case eoerror_value_CFG_mc_not_verified_yet:
381 case eoerror_value_CFG_strain_not_verified_yet:
382 case eoerror_value_CFG_mais_not_verified_yet:
383 case eoerror_value_CFG_skin_not_verified_yet:
384 case eoerror_value_CFG_inertials3_not_verified_yet:
385 case eoerror_value_CFG_encoders_not_verified_yet:
386 case eoerror_value_CFG_mc_using_onboard_config:
387 case eoerror_value_CFG_strain_using_onboard_config:
388 case eoerror_value_CFG_mais_using_onboard_config:
389 case eoerror_value_CFG_inertials3_using_onboard_config:
390 case eoerror_value_CFG_skin_using_onboard_config:
391 case eoerror_value_CFG_inertials3_ok:
392 case eoerror_value_CFG_temperatures_not_verified_yet:
393 case eoerror_value_CFG_temperatures_ok:
394 case eoerror_value_CFG_temperatures_using_onboard_config:
395 case eoerror_value_CFG_psc_failed_verify_because_active:
396 case eoerror_value_CFG_psc_not_verified_yet:
397 case eoerror_value_CFG_psc_using_onboard_config:
398 case eoerror_value_CFG_mc_mc2pluspsc_ok:
399 case eoerror_value_CFG_mc_mc2pluspsc_failed_encoders_verify:
400 case eoerror_value_CFG_mc_mc2pluspsc_failed_candiscovery_of_pscs:
401 case eoerror_value_CFG_inertials3_failed_notsupported:
402 case eoerror_value_CFG_temperatures_failed_notsupported:
403 case eoerror_value_CFG_mais_failed_notsupported:
404 case eoerror_value_CFG_strain_failed_notsupported:
405 case eoerror_value_CFG_skin_failed_notsupported:
406 case eoerror_value_CFG_psc_failed_notsupported:
407 case eoerror_value_CFG_mc_failed_notsupported:
408 case eoerror_value_CFG_encoders_failed_notsupported:
409 case eoerror_value_CFG_pos_not_verified_yet:
410 case eoerror_value_CFG_pos_using_onboard_config:
411 case eoerror_value_CFG_pos_failed_notsupported:
412 case eoerror_value_CFG_mc_mc4plusfaps_ok:
413 case eoerror_value_CFG_mc_mc4plusfaps_failed_encoders_verify:
414 case eoerror_value_CFG_mc_mc4plusfaps_failed_candiscovery:
415 case eoerror_value_CFG_mc_mc4pluspmc_ok:
416 case eoerror_value_CFG_mc_mc4pluspmc_failed_encoders_verify:
417 case eoerror_value_CFG_mc_mc4pluspmc_failed_candiscovery_of_pmc:
418 case eoerror_value_CFG_ft_ok:
419 case eoerror_value_CFG_ft_failed_candiscovery:
420 case eoerror_value_CFG_ft_not_verified_yet:
421 case eoerror_value_CFG_ft_using_onboard_config:
422 case eoerror_value_CFG_ft_failed_notsupported:
423 case eoerror_value_CFG_ft_failed_fullscales:
424 case eoerror_value_CFG_bat_ok:
425 case eoerror_value_CFG_bat_failed_candiscovery:
426 case eoerror_value_CFG_bat_not_verified_yet:
427 case eoerror_value_CFG_bat_using_onboard_config:
428 case eoerror_value_CFG_bat_failed_notsupported:
429 case eoerror_value_CFG_mc_advfoc_ok:
430 case eoerror_value_CFG_mc_advfoc_failed_candiscovery:
431 case eoerror_value_CFG_mc_advfoc_failed_encoders_verify:
432 case eoerror_value_CFG_mc_advfoc_failed_ICCdiscovery:
433 {
434 printBaseInfo();
435 } break;
436
437 // p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000"},
438 case eoerror_value_CFG_encoders_ok:
439 case eoerror_value_CFG_encoders_failed_verify:
440 {
441 uint8_t numOfJoints = (m_dnginfo.param16 & 0xf000) >> 12;
442 uint8_t failmaskenc1 = m_dnginfo.param16 & 0x000f;
443 int16_t errorenc1 = m_dnginfo.param64 & 0x0000ffff;
444 uint8_t failmaskenc2 = (m_dnginfo.param16 & 0x00f0) >> 4;
445 int16_t errorenc2 = (m_dnginfo.param64 & 0xffff0000) >> 16;
446
447 int16_t rawerror1 = errorenc1 & failmaskenc1;
448 int16_t rawerror2 = errorenc2 & failmaskenc2;
449 snprintf(str, sizeof(str), "%s", m_dnginfo.baseMessage.c_str());
450 m_dnginfo.baseInfo.finalMessage.append(str);
451
452 for(auto i=0; i < numOfJoints; i++)
453 {
454 // 1. check if joint ith has encoder with errors
455 auto primary_enc_with_error = (failmaskenc1 & (1<<i));
456 auto secondary_enc_with_error = (failmaskenc2 & (1<<i));
457 auto primary_error_code = 0;
458 auto secondary_error_code = 0;
459 if(primary_enc_with_error)
460 {
461 primary_error_code = (errorenc1 >> (4*i)) & 0xf;
462 m_entityNameProvider.getAxisName(i, m_dnginfo.baseInfo.axisName);
463 snprintf(str, sizeof(str), " joint %d (%s) has error on primary encoder (code=%d). ",
464 i, m_dnginfo.baseInfo.axisName.c_str(), primary_error_code); //TODO: get a string instead of a code
465 m_dnginfo.baseInfo.finalMessage.append(str);
466 }
467
468 if(secondary_enc_with_error)
469 {
470 secondary_error_code = (errorenc2 >> (4*i)) & 0xf;
471 m_entityNameProvider.getAxisName(i, m_dnginfo.baseInfo.axisName);
472 snprintf(str, sizeof(str), " joint %d (%s) has error on secodary encoder (code=%d)",
473 i, m_dnginfo.baseInfo.axisName.c_str(), secondary_error_code); //TODO: get a string instead of a code
474 m_dnginfo.baseInfo.finalMessage.append(str);
475 }
476
477
478 }
479
480 } break;
481
482 case eoerror_value_CFG_inertials3_failed_unsupportedsensor:
483 {
484 int16_t unsuppsens = m_dnginfo.param16;
485
486 snprintf(str, sizeof(str), "%s. Number of unsupported sens is %d",
487 m_dnginfo.baseMessage.c_str(),
488 unsuppsens
489 );
490 m_dnginfo.baseInfo.finalMessage.append(str);
491 } break;
492
493 case eoerror_value_CFG_inertials3_changed_requestedrate:
494 case eoerror_value_CFG_temperatures_changed_requestedrate:
495 case eoerror_value_CFG_psc_changed_requestedrate:
496 case eoerror_value_CFG_pos_changed_requestedrate:
497 {
498 uint8_t reqrate = (m_dnginfo.param16 & 0xff00) >> 8;
499 uint8_t assrate = m_dnginfo.param16 & 0x00ff;
500
501 snprintf(str, sizeof(str), "%s. Requested rate %u and Assigned rate %u",
502 m_dnginfo.baseMessage.c_str(),
503 reqrate,
504 assrate
505 );
506 m_dnginfo.baseInfo.finalMessage.append(str);
507 } break;
508
509 case eoerror_value_CFG_inertials3_failed_generic:
510 case eoerror_value_CFG_temperatures_failed_generic:
511 {
512 uint8_t numOfSens = m_dnginfo.param64;
513
514 snprintf(str, sizeof(str), "%s for %d sensors",
515 m_dnginfo.baseMessage.c_str(),
516 numOfSens
517 );
518 m_dnginfo.baseInfo.finalMessage.append(str);
519 } break;
520
521 case eoerror_value_CFG_mc_advfoc_ICCdiscovery_result:
522 {
523 const char *wrongtype = " WRONG ONBOARD BOARD TYPE";
524 const char *wrongappl = " WRONG APPLICATION VERSION";
525 const char *wrongprot = " WRONG PROTOCOL VERSION";
526 const char *empty = "";
527
528 uint8_t NoResponse = 0x10;
529 uint8_t WrongType = 0x01;
530 uint8_t WrongApp = 0x02;
531 uint8_t WrongProtocol = 0x04;
532 uint8_t WrongChannel = 0x08;
533
534 // Define bitmask and shift constants
535 constexpr uint64_t MASK_FW_BUILD = 0x00000000000000FF;
536 constexpr uint64_t MASK_FW_MINOR = 0x000000000000FF00;
537 constexpr uint64_t MASK_FW_MAJOR = 0x0000000000FF0000;
538 constexpr uint64_t MASK_PROTO_MINOR = 0x00000000FF000000;
539 constexpr uint64_t MASK_PROTO_MAJOR = 0x000000FF00000000;
540 constexpr uint64_t MASK_BOARD_TYPE = 0x0000FF0000000000;
541 constexpr uint64_t MASK_ADDRESS = 0x00FF000000000000;
542 constexpr uint64_t MASK_BUS = 0xFF00000000000000;
543
544 constexpr uint8_t SHIFT_FW_BUILD = 0;
545 constexpr uint8_t SHIFT_FW_MINOR = 8;
546 constexpr uint8_t SHIFT_FW_MAJOR = 16;
547 constexpr uint8_t SHIFT_PROTO_MINOR = 24;
548 constexpr uint8_t SHIFT_PROTO_MAJOR = 32;
549 constexpr uint8_t SHIFT_BOARD_TYPE = 40;
550 constexpr uint8_t SHIFT_ADDRESS = 48;
551 constexpr uint8_t SHIFT_BUS = 56;
552
553 // Extract values using masks and shifts
554 uint8_t fw_build = (m_dnginfo.param64 & MASK_FW_BUILD) >> SHIFT_FW_BUILD;
555 uint8_t fw_minor = (m_dnginfo.param64 & MASK_FW_MINOR) >> SHIFT_FW_MINOR;
556 uint8_t fw_major = (m_dnginfo.param64 & MASK_FW_MAJOR) >> SHIFT_FW_MAJOR;
557 uint8_t proto_minor = (m_dnginfo.param64 & MASK_PROTO_MINOR) >> SHIFT_PROTO_MINOR;
558 uint8_t proto_major = (m_dnginfo.param64 & MASK_PROTO_MAJOR) >> SHIFT_PROTO_MAJOR;
559 uint8_t board_type = (m_dnginfo.param64 & MASK_BOARD_TYPE) >> SHIFT_BOARD_TYPE;
560 uint8_t address = (m_dnginfo.param64 & MASK_ADDRESS) >> SHIFT_ADDRESS;
561 uint8_t bus = (m_dnginfo.param64 & MASK_BUS) >> SHIFT_BUS;
562
563 uint16_t invalidmask = m_dnginfo.param16;
564 eOlocation_t location = { bus, 0, address};
565 char location_str[64];
566 ServiceParser parser;
567 parser.convert(location, &location_str[0], sizeof(location_str));
568 eObrd_type_t general_brd_type = eoboards_cantype2type(static_cast<eObrd_cantype_t>(board_type));
569 std::string board_type_str = eoboards_type2string(general_brd_type);
570 uint16_t val = invalidmask & 0x0ff;
571 if(0 != val)
572 {
573 if((val & NoResponse) == NoResponse)
574 {
575 snprintf(str, sizeof(str), "%serror, the application on the other core does not respond.",
576 m_dnginfo.baseMessage.c_str()
577 );
578 m_dnginfo.baseInfo.finalMessage.append(str);
579 }
580 else if((val & WrongChannel) == WrongChannel)
581 {
582 snprintf(str, sizeof(str), "%serror, wrong port selected.",
583 m_dnginfo.baseMessage.c_str()
584 );
585 m_dnginfo.baseInfo.finalMessage.append(str);
586 }
587 else
588 {
589 snprintf(str, sizeof(str), "error on ICCdiscovery because it has:%s%s%s. ",
590 ((val & WrongType) == WrongType) ? (wrongtype) : (empty),
591 ((val & WrongApp) == WrongApp) ? (wrongappl) : (empty),
592 ((val & WrongProtocol) == WrongProtocol) ? (wrongprot) : (empty)
593 );
594 m_dnginfo.baseInfo.finalMessage.append(str);
595
596 snprintf(str, sizeof(str), "Found on other core: %s FW ver is %d.%d.%d. Protocol ver is %d.%d Port: %s. \n",
597 board_type_str.c_str(),
598 fw_major, fw_minor, fw_build, proto_major, proto_minor, location_str
599 );
600 m_dnginfo.baseInfo.finalMessage.append(str);
601 }
602 }
603 else
604 {
605 snprintf(str, sizeof(str), "%s ICCdiscovery successful. Found on other core: %s FW ver is %d.%d.%d. Protocol ver is %d.%d Port: %s. \n",
606 m_dnginfo.baseMessage.c_str(), board_type_str.c_str(),
607 fw_major, fw_minor, fw_build, proto_major, proto_minor, location_str
608 );
609
610 m_dnginfo.baseInfo.finalMessage.append(str);
611 }
612
613 } break;
614
615 case EOERROR_VALUE_DUMMY:
616 {
617 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_Config error value.");
618
619
620 } break;
621
622 default:
623 {
624 Diagnostic::LowLevel::DefaultParser::parseInfo();
625
626 }
627
628 }//end switch
629
630
631
632}
633
634
635
636
637/**************************************************************************************************************************/
638/****************************************** MotionControlParser ***************************************************/
639/**************************************************************************************************************************/
640
641// private class functions
642std::string MotionControlParser::motorStatusBitsToString(eOmc_motorFaultState_t motorstatus)
643{
644 // dimesion of the array is hard-code but it must be aligned w/ the union typedef eOmc_motorFaultState_t
645 static const std::array<std::string_view, eOmc_motorFaultState_numberof> s_motor_fault_status =
646 {
647 //B0 L
648 "ExternalFaultAsserted",
649 "UnderVoltageFailure",
650 "OverVoltageFailure",
651 "OverCurrentFailure",
652 //B0 H
653 "DHESInvalidValue",
654 "AS5045CSumError",
655 "DHESInvalidSequence",
656 "CANInvalidProtocol",
657 //B1 L
658 "CAN_BufferOverRun",
659 "SetpointExpired",
660 "CAN_TXIsPasv",
661 "CAN_RXIsPasv",
662 //B1 H
663 "CAN_IsWarnTX",
664 "CAN_IsWarnRX",
665 "OverHeatingFailure",
666 "",
667 //B2 L
668 "ADCCalFailure",
669 "I2TFailure",
670 "EMUROMFault",
671 "EMUROMCRCFault",
672 //B2 H
673 "EncoderFault",
674 "FirmwareSPITimingError",
675 "AS5045CalcError",
676 "FirmwarePWMFatalError",
677 //B3 L
678 "CAN_TXWasPasv",
679 "CAN_RXWasPasv",
680 "CAN_RTRFlagActive",
681 "CAN_WasWarn",
682 //B3 H
683 "CAN_DLCError",
684 "SiliconRevisionFault",
685 "PositionLimitUpper",
686 "PositionLimitLower"
687 };
688
689 std::string statusstring = {};
690 statusstring.reserve(256);
691
692 for (uint8_t i = 0; i < eOmc_motorFaultState_numberof; i++) // important to loop over the eOmc_motorFaultState_numberof (dimension of the union typedef eOmc_motorFaultState_t)
693 {
694 // check bit by bit and add to ss the faulted bits
695 if(embot::core::binary::bit::check(motorstatus.bitmask, i))
696 {
697 statusstring.append(static_cast<const char*>(s_motor_fault_status.at(i).data()));
698 statusstring.append(" ");
699 }
700 }
701 return statusstring;
702}
703
704MotionControlParser::MotionControlParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
705
706void MotionControlParser::parseInfo()
707{
708 char str[512] = {0};
709 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
710 m_dnginfo.baseInfo.finalMessage.clear();
711
712 switch(value)
713 {
714
715 case eoerror_value_MC_motor_external_fault:
716 case eoerror_value_MC_motor_qencoder_phase_disappeared:
717 {
718 snprintf(str, sizeof(str), " %s", m_dnginfo.baseMessage.c_str());
719 m_dnginfo.baseInfo.finalMessage.append(str);
720 } break;
721
722 case eoerror_value_MC_motor_overcurrent:
723 case eoerror_value_MC_motor_i2t_limit:
724 case eoerror_value_MC_motor_hallsensors:
725 case eoerror_value_MC_motor_can_invalid_prot:
726 case eoerror_value_MC_motor_can_generic:
727 case eoerror_value_MC_motor_can_no_answer:
728 case eoerror_value_MC_axis_torque_sens:
729 case eoerror_value_MC_joint_hard_limit:
730 {
731 uint8_t joint_num = m_dnginfo.param16 & 0x00ff;
732 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
733
734 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d))", m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num);
735 m_dnginfo.baseInfo.finalMessage.append(str);
736 } break;
737
738 case eoerror_value_MC_abs_enc_invalid:
739 case eoerror_value_MC_abs_enc_spikes:
740 case eoerror_value_MC_abs_enc_timeout:
741 {
742 std::string encoderTypeName = {};
743 uint8_t joint_num = m_dnginfo.param16 & 0x00ff;
744 uint8_t enc_port = (m_dnginfo.param16 & 0xff00)>>8;
745 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
746 m_entityNameProvider.getEncoderTypeName(joint_num, eomc_pos_atjoint, encoderTypeName);
747 std::transform(encoderTypeName.begin(), encoderTypeName.end(), encoderTypeName.begin(), ::toupper);
748
749 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d), encoderPort=%d, encoderType=%s)",
750 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, enc_port, encoderTypeName.c_str()
751 );
752 m_dnginfo.baseInfo.finalMessage.append(str);
753 } break;
754
755
756 //case eoerror_value_MC_motor_qencoder_dirty:
757 case eoerror_value_MC_motor_qencoder_phase: //TBD: check encoder raw value
758 {
759 uint16_t joint_num = m_dnginfo.param16;
760 uint16_t enc_raw_value = m_dnginfo.param64 & 0xffff;
761 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
762
763 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d), Raw_quad_encoder_value=%d)",
764 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, enc_raw_value
765 );
766 m_dnginfo.baseInfo.finalMessage.append(str);
767 } break;
768
769 case eoerror_value_MC_motor_qencoder_dirty:
770 {
771 uint16_t joint_num = m_dnginfo.param16;
772 uint16_t dirty_error = m_dnginfo.param64 & 0xffff;
773 uint16_t index_error = (m_dnginfo.param64 & 0xffff0000)>>16;
774 uint16_t phase_error = (m_dnginfo.param64 & 0xffff00000000)>>32;
775 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
776
777 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d), index=%d, dirty=%d, phase=%d)",
778 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, index_error, dirty_error, phase_error
779 );
780 m_dnginfo.baseInfo.finalMessage.append(str);
781 } break;
782
783 case eoerror_value_MC_generic_error: //TBD Check print
784 {
785 eOmc_motorFaultState_t motor_status;
786 uint16_t joint_num = m_dnginfo.param16;
787 motor_status.bitmask = m_dnginfo.param64 & 0xffffffff;
788 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
789 std::string motorStatusString = motorStatusBitsToString(motor_status);
790 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d) (Errors:%s)",
791 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, motorStatusString.c_str()
792 );
793 m_dnginfo.baseInfo.finalMessage.append(str);
794 } break;
795
796 case eoerror_value_MC_motor_wrong_state: //TBD: check states
797 {
798 uint16_t joint_num = m_dnginfo.param16;
799 uint16_t req_state = (m_dnginfo.param64 & 0xf0)>>4;
800 uint16_t cur_state = m_dnginfo.param64 & 0x0f;
801
802 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
803
804
805 snprintf(str, sizeof(str), " %s Joint=%s (NIB=%d). The requested state is %d, but the current is %d)",
806 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, req_state, cur_state
807 );
808 m_dnginfo.baseInfo.finalMessage.append(str);
809 } break;
810
811 case eoerror_value_MC_motor_overheating:
812 {
813 uint16_t joint_num = m_dnginfo.param16;
814 int16_t temp_raw_value = m_dnginfo.param64 & 0xffff;
815
816 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
817
818 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d), Raw_temperature_value=%d)",
819 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, temp_raw_value
820 );
821 m_dnginfo.baseInfo.finalMessage.append(str);
822 } break;
823
824 case eoerror_value_MC_ref_setpoint_timeout:
825 {
826 uint16_t joint_num = m_dnginfo.param16;
827 int16_t timeout_type = m_dnginfo.param64 & 0xff;
828
829 char* timeout_type_str = 0;
830
831 switch(timeout_type)
832 {
833 case eoerror_value_MC_ref_timeout_torque: timeout_type_str = "TORQUE"; break;
834 case eoerror_value_MC_ref_timeout_current: timeout_type_str = "CURRENT"; break;
835 case eoerror_value_MC_ref_timeout_pwm: timeout_type_str = "PWM"; break;
836 default: timeout_type_str = "UNKNOWN"; break;
837 }
838
839 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
840
841 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d)). The board isn't receiving %s reference setpoint commands and has been faulted to prevent damage.",
842 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, timeout_type_str);
843 m_dnginfo.baseInfo.finalMessage.append(str);
844 } break;
845
846 case eoerror_value_MC_motor_tdb_not_reading:
847 {
848 uint16_t joint_num = m_dnginfo.param16;
849
850 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
851
852 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d))",
853 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num);
854 m_dnginfo.baseInfo.finalMessage.append(str);
855 } break;
856
857 case eoerror_value_MC_joint_software_limit:
858 {
859 uint16_t joint_num = m_dnginfo.param16;
860 int8_t ref_controlmode = m_dnginfo.param64 & 0x00ff;
861 int32_t position_feedback = (m_dnginfo.param64 & 0xffffffff00000000) >> 32;
862 float position_feedback_converted = static_cast<float>(position_feedback) * iCubDegreesToDegreesFactor;
863 std::string ref_controlmode_str = {};
864 m_entityNameProvider.getEntityControlModeName(joint_num, static_cast<eOenum08_t>(ref_controlmode), ref_controlmode_str, false);
865
866 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
867
868 std::stringstream ss;
869 ss << " " << m_dnginfo.baseMessage
870 << " (Joint=" << m_dnginfo.baseInfo.axisName
871 << " (NIB=" << joint_num
872 << "), Position_feedback=" << std::fixed << std::setprecision(4) << position_feedback_converted
873 << ", Ref_controlmode=" << ref_controlmode_str << ")";
874 m_dnginfo.baseInfo.finalMessage.append(ss.str());
875
876 } break;
877 case EOERROR_VALUE_DUMMY:
878 {
879 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_MotionControl error value.");
880
881
882 } break;
883
884 default:
885 {
886 Diagnostic::LowLevel::DefaultParser::parseInfo();
887
888 }
889
890 }//end switch
891
892
893
894}
895
896
897
898
899/**************************************************************************************************************************/
900/****************************************** SkinParser ***************************************************/
901/**************************************************************************************************************************/
902
903
904
905SkinParser::SkinParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
906
907void SkinParser::parseInfo()
908{
909 char str[512] = {0};
910 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
911 m_dnginfo.baseInfo.finalMessage.clear();
912
913 switch (value)
914 {
915 case eoerror_value_SK_unspecified:
916 case eoerror_value_SK_obsoletecommand:
917 {
918 printBaseInfo();
919 } break;
920
921 case eoerror_value_SK_arrayofcandataoverflow:
922 {
923 uint8_t frame_id = m_dnginfo.param16 & 0x00ff;
924 uint8_t frame_size = (m_dnginfo.param16 & 0xf000) >> 12;
925 uint64_t frame_data = m_dnginfo.param64;
926
927 snprintf(str, sizeof(str), " %s. Frame.ID=%d, Frame.Size=%d Frame.Data=0x%lx",
928 m_dnginfo.baseMessage.c_str(), frame_id, frame_size, frame_data
929 );
930 m_dnginfo.baseInfo.finalMessage.append(str);
931 } break;
932
933 case eoerror_value_SK_onoroff:
934 {
935 std::string emsboardstate = "unknown";
936 switch (m_dnginfo.param16)
937 {
938 case 0: emsboardstate = "OFF"; break;
939 case 1: emsboardstate = "ON"; break;
940 };
941
942 snprintf(str, sizeof(str), " %s %s", m_dnginfo.baseMessage.c_str(), emsboardstate.c_str());
943 m_dnginfo.baseInfo.finalMessage.append(str);
944 } break;
945
946 case eoerror_value_SK_unexpecteddata:
947 {
948 std::string emsboardstate = "unknown";
949 switch (m_dnginfo.param16)
950 {
951 case 0: emsboardstate = "CFG"; break;
952 case 1: emsboardstate = "RUN"; break;
953 }
954
955 snprintf(str, sizeof(str), " %s %s", m_dnginfo.baseMessage.c_str(), emsboardstate.c_str());
956 m_dnginfo.baseInfo.finalMessage.append(str);
957 } break;
958
959 case EOERROR_VALUE_DUMMY:
960 {
961 m_dnginfo.baseInfo.finalMessage.append(": unrecognized eoerror_category_Skin error value");
962 } break;
963
964 default:
965 {
966 Diagnostic::LowLevel::DefaultParser::parseInfo();
967
968 } break;
969 }
970}
971
972/**************************************************************************************************************************/
973/****************************************** HwErrorParser ***************************************************/
974/**************************************************************************************************************************/
975
976
977
978HwErrorParser::HwErrorParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
979
980void HwErrorParser::parseInfo()
981{
982 char str[512] = {0};
983 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
984 m_dnginfo.baseInfo.finalMessage.clear();
985
986 switch(value)
987 {
988
989 case eoerror_value_HW_strain_saturation:
990 {
991 uint16_t channel = m_dnginfo.param16;
992 uint32_t lower_saturation_counts = m_dnginfo.param64 & 0xffffffff;
993 uint32_t upper_saturation_counts = (m_dnginfo.param64 & 0xffffffff00000000)>>32;
994 snprintf(str, sizeof(str), " %s %d is the channel involved. In the last second, the lower saturation counts is %d and the upper one is %d",
995 m_dnginfo.baseMessage.c_str(),
996 channel,
997 lower_saturation_counts,
998 upper_saturation_counts);
999 m_dnginfo.baseInfo.finalMessage.append(str);
1000 } break;
1001
1002 case eoerror_value_HW_encoder_invalid_value:
1003 case eoerror_value_HW_encoder_close_to_limits:
1004 case eoerror_value_HW_encoder_crc:
1005 case eoerror_value_HW_encoder_not_connected:
1006 {
1007 uint8_t joint_num = m_dnginfo.param16 & 0x00ff;
1008 int16_t number_of_errors = m_dnginfo.param64 & 0x000000000000ffff;
1009 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
1010
1011 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d) Number of error in 10 seconds is: %d)",
1012 m_dnginfo.baseMessage.c_str(),
1013 m_dnginfo.baseInfo.axisName.c_str(),
1014 joint_num,
1015 number_of_errors);
1016 m_dnginfo.baseInfo.finalMessage.append(str);
1017 } break;
1018
1019 case eoerror_value_HW_amo_encoder_status0:
1020 {
1021 uint8_t joint_num = m_dnginfo.param16 & 0x00ff;
1022 uint32_t nonius_track_errors = (m_dnginfo.param64 & 0xffffffff00000000) >> 32;
1023 uint32_t master_track_errors = m_dnginfo.param64 & 0x00000000ffffffff;
1024 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
1025
1026 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d) Number of poor-level or clipping errors in 10 seconds for nonius track is: %d and for master track is: %d)",
1027 m_dnginfo.baseMessage.c_str(),
1028 m_dnginfo.baseInfo.axisName.c_str(),
1029 joint_num,
1030 nonius_track_errors,
1031 master_track_errors);
1032 m_dnginfo.baseInfo.finalMessage.append(str);
1033 } break;
1034
1035 case eoerror_value_HW_amo_encoder_status1:
1036 {
1037 uint8_t joint_num = m_dnginfo.param16 & 0x00ff;
1038 uint16_t internal_crc_errors = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
1039 uint16_t i2c_comm_errors = (m_dnginfo.param64 & 0x0000ffff00000000) >> 32;
1040 uint16_t nonius_period_consistency_errors = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
1041 uint16_t eccessive_input_signal_frequency_errors = (m_dnginfo.param64 & 0x000000000000ffff);
1042 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
1043
1044 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d) Number of error in 10 seconds as internal crc errors: %d, i2c communication errors: %d, nonius track period consistency errors: %d, eccessive input signal frequency errors: %d)",
1045 m_dnginfo.baseMessage.c_str(),
1046 m_dnginfo.baseInfo.axisName.c_str(),
1047 joint_num,
1048 internal_crc_errors,
1049 i2c_comm_errors,
1050 nonius_period_consistency_errors,
1051 eccessive_input_signal_frequency_errors);
1052 m_dnginfo.baseInfo.finalMessage.append(str);
1053 } break;
1054
1055 case EOERROR_VALUE_DUMMY:
1056 {
1057 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_HardWare error value.");
1058
1059
1060 } break;
1061
1062 default:
1063 {
1064 Diagnostic::LowLevel::DefaultParser::parseInfo();
1065
1066 }
1067
1068 }//end switch
1069
1070
1071
1072}
1073
1074
1075
1076/**************************************************************************************************************************/
1077/****************************************** SysErrorParser ***************************************************/
1078/**************************************************************************************************************************/
1079
1080// Private class functions
1081void SysParser::canMask2canBoardsStr(uint16_t canmask, diagstr canboardsstr)
1082{
1083 for(int i=1; i<15; i++)
1084 {
1085 diagstr tmpstr{};
1086 if ( (canmask & (1<<i)) == (1<<i))
1087 {
1088 snprintf(tmpstr, diagstr_lenght, "%d", i);
1089 strcat(canboardsstr, tmpstr);
1090 }
1091 }
1092}
1093
1094void SysParser::getCanMonitorInfo(eOmn_serv_category_t &serv_category, diagstr boardsOnCan1, diagstr boardsOnCan2)
1095{
1096 serv_category = (eOmn_serv_category_t)m_dnginfo.param16;
1097 uint16_t boardsMaskCan1 = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
1098 uint16_t boardsMaskCan2 = (m_dnginfo.param64 & 0x000000000000ffff);
1099
1100 canMask2canBoardsStr(boardsMaskCan1, boardsOnCan1);
1101 canMask2canBoardsStr(boardsMaskCan2, boardsOnCan2);
1102
1103}
1104
1105void SysParser::getCanMonitorInfoWithTime(eOmn_serv_category_t &serv_category, diagstr boardsOnCan1, diagstr boardsOnCan2, uint32_t &time)
1106{
1107 getCanMonitorInfo(serv_category, boardsOnCan1, boardsOnCan2);
1108 time = (m_dnginfo.param64 & 0xffffffff00000000) >> 32;
1109}
1110
1111SysParser::SysParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
1112void SysParser::parseInfo()
1113{
1114 char str[512] = {0};
1115 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
1116 m_dnginfo.baseInfo.finalMessage.clear();
1117
1118 switch(value)
1119 {
1120
1121 case eoerror_value_SYS_runninghappily:
1122 {
1123 std::string appstate = "unknown";
1124 switch(m_dnginfo.param16&0x000f)
1125 {
1126 case 0: appstate="just restarted"; break;
1127 case 1: appstate="idle"; break;
1128 case 2: appstate="running"; break;
1129 };
1130 snprintf(str, sizeof(str), " %s Application state is %s.", m_dnginfo.baseMessage.c_str(), appstate.c_str());
1131 m_dnginfo.baseInfo.finalMessage.append(str);
1132 }break;
1133
1134 case eoerror_value_SYS_ctrloop_execoverflowRX:
1135 {
1136 //here the param64 contains: TX RX DO TX
1137 uint16_t prev_rx = (m_dnginfo.param64 & 0x0000ffff00000000)>>32;
1138 uint16_t prev_do = (m_dnginfo.param64 & 0x00000000ffff0000)>>16;
1139 uint16_t prev_tx = (m_dnginfo.param64 & 0x000000000000ffff);
1140 uint16_t prev_prev_tx = (m_dnginfo.param64 & 0xffff000000000000)>>48;
1141 //currently we don't print the two time ago TX.
1142
1143 //snprintf(str, sizeof(str), " %s RX execution time %d[usec]. Latest previous execution times[usec] RX=%d, DO=%d, TX=%d", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16, prev_rx, prev_do, prev_tx);
1144 snprintf(str, sizeof(str), " %s RX execution time %d[usec]. Latest previous execution times[usec] (..., Tx=%d);(RX=%d, DO=%d, TX=%d);",
1145 m_dnginfo.baseMessage.c_str(), m_dnginfo.param16, prev_prev_tx, prev_rx, prev_do, prev_tx);
1146 m_dnginfo.baseInfo.finalMessage.append(str);
1147 }break;
1148
1149 case eoerror_value_SYS_ctrloop_execoverflowDO:
1150 {
1151 //here the param64 contains: RX DO TX RX
1152 uint16_t prev_do = (m_dnginfo.param64 & 0x0000ffff00000000)>>32;
1153 uint16_t prev_tx = (m_dnginfo.param64 & 0x00000000ffff0000)>>16;
1154 uint16_t prev_rx = (m_dnginfo.param64 & 0x000000000000ffff);
1155 uint16_t prev_prev_rx = (m_dnginfo.param64 & 0xffff000000000000)>>48;
1156 //currently we don't print the two time ago RX.
1157 //snprintf(str, sizeof(str), " %s DO execution time %d[usec]. Latest previous execution times[usec] DO=%d, TX=%d, RX=%d", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16, prev_do, prev_tx, prev_rx);
1158 snprintf(str, sizeof(str), " %s DO execution time %d[usec]. Latest previous execution times[usec] (..., Tx=%s);(RX=%d, DO=%d, TX=%d); (Rx=%d, ...);",
1159 m_dnginfo.baseMessage.c_str(), m_dnginfo.param16, "N/A", prev_prev_rx, prev_do, prev_tx, prev_rx);
1160 m_dnginfo.baseInfo.finalMessage.append(str);
1161 }break;
1162
1163 case eoerror_value_SYS_ctrloop_execoverflowTX:
1164 {
1165 //here the param64 contains: DO TX RX DO
1166 uint16_t prev_tx = (m_dnginfo.param64 & 0x0000ffff00000000)>>32;
1167 uint16_t prev_rx = (m_dnginfo.param64 & 0x00000000ffff0000)>>16;
1168 uint16_t prev_do = (m_dnginfo.param64 & 0x000000000000ffff);
1169 uint8_t can1_frames = (m_dnginfo.param64 & 0x00ff000000000000) >> 48;
1170 uint8_t can2_frames = (m_dnginfo.param64 & 0xff00000000000000) >> 56;
1171 //snprintf(str, sizeof(str), " %s TX execution time %d[usec]. Latest previous execution times[usec] TX=%d, RX=%d, DO=%d. Num of CAN frames[CAN1,CAN2]=[%u %u]", m_dnginfo.baseMessage.c_str(),
1172 //m_dnginfo.param16, prev_tx, prev_rx, prev_do, can1_frames, can2_frames );
1173 snprintf(str, sizeof(str), " %s TX execution time %d[usec]. Latest previous execution times[usec] (RX=%s, DO=%s, TX=%d); (Rx=%d, DO=%d, ...). Num of CAN frames[CAN1,CAN2]=[%u %u]",
1174 m_dnginfo.baseMessage.c_str(), m_dnginfo.param16, "N/A", "N/A" , prev_tx, prev_rx, prev_do, can1_frames, can2_frames);
1175 m_dnginfo.baseInfo.finalMessage.append(str);
1176 }break;
1177
1178 case eoerror_value_SYS_ropparsingerror:
1179 {
1180 snprintf(str, sizeof(str), " %s Error code is %d (eOparserResult_t).", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1181 m_dnginfo.baseInfo.finalMessage.append(str);
1182 }break;
1183
1184 case eoerror_value_SYS_halerror:
1185 {
1186 snprintf(str, sizeof(str), " %s HAL error code is %d.", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1187 m_dnginfo.baseInfo.finalMessage.append(str);
1188 }break;
1189
1190 case eoerror_value_SYS_osalerror:
1191 {
1192 snprintf(str, sizeof(str), " %s OSAL error code is %d.", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1193 m_dnginfo.baseInfo.finalMessage.append(str);
1194 }break;
1195
1196 case eoerror_value_SYS_ipalerror:
1197 {
1198 snprintf(str, sizeof(str), " %s IPAL error code is %d.", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1199 m_dnginfo.baseInfo.finalMessage.append(str);
1200 }break;
1201
1202 case eoerror_value_SYS_dispatcherfifooverflow:
1203 {
1204 snprintf(str, sizeof(str), " %s Number of lost items is %d.", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1205 m_dnginfo.baseInfo.finalMessage.append(str);
1206 }break;
1207
1208 case eoerror_value_SYS_canservices_txfifooverflow:
1209 {
1210 snprintf(str, sizeof(str), " %s CanPort=%s Frame.ID=%d, Frame.Size=%d Frame.Data=0x%lx",
1211 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), (m_dnginfo.param16 & 0x0fff), ((m_dnginfo.param16 & 0xf000)>>12), m_dnginfo.param64 );
1212 m_dnginfo.baseInfo.finalMessage.append(str);
1213 }break;
1214
1215 case eoerror_value_SYS_canservices_txbusfailure:
1216 {
1217 snprintf(str, sizeof(str), " %s CanPort=%s. Size of fifo is %d", m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), ((m_dnginfo.param16 & 0xff00) >>8));
1218 m_dnginfo.baseInfo.finalMessage.append(str);
1219 }break;
1220
1221 case eoerror_value_SYS_canservices_formingfailure:
1222 {
1223 snprintf(str, sizeof(str), " %s CanPort=%s. Message class is %d. Message cmd is %d", m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), ((m_dnginfo.param16 & 0xff00) >>8), (m_dnginfo.param16 & 0x00ff));
1224 m_dnginfo.baseInfo.finalMessage.append(str);
1225 }break;
1226
1227 case eoerror_value_SYS_canservices_parsingfailure:
1228 {
1229 snprintf(str, sizeof(str), " %s CanPort=%s. Frame.size=%d. Frame.Id=%d ", m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), ((m_dnginfo.param16 & 0xf000) >>12), (m_dnginfo.param16 & 0x0fff));
1230 m_dnginfo.baseInfo.finalMessage.append(str);
1231 }break;
1232
1233 case eoerror_value_SYS_canservices_genericerror:
1234 {
1235 snprintf(str, sizeof(str), " %s error code is %d ", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1236 m_dnginfo.baseInfo.finalMessage.append(str);
1237
1238 }break;
1239
1240 case eoerror_value_SYS_ctrloop_rxphasemin:
1241 case eoerror_value_SYS_ctrloop_dophasemin:
1242 case eoerror_value_SYS_ctrloop_txphasemin:
1243 case eoerror_value_SYS_ctrloop_rxphaseaverage:
1244 case eoerror_value_SYS_ctrloop_dophaseaverage:
1245 case eoerror_value_SYS_ctrloop_txphaseaverage:
1246 case eoerror_value_SYS_ctrloop_rxphasemax:
1247 case eoerror_value_SYS_ctrloop_dophasemax:
1248 case eoerror_value_SYS_ctrloop_txphasemax:
1249 {
1250 snprintf(str, sizeof(str), " %s, monitored over %f sec is %d microsec", m_dnginfo.baseMessage.c_str(),
1251 0.01*static_cast<float>(m_dnginfo.param64 & 0xffff),
1252 m_dnginfo.param16
1253 );
1254 m_dnginfo.baseInfo.finalMessage.append(str);
1255 } break;
1256
1257 case eoerror_value_SYS_exec_time_stats:
1258 {
1259 static constexpr const char * const names[5] = { "runner.RX()", "runner.DO()", "runner.TX()", "runner.RXDOTX()", "other.ID = " };
1260 std::string actor = {};
1261 if(m_dnginfo.param16 <= 3)
1262 {
1263 actor = names[m_dnginfo.param16];
1264 }
1265 else
1266 {
1267 actor = names[4] + std::to_string(m_dnginfo.param16);
1268 }
1269
1270 snprintf(str, sizeof(str), " %s: %s -> (%d, %d, %d) us over %f sec",
1271 m_dnginfo.baseMessage.c_str(),
1272 actor.c_str(),
1273 static_cast<uint16_t>((m_dnginfo.param64 >> 48) & 0xffff), // min
1274 static_cast<uint16_t>((m_dnginfo.param64 >> 32) & 0xffff), // average
1275 static_cast<uint16_t>((m_dnginfo.param64 >> 16) & 0xffff), // max
1276 0.01*static_cast<float>(m_dnginfo.param64 & 0xffff) // period
1277 );
1278 m_dnginfo.baseInfo.finalMessage.append(str);
1279 } break;
1280
1281 case eoerror_value_SYS_ctrloop_execoverflowPERIOD:
1282 {
1283 uint16_t budget = m_dnginfo.param16;
1284 uint16_t current = static_cast<uint16_t>((m_dnginfo.param64 >> 48) & 0xffff);
1285 uint16_t rxt = static_cast<uint16_t>((m_dnginfo.param64 >> 32) & 0xffff);
1286 uint16_t dot = static_cast<uint16_t>((m_dnginfo.param64 >> 16) & 0xffff);
1287 uint16_t txt = static_cast<uint16_t>((m_dnginfo.param64 ) & 0xffff);
1288
1289 snprintf(str, sizeof(str), " %s: RXDOTX cycle budget = %d us, RXDOTX exec time = %d us, (rx, do, tx) = (%d, %d, %d) us",
1290 m_dnginfo.baseMessage.c_str(),
1291 budget,
1292 current,
1293 rxt, dot, txt
1294 );
1295 m_dnginfo.baseInfo.finalMessage.append(str);
1296 } break;
1297
1298 case eoerror_value_SYS_ctrloop_histogramPERIOD:
1299 {
1300 uint16_t w = m_dnginfo.param16;
1301 float v[8] = {0};
1302 for(uint8_t i=0; i<8; i++)
1303 {
1304 uint64_t x = (m_dnginfo.param64 >> (8*i)) & 0xff;
1305 v[i] = static_cast<float>(x)/255.0;
1306 }
1307
1308 snprintf(str, sizeof(str), " %s: RXDOTX execution histogram w/ bins = %d us wide in [0, %f) + beyond -> [%f, %f, %f, %f, %f, %f, %f) + %f",
1309 m_dnginfo.baseMessage.c_str(),
1310 w, 7.0*w,
1311 v[0], v[1], v[2], v[3], v[4], v[5], v[6],
1312 v[7]
1313 );
1314 m_dnginfo.baseInfo.finalMessage.append(str);
1315 } break;
1316
1317 case eoerror_value_SYS_proxy_forward_fails:
1318 {
1319 snprintf(str, sizeof(str), " %s. ROP.sign=%d, ROP.id=%d. Proxy list capacity is %d, size is %d ",
1320 m_dnginfo.baseMessage.c_str(),
1321 (int32_t)((m_dnginfo.param64&0xffffffff00000000)>>32),
1322 (int32_t)(m_dnginfo.param64&0x00000000ffffffff),
1323 ((m_dnginfo.param16&0xff00)>>8), (m_dnginfo.param16&0x00ff));
1324 m_dnginfo.baseInfo.finalMessage.append(str);
1325
1326 }break;
1327
1328 case eoerror_value_SYS_proxy_ropdes_notfound:
1329 {
1330 snprintf(str, sizeof(str), " %s ROP.id=%d ", m_dnginfo.baseMessage.c_str(), (int32_t)(m_dnginfo.param64&0x00000000ffffffff));
1331 m_dnginfo.baseInfo.finalMessage.append(str);
1332
1333 }break;
1334
1335 case eoerror_value_SYS_canservices_canprint:
1336 {
1337 snprintf(str, sizeof(str), " %s CanPort=%s Frame.Size=%d Frame.Data=0x%lx", m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), m_dnginfo.param16, m_dnginfo.param64 );
1338 m_dnginfo.baseInfo.finalMessage.append(str);
1339 }break;
1340
1341 case eoerror_value_SYS_canservices_rxmaisbug:
1342 {
1343 snprintf(str, sizeof(str), " %s CanPort=%s Frame.Size=%d Frame.Data=0x%lx", m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), m_dnginfo.param16, m_dnginfo.param64 );
1344 m_dnginfo.baseInfo.finalMessage.append(str);
1345 }break;
1346
1347 case eoerror_value_SYS_canservices_rxfromwrongboard:
1348 {
1349 snprintf(str, sizeof(str), " %s CanPort=%s Frame.Size=%d Frame.Data=0x%lx", m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), m_dnginfo.param16, m_dnginfo.param64 );
1350 m_dnginfo.baseInfo.finalMessage.append(str);
1351 }break;
1352
1353 case eoerror_value_SYS_transceiver_rxseqnumber_error:
1354 {
1355 int16_t receivedNum = m_dnginfo.param64+ m_dnginfo.param16;
1356 snprintf(str, sizeof(str), " %s Expected number is %ld, received number is %d ", m_dnginfo.baseMessage.c_str(), m_dnginfo.param64, receivedNum);
1357 m_dnginfo.baseInfo.finalMessage.append(str);
1358 }break;
1359
1360 case eoerror_value_SYS_transceiver_rxseqnumber_restarted:
1361 {
1362 snprintf(str, sizeof(str), " %s Expected number is %ld", m_dnginfo.baseMessage.c_str(), m_dnginfo.param64);
1363 m_dnginfo.baseInfo.finalMessage.append(str);
1364 }break;
1365
1366 case eoerror_value_SYS_canservices_board_detected:
1367 {
1368 //in param64 the fw copies the struct eObrd_typeandversions_t defined in EoBoards.h in icub=firmware repo
1385 //TODO:
1386 //checking the fw it seems this error code is no longer used.
1387 //So I cannot retrieve the board type.
1388 //For now I leave the code. When I'm sure that it is old, I'll remove it
1389 int fw_build = (m_dnginfo.param64 & 0x00000000000000ff);
1390 int fw_major = (m_dnginfo.param64 & 0x000000000000ff00) >> 8;
1391 int fw_minor = (m_dnginfo.param64 & 0x0000000000ff0000) >> 16;
1392 int proto_major = (m_dnginfo.param64 & 0x00000000ff000000) >> 24;
1393 int proto_minor = (m_dnginfo.param64 & 0x000000ff00000000) >> 32;
1394
1395 //used in comm-v1 protocol
1396 // eObrd_typeandversions_t *brd_info_ptr = (eObrd_typeandversions_t *)&m_dnginfo.param64;
1397 // int fw_build = brd_info_ptr->firmwarebuildnumber;
1398 // int fw_major = brd_info_ptr->firmwareversion.major;
1399 // int fw_minor = brd_info_ptr->firmwareversion.minor;
1400 // int proto_major =brd_info_ptr->protocolversion.major;
1401 // int proto_minor =brd_info_ptr->protocolversion.minor;
1402
1403 // eObrd_type_t general_brd_type = eoboards_cantype2type((eObrd_cantype_t )brd_info_ptr->boardtype);
1404
1405 // std::string board_type_str = eoboards_type2string(general_brd_type);
1406
1407 snprintf(str, sizeof(str), " %s on CAN port=%s with address %d. Fw ver is %d.%d.%d. Proto ver is %d.%d",
1408 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), m_dnginfo.baseInfo.sourceCANBoardAddr,
1409 fw_build, fw_major, fw_minor, proto_major, proto_minor );
1410 m_dnginfo.baseInfo.finalMessage.append(str);
1411 }break;
1412
1413 case eoerror_value_SYS_canservices_board_wrongprotversion:
1414 {
1415 //in param64 the fw copies the struct eObrd_typeandversions_t defined in EoBoards.h in icub=firmware repo
1432 //as above
1433 int fw_build = (m_dnginfo.param64 & 0x00000000000000ff);
1434 int fw_major = (m_dnginfo.param64 & 0x000000000000ff00) >> 8;
1435 int fw_minor = (m_dnginfo.param64 & 0x0000000000ff0000) >> 16;
1436 int proto_major = (m_dnginfo.param64 & 0x00000000ff000000) >> 24;
1437 int proto_minor = (m_dnginfo.param64 & 0x000000ff00000000) >> 32;
1438 int req_proto_major = (m_dnginfo.param16 & 0xff00) >>8;
1439 int req_proto_minor = (m_dnginfo.param16 & 0x00ff);
1440
1441
1442 snprintf(str, sizeof(str), " %s on CAN port=%s with address %d. Fw ver is %d.%d.%d. Proto ver is %d.%d. Required Version is %d.%d",
1443 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), m_dnginfo.baseInfo.sourceCANBoardAddr,
1444 fw_build, fw_major, fw_minor, proto_major, proto_minor, req_proto_major, req_proto_minor );
1445 m_dnginfo.baseInfo.finalMessage.append(str);
1446 }break;
1447
1448 case eoerror_value_SYS_canservices_board_notfound:
1449 {
1450 eObrd_type_t general_brd_type = eoboards_cantype2type((eObrd_cantype_t)m_dnginfo.param16);
1451 snprintf(str, sizeof(str), " %s The board is on CAN port=%s with address %d. Board type is %s.",
1452 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(),
1453 m_dnginfo.baseInfo.sourceCANBoardAddr, eoboards_type2string(general_brd_type));
1454 m_dnginfo.baseInfo.finalMessage.append(str);
1455
1456 }break;
1457
1458 case eoerror_value_SYS_canservices_boards_lostcontact:
1459 {
1460 eOmn_serv_category_t serv_category;
1461 diagstr lostCanBoards1 = {0};
1462 diagstr lostCanBoards2 = {0};
1463 getCanMonitorInfo(serv_category, lostCanBoards1, lostCanBoards2);
1464
1465 snprintf(str, sizeof(str), "%s Type of service category is %s. Lost can boards on (can1map, can2map) = ([ %s ], [ %s ] ).",
1466 m_dnginfo.baseMessage.c_str(),
1467 eomn_servicecategory2string(serv_category),
1468 lostCanBoards1, lostCanBoards2
1469 );
1470
1471 m_dnginfo.baseInfo.finalMessage.append(str);
1472
1473 } break;
1474
1475 case eoerror_value_SYS_canservices_boards_retrievedcontact:
1476 {
1477 eOmn_serv_category_t serv_category;
1478 diagstr retrievedCanBoards1 = {0};
1479 diagstr retrievedCanBoards2 = {0};
1480 getCanMonitorInfo(serv_category, retrievedCanBoards1, retrievedCanBoards2);
1481
1482 snprintf(str, sizeof(str), "%s Type of service category is %s. Retrieved can boards on (can1map, can2map) = ([ %s ], [ %s ] ).",
1483 m_dnginfo.baseMessage.c_str(),
1484 eomn_servicecategory2string(serv_category),
1485 retrievedCanBoards1, retrievedCanBoards2
1486 );
1487
1488 m_dnginfo.baseInfo.finalMessage.append(str);
1489
1490 } break;
1491
1492 case eoerror_value_SYS_canservices_monitor_regularcontact:
1493 {
1494 eOmn_serv_category_t serv_category;
1495 diagstr foundCanBoards1 = {0};
1496 diagstr foundCanBoards2 = {0};
1497 getCanMonitorInfo(serv_category, foundCanBoards1, foundCanBoards2);
1498
1499 snprintf(str, sizeof(str), "%s Type of service category is %s. CAN boards are on (can1map, can2map) = ([ %s ], [ %s ])",
1500 m_dnginfo.baseMessage.c_str(),
1501 eomn_servicecategory2string(serv_category),
1502 foundCanBoards1,
1503 foundCanBoards2
1504 );
1505 m_dnginfo.baseInfo.finalMessage.append(str);
1506 } break;
1507
1508 case eoerror_value_SYS_canservices_monitor_lostcontact:
1509 {
1510 eOmn_serv_category_t serv_category;
1511 diagstr lostCanBoards1 = {0};
1512 diagstr lostCanBoards2 = {0};
1513 getCanMonitorInfo(serv_category, lostCanBoards1, lostCanBoards2);
1514
1515 snprintf(str, sizeof(str), "%s Type of service category is %s. Lost CAN boards are on (can1map, can2map) = ([ %s ], [ %s ]).",
1516 m_dnginfo.baseMessage.c_str(),
1517 eomn_servicecategory2string(serv_category),
1518 lostCanBoards1,
1519 lostCanBoards2
1520 );
1521 m_dnginfo.baseInfo.finalMessage.append(str);
1522 } break;
1523
1524 case eoerror_value_SYS_canservices_monitor_retrievedcontact:
1525 {
1526 eOmn_serv_category_t serv_category;
1527 uint32_t totRetrvTime;
1528 diagstr retrievedCanBoards1 = {0};
1529 diagstr retrievedCanBoards2 = {0};
1530 getCanMonitorInfoWithTime(serv_category, retrievedCanBoards1, retrievedCanBoards2, totRetrvTime);
1531
1532
1533 snprintf(str, sizeof(str), "%s Type of service category is %s. CAN boards are on (can1map, can2map) = ([ %s ], [ %s ]). Total retrieving time: %d [ms]",
1534 m_dnginfo.baseMessage.c_str(),
1535 eomn_servicecategory2string(serv_category),
1536 retrievedCanBoards1,
1537 retrievedCanBoards2,
1538 totRetrvTime
1539 );
1540 m_dnginfo.baseInfo.finalMessage.append(str);
1541 } break;
1542
1543
1544 case eoerror_value_SYS_canservices_monitor_stillnocontact:
1545 {
1546 eOmn_serv_category_t serv_category;
1547 uint32_t totDisappTime;
1548 diagstr lostCanBoards1 = {0};
1549 diagstr lostCanBoards2 = {0};
1550 getCanMonitorInfoWithTime(serv_category, lostCanBoards1, lostCanBoards2, totDisappTime);
1551
1552 snprintf(str, sizeof(str), "%s Type of service category is %s. Lost CAN boards are on (can1map, can2map) = ([ %s ] , [ %s ]). Total disappearance time: %d [ms]",
1553 m_dnginfo.baseMessage.c_str(),
1554 eomn_servicecategory2string(serv_category),
1555 lostCanBoards1,
1556 lostCanBoards2,
1557 totDisappTime
1558 );
1559 m_dnginfo.baseInfo.finalMessage.append(str);
1560 } break;
1561
1562
1563 case eoerror_value_SYS_unspecified:
1564 case eoerror_value_SYS_tobedecided:
1565 case eoerror_value_SYS_memory_zerorequested:
1566 case eoerror_value_SYS_memory_notinitialised:
1567 case eoerror_value_SYS_memory_missing:
1568 case eoerror_value_SYS_mutex_timeout:
1569 case eoerror_value_SYS_wrongparam:
1570 case eoerror_value_SYS_wrongusage:
1571 case eoerror_value_SYS_runtimeerror:
1572 case eoerror_value_SYS_runninginfatalerrorstate:
1573 case eoerror_value_SYS_udptxfailure:
1574 case eoerror_value_SYS_configurator_udptxfailure:
1575 case eoerror_value_SYS_runner_udptxfailure:
1576 case eoerror_value_SYS_runner_transceivererror:
1577 case eoerror_value_SYS_canservices_rxfifooverflow:
1578 case eoerror_value_SYS_proxy_forward_ok:
1579 case eoerror_value_SYS_proxy_forward_callback_fails:
1580 case eoerror_value_SYS_proxy_reply_ok:
1581 case eoerror_value_SYS_proxy_reply_fails:
1582 case eoerror_value_SYS_canservices_boards_missing:
1583 case eoerror_value_SYS_canservices_boards_searched:
1584 case eoerror_value_SYS_canservices_boards_found:
1585 case eoerror_value_SYS_transceiver_rxinvalidframe_error:
1586 {
1587 printBaseInfo();
1588 } break;
1589
1590
1591 case EOERROR_VALUE_DUMMY:
1592 {
1593 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_HardWare error value.");
1594
1595
1596 } break;
1597
1598 default:
1599 {
1600 Diagnostic::LowLevel::DefaultParser::parseInfo();
1601
1602 }
1603
1604 }//end switch
1605
1606
1607
1608}
1609
1610
1611
1612
1613
1614
1615/**************************************************************************************************************************/
1616/****************************************** EthMonitorParser *****************************************/
1617/**************************************************************************************************************************/
1618
1619
1620
1621EthMonitorParser::EthMonitorParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
1622
1623void EthMonitorParser::parseInfo()
1624{
1625 char str[512] = {0};
1626 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
1627 m_dnginfo.baseInfo.finalMessage.clear();
1628
1629 switch(value)
1630 {
1631
1632 case eoerror_value_ETHMON_link_goes_up:
1633 case eoerror_value_ETHMON_link_goes_down:
1634 case eoerror_value_ETHMON_error_rxcrc:
1635 {
1636 std::string appstate = "unknown";
1637 switch(m_dnginfo.param64&0xff00000000000000)
1638 {
1639 case 0: appstate="N/A"; break;
1640 case 1: appstate="idle"; break;
1641 case 3: appstate="running"; break;
1642 };
1643
1644 std::string ethport = "unknown";
1645 switch(m_dnginfo.param16)
1646 {
1647 case 0: ethport="ETH input (P2/P13/J4/J6)"; break;
1648 case 1: ethport="ETH output (P3/P12/J5/J7)"; break;
1649 case 2: ethport="internal"; break;
1650 };
1651 if(eoerror_value_ETHMON_error_rxcrc == value)
1652 snprintf(str, sizeof(str), " %s in port %s. Application state is %s. Number of erros is %ld",
1653 m_dnginfo.baseMessage.c_str(), ethport.c_str(), appstate.c_str(), (m_dnginfo.param64&0xffffffff));
1654 else
1655 snprintf(str, sizeof(str), " %s in port %s. Application state is %s.", m_dnginfo.baseMessage.c_str(), ethport.c_str(), appstate.c_str());
1656
1657 m_dnginfo.baseInfo.finalMessage.append(str);
1658 }break;
1659
1660 case eoerror_value_ETHMON_txseqnumbermissing:
1661 {
1662 snprintf(str, sizeof(str), " %s w/ expected sequence %ld and number of detected %d", m_dnginfo.baseMessage.c_str(), m_dnginfo.param64, m_dnginfo.param16);
1663 m_dnginfo.baseInfo.finalMessage.append(str);
1664 }break;
1665
1666
1667 case eoerror_value_ETHMON_juststarted:
1668 case eoerror_value_ETHMON_justverified:
1669 {
1670 printBaseInfo();
1671 } break;
1672
1673
1674 case EOERROR_VALUE_DUMMY:
1675 {
1676 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_HardWare error value.");
1677
1678
1679 } break;
1680
1681 default:
1682 {
1683 Diagnostic::LowLevel::DefaultParser::parseInfo();
1684
1685 }
1686
1687 }//end switch
1688}
1689
1690
1691/**************************************************************************************************************************/
1692/****************************************** InertialSensorParser ********************************************/
1693/**************************************************************************************************************************/
1694
1695InertialSensorParser::InertialSensorParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
1696
1697void InertialSensorParser::parseInfo()
1698{
1699 char str[512] = {0};
1700 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
1701 m_dnginfo.baseInfo.finalMessage.clear();
1702
1703 switch(value)
1704 {
1705
1706 case eoerror_value_IS_arrayofinertialdataoverflow:
1707 {
1708
1709 uint8_t frame_id = m_dnginfo.param16 & 0x0fff;
1710 uint8_t frame_size = (m_dnginfo.param16 & 0xf000) >> 12;
1711 uint64_t frame_data = m_dnginfo.param64;
1712
1713 snprintf(str, sizeof(str), " %s. Frame.ID=%d, Frame.Size=%d Frame.Data=0x%lx",
1714 m_dnginfo.baseMessage.c_str(), frame_id, frame_size, frame_data
1715 );
1716 m_dnginfo.baseInfo.finalMessage.append(str);
1717 } break;
1718
1719 case eoerror_value_IS_unknownsensor:
1720 {
1721 printBaseInfo();
1722 } break;
1723
1724
1725 case EOERROR_VALUE_DUMMY:
1726 {
1727 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_HardWare error value.");
1728
1729
1730 } break;
1731
1732 default:
1733 {
1734 Diagnostic::LowLevel::DefaultParser::parseInfo();
1735
1736 }
1737
1738 }//end switch
1739}
1740
1741/**************************************************************************************************************************/
1742/****************************************** AnalogSensorParser **********************************************/
1743/**************************************************************************************************************************/
1744
1745AnalogSensorParser::AnalogSensorParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
1746void AnalogSensorParser::parseInfo()
1747{
1748 char str[512] = {0};
1749 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
1750 m_dnginfo.baseInfo.finalMessage.clear();
1751
1752 switch(value)
1753 {
1754
1755 case eoerror_value_AS_arrayoftemperaturedataoverflow:
1756 {
1757
1758 uint8_t frame_id = m_dnginfo.param16 & 0x00ff;
1759 uint8_t frame_size = (m_dnginfo.param16 & 0xf000) >> 12;
1760 uint64_t frame_data = m_dnginfo.param64;
1761
1762 snprintf(str, sizeof(str), " %s. Frame.ID=%d, Frame.Size=%d Frame.Data=0x%lx",
1763 m_dnginfo.baseMessage.c_str(), frame_id, frame_size, frame_data
1764 );
1765 m_dnginfo.baseInfo.finalMessage.append(str);
1766 } break;
1767
1768 case eoerror_value_AS_unknownsensor:
1769 {
1770 printBaseInfo();
1771 } break;
1772
1773
1774 case EOERROR_VALUE_DUMMY:
1775 {
1776 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_HardWare error value.");
1777
1778
1779 } break;
1780
1781 default:
1782 {
1783 Diagnostic::LowLevel::DefaultParser::parseInfo();
1784
1785 }
1786
1787 }//end switch
1788}
1789
Diagnostic::LowLevel::DefaultParser::DefaultParser
DefaultParser(Diagnostic::LowLevel::AuxEmbeddedInfo &dnginfo, Diagnostic::LowLevel::EntityNameProvider &entityNameProvider)
Definition diagnosticInfoParsers.cpp:31
Diagnostic::LowLevel::DefaultParser::m_entityNameProvider
Diagnostic::LowLevel::EntityNameProvider & m_entityNameProvider
Definition diagnosticLowLevelFormatter_hid.h:95
Diagnostic::LowLevel::DefaultParser::m_dnginfo
Diagnostic::LowLevel::AuxEmbeddedInfo & m_dnginfo
Definition diagnosticLowLevelFormatter_hid.h:94
ServiceParser::convert
bool convert(std::string const &fromstring, eOmc_actuator_t &toactuatortype, bool &formaterror)
Definition serviceParser.cpp:2476
x
x
Definition compute_ekf_sym.m:21
n
int n
Definition debugFunctions.cpp:58
iCubDegreesPerRevolution
constexpr uint32_t iCubDegreesPerRevolution
Definition diagnosticInfoParsers.cpp:22
degreesPerRevolution
constexpr uint32_t degreesPerRevolution
Definition diagnosticInfoParsers.cpp:23
iCubDegreesToDegreesFactor
constexpr float iCubDegreesToDegreesFactor
Definition diagnosticInfoParsers.cpp:24
degreesToICubDegreesFactor
constexpr float degreesToICubDegreesFactor
Definition diagnosticInfoParsers.cpp:25
diagnosticLowLevelFormatter_hid.h
diagstr
char diagstr[diagstr_lenght]
Definition diagnosticLowLevelFormatter_hid.h:42
diagstr_lenght
constexpr int diagstr_lenght
Definition diagnosticLowLevelFormatter_hid.h:41
time
degrees time
Definition sine.m:5
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