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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
14#include <yarp/os/Time.h>
15#include <algorithm>
16
17
18using namespace Diagnostic::LowLevel;
19
20
21
22
23/**************************************************************************************************************************/
24/****************************************** DefaultParser ***************************************************/
25/**************************************************************************************************************************/
26DefaultParser::DefaultParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):m_dnginfo(dnginfo), m_entityNameProvider(entityNameProvider){;}
27
28void DefaultParser::parseInfo()
29{
30 char str[512] = {0};
31 uint8_t *p64 = (uint8_t*)&(m_dnginfo.param64);
32 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",
33 m_dnginfo.baseInfo.sourceCANPortStr.c_str(),
34 m_dnginfo.baseInfo.sourceCANBoardAddr,
35 m_dnginfo.errorCode,
36 m_dnginfo.param16,
37 p64[7], p64[6], p64[5], p64[4], p64[3], p64[2], p64[1], p64[0],
38 eoerror_code2string(m_dnginfo.errorCode),
39 eoerror_code2rulesstring(m_dnginfo.errorCode),
40 m_dnginfo.extraMessage.c_str()
41 );
42 m_dnginfo.baseInfo.finalMessage.clear();
43 m_dnginfo.baseInfo.finalMessage.append(str);
44
45}
46
47void DefaultParser::printBaseInfo()
48{
49 char str[512] = {0};
50 snprintf(str, sizeof(str), "%s", m_dnginfo.baseMessage.c_str());
51 m_dnginfo.baseInfo.finalMessage.append(str);
52}
53
54/**************************************************************************************************************************/
55/****************************************** ConfigParser ***************************************************/
56/**************************************************************************************************************************/
57
58ConfigParser::ConfigParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
59
60void ConfigParser::parseInfo()
61{
62 char str[512] = {0};
63 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
64
65 m_dnginfo.baseInfo.finalMessage.clear();
66
67 switch(value)
68 {
69
70 case eoerror_value_CFG_candiscovery_started:
71 {
72 uint16_t maskcan2 = m_dnginfo.param16;
73 eObrd_type_t brdnum = static_cast<eObrd_type_t>((m_dnginfo.param64 & 0x0000ff0000000000) >> 40);
74 const char *canboardname = eoboards_type2string(brdnum);
75 uint16_t maskcan1 = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
76 eObrd_protocolversion_t prot = {0};
77 eObrd_firmwareversion_t appl = {0};
78 uint64_t reqpr = (m_dnginfo.param64 & 0x000000ffff000000) >> 24;
79 uint64_t reqfw = (m_dnginfo.param64 & 0x0000000000ffffff);
80 uint8_t num =0;
81 prot.major = reqpr >> 8;
82 prot.minor = reqpr & 0xff;
83 appl.major = (reqfw >> 16) & 0xff;
84 appl.minor = (reqfw >> 8) & 0xff;
85 appl.build = reqfw & 0xff;
86 num = eo_common_hlfword_bitsetcount(maskcan1)+eo_common_hlfword_bitsetcount(maskcan2);
87
88 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.",
89 m_dnginfo.baseMessage.c_str(),
90 num, canboardname,
91 maskcan1, maskcan2,
92 prot.major, prot.minor,
93 appl.major, appl.minor, appl.build
94 );
95 m_dnginfo.baseInfo.finalMessage.append(str);
96 } break;
97
98 case eoerror_value_CFG_candiscovery_ok:
99 {
100 uint8_t num = m_dnginfo.param16 & 0x00ff;
101 eObool_t fakesearch = (0x0000 == (m_dnginfo.param16 & 0xf000)) ? (eobool_false) : (eobool_true);
102 uint64_t brdnum = (m_dnginfo.param64 & 0x0000ff0000000000) >> 40;
103 const char *canboardname = eoboards_type2string(static_cast<eObrd_type_t>(brdnum));
104 uint64_t searchtime = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
105 eObrd_protocolversion_t prot = {0};
106 eObrd_firmwareversion_t appl = {0};
107 uint64_t reqpr = (m_dnginfo.param64 & 0x000000ffff000000) >> 24;
108 uint64_t reqfw = (m_dnginfo.param64 & 0x0000000000ffffff);
109 char strOK[80] = "OK";
110
111 prot.major = reqpr >> 8;
112 prot.minor = reqpr & 0xff;
113 appl.major = (reqfw >> 16) & 0xff;
114 appl.minor = (reqfw >> 8) & 0xff;
115 appl.build = reqfw & 0xff;
116
117
118 if(eobool_true == fakesearch)
119 {
120 snprintf(strOK, sizeof(strOK), "OK but FAKE (without any control on CAN w/ get-fw-version<> message)");
121 }
122
123 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",
124 m_dnginfo.baseMessage.c_str(),
125 strOK,
126 num, canboardname,
127 prot.major, prot.minor,
128 appl.major, appl.minor, appl.build,
129 (int)searchtime
130 );
131 m_dnginfo.baseInfo.finalMessage.append(str);
132 } break;
133
134 case eoerror_value_CFG_candiscovery_detectedboard:
135 {
136 uint64_t brdnum = (m_dnginfo.param64 & 0x0000ff0000000000) >> 40;
137 const char *canboardname = eoboards_type2string(static_cast<eObrd_type_t>(brdnum));
138 uint64_t searchtime = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
139 eObrd_protocolversion_t prot = {0};
140 eObrd_firmwareversion_t appl = {0};
141 uint64_t reqpr = (m_dnginfo.param64 & 0x000000ffff000000) >> 24;
142 uint64_t reqfw = (m_dnginfo.param64 & 0x0000000000ffffff);
143 uint8_t address;
144 prot.major = reqpr >> 8;
145 prot.minor = reqpr & 0xff;
146 appl.major = (reqfw >> 16) & 0xff;
147 appl.minor = (reqfw >> 8) & 0xff;
148 appl.build = reqfw & 0xff;
149 address = m_dnginfo.param16 & 0x000f;
150
151
152 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",
153 m_dnginfo.baseMessage.c_str(),
154 canboardname,
155 m_dnginfo.baseInfo.sourceCANPortStr.c_str(), address,
156 prot.major, prot.minor,
157 appl.major, appl.minor, appl.build,
158 (int)searchtime
159 );
160 m_dnginfo.baseInfo.finalMessage.append(str);
161 } break;
162
163 case eoerror_value_CFG_candiscovery_boardsmissing:
164 {
165 uint8_t numofmissing = m_dnginfo.param16 & 0x00ff;
166 const char *canboardname = eoboards_type2string(static_cast<eObrd_type_t>((m_dnginfo.param16 >> 8)));
167 uint64_t searchtime = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
168 uint16_t maskofmissing = m_dnginfo.param64 & 0x000000000000ffff;
169
170 uint8_t n = 1;
171 uint8_t i = 0;
172
173 snprintf(str, sizeof(str), "%s %d missing %s boards for %d ms in %s:",
174 m_dnginfo.baseMessage.c_str(),
175 numofmissing,
176 canboardname,
177 (int)searchtime,
178 m_dnginfo.baseInfo.sourceCANPortStr.c_str()
179 );
180 m_dnginfo.baseInfo.finalMessage.append(str);
181 for(i=1; i<15; i++)
182 {
183 if(eobool_true == eo_common_hlfword_bitcheck(maskofmissing, i))
184 {
185 snprintf(str, sizeof(str), "%d of %d: missing %s BOARD %s:%s:%d",
186 n, numofmissing, canboardname,
187 m_dnginfo.baseInfo.sourceBoardIpAddrStr.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), i
188 );
189 m_dnginfo.baseInfo.finalMessage.append(str);
190 n++;
191
192 }
193 }
194
195 } break;
196
197 case eoerror_value_CFG_candiscovery_boardsinvalid:
198 {
199 uint8_t numofinvalid = m_dnginfo.param16 & 0x00ff;
200 const char *canboardname = eoboards_type2string(static_cast<eObrd_type_t>(m_dnginfo.param16 >> 8));
201 uint64_t invalidmask = m_dnginfo.param64;
202 uint8_t n = 1;
203 uint8_t i = 0;
204 const char *empty = "";
205 const char *wrongtype = "WRONG BOARD TYPE";
206 const char *wrongprot = "WRONG PROTOCOL VERSION";
207 const char *wrongappl = "WRONG APPLICATION VERSION";
208
209 snprintf(str, sizeof(str), "%s %d invalid %s boards in %s:\n",
210 m_dnginfo.baseMessage.c_str(),
211 numofinvalid,
212 canboardname,
213 m_dnginfo.baseInfo.sourceCANPortStr.c_str()
214 );
215 m_dnginfo.baseInfo.finalMessage.append(str);
216
217 for(int i=1; i<15; i++)
218 {
219 uint64_t val = (invalidmask >> (4*i)) & 0x0f;
220 if(0 != val)
221 {
222 snprintf(str, sizeof(str), "\t %d of %d: wrong %s because it has: %s%s%s \n",
223 n, numofinvalid, canboardname,
224 ((val & 0x1) == 0x1) ? (wrongtype) : (empty),
225 ((val & 0x2) == 0x2) ? (wrongappl) : (empty),
226 ((val & 0x4) == 0x4) ? (wrongprot) : (empty)
227 );
228
229 m_dnginfo.baseInfo.finalMessage.append(str);
230 n++;
231
232 }
233 }
234
235 } break;
236
237 case eoerror_value_CFG_skin_ok:
238 {
239 uint16_t maskcan1 = (m_dnginfo.param64 & 0x0000ffff00000000) >> 32;
240 uint16_t maskcan2 = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
241 eObrd_protocolversion_t prot = {0};
242 eObrd_firmwareversion_t appl = {0};
243 uint64_t reqpr = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
244 uint64_t reqfw = (m_dnginfo.param64 & 0x000000000000ffff);
245 prot.major = reqpr >> 8;
246 prot.minor = reqpr & 0xff;
247 appl.major = (reqfw >> 8) & 0xff;
248 appl.minor = reqfw & 0xff;
249 uint16_t numOfpatches = m_dnginfo.param16;
250
251 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",
252 m_dnginfo.baseMessage.c_str(),
253 numOfpatches,
254 maskcan1, maskcan2,
255 prot.major, prot.minor,
256 appl.major, appl.minor
257 );
258 m_dnginfo.baseInfo.finalMessage.append(str);
259 } break;
260
261 case eoerror_value_CFG_skin_failed_toomanyboards:
262 case eoerror_value_CFG_inertials3_failed_toomanyboards:
263 case eoerror_value_CFG_temperatures_failed_toomanyboards:
264 {
265 uint8_t numOfReqBoards = (m_dnginfo.param16 & 0xff00) >> 8;
266 uint8_t numOfMaxBoards = m_dnginfo.param16 & 0x00ff;
267
268 uint16_t maskcan1 = (m_dnginfo.param64 & 0x000000000000ffff);
269 uint16_t maskcan2 = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
270
271 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)",
272 m_dnginfo.baseMessage.c_str(),
273 numOfReqBoards, numOfMaxBoards,
274 maskcan1, maskcan2
275 );
276 m_dnginfo.baseInfo.finalMessage.append(str);
277 } break;
278
279 case eoerror_value_CFG_skin_failed_candiscovery:
280 case eoerror_value_CFG_inertials3_failed_candiscovery:
281 case eoerror_value_CFG_temperatures_failed_candiscovery:
282 {
283 uint16_t incompMaskcan2 = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
284 uint16_t incompMaskcan1 = (m_dnginfo.param64 & 0x0000ffff00000000) >> 32;
285 uint16_t missMaskcan2 = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
286 uint16_t missMaskcan1 = (m_dnginfo.param64 & 0x000000000000ffff);
287 uint16_t numOfPatches = m_dnginfo.param16;
288
289 if (eoerror_value_CFG_skin_failed_candiscovery == value)
290 {
291 snprintf(str, sizeof(str), "%s for %d skin patches. ", m_dnginfo.baseMessage.c_str(), numOfPatches);
292 m_dnginfo.baseInfo.finalMessage.append(str);
293 }
294 else
295 {
296 snprintf(str, sizeof(str), "%s. ", m_dnginfo.baseMessage.c_str());
297 m_dnginfo.baseInfo.finalMessage.append(str);
298 }
299
300 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)",
301 missMaskcan1, missMaskcan2,
302 incompMaskcan1, incompMaskcan2
303 );
304
305 m_dnginfo.baseInfo.finalMessage.append(str);
306 } break;
307
308 case eoerror_value_CFG_strain_ok:
309 case eoerror_value_CFG_strain_failed_candiscovery:
310 {
311 eObrd_protocolversion_t prot = {0};
312 eObrd_firmwareversion_t appl = {0};
313 uint64_t reqpr = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
314 uint64_t reqfw = (m_dnginfo.param64 & 0x000000000000ffff);
315 prot.major = reqpr >> 8;
316 prot.minor = reqpr & 0xff;
317 appl.major = (reqfw >> 8) & 0xff;
318 appl.minor = reqfw & 0xff;
319 uint8_t strain = (m_dnginfo.param64 & 0x0000000f00000000) >> 20;
320 uint8_t address = m_dnginfo.param16 & 0x00ff;
321 uint8_t port = m_dnginfo.param16 >> 8;
322
323 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",
324 m_dnginfo.baseMessage.c_str(),
325 address, port,
326 prot.major, prot.minor,
327 appl.major, appl.minor,
328 strain
329 );
330 m_dnginfo.baseInfo.finalMessage.append(str);
331 } break;
332
333 case eoerror_value_CFG_mais_ok:
334 case eoerror_value_CFG_mais_failed_candiscovery:
335 case eoerror_value_CFG_psc_ok:
336 case eoerror_value_CFG_psc_failed_candiscovery:
337 case eoerror_value_CFG_pos_ok:
338 case eoerror_value_CFG_pos_failed_candiscovery:
339 {
340 eObrd_protocolversion_t prot = {0};
341 eObrd_firmwareversion_t appl = {0};
342 uint64_t reqpr = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
343 uint64_t reqfw = (m_dnginfo.param64 & 0x000000000000ffff);
344 prot.major = reqpr >> 8;
345 prot.minor = reqpr & 0xff;
346 appl.major = (reqfw >> 8) & 0xff;
347 appl.minor = reqfw & 0xff;
348 uint8_t address = m_dnginfo.param16 & 0x00ff;
349 uint8_t port = m_dnginfo.param16 >> 8;
350
351 snprintf(str, sizeof(str), "%s on board at addr: %d and port:%d with can protocol ver %d.%d and application ver %d.%d.",
352 m_dnginfo.baseMessage.c_str(),
353 address,
354 port,
355 prot.major, prot.minor,
356 appl.major, appl.minor
357 );
358 m_dnginfo.baseInfo.finalMessage.append(str);
359 } break;
360
361 case eoerror_value_CFG_mais_failed_verify_because_active:
362 case eoerror_value_CFG_mc_foc_ok:
363 case eoerror_value_CFG_mc_foc_failed_candiscovery_of_foc:
364 case eoerror_value_CFG_mc_foc_failed_encoders_verify:
365 case eoerror_value_CFG_mc_mc4_ok:
366 case eoerror_value_CFG_mc_mc4_failed_candiscovery_of_mc4:
367 case eoerror_value_CFG_mc_mc4_failed_mais_verify:
368 case eoerror_value_CFG_mc_mc4plus_ok:
369 case eoerror_value_CFG_mc_mc4plus_failed_encoders_verify:
370 case eoerror_value_CFG_comm_cannotloadaregularrop:
371 case eoerror_value_CFG_mc_mc4plusmais_ok:
372 case eoerror_value_CFG_mc_mc4plusmais_failed_encoders_verify:
373 case eoerror_value_CFG_mc_mc4plusmais_failed_candiscovery_of_mais:
374 case eoerror_value_CFG_services_not_verified_yet:
375 case eoerror_value_CFG_mc_not_verified_yet:
376 case eoerror_value_CFG_strain_not_verified_yet:
377 case eoerror_value_CFG_mais_not_verified_yet:
378 case eoerror_value_CFG_skin_not_verified_yet:
379 case eoerror_value_CFG_inertials3_not_verified_yet:
380 case eoerror_value_CFG_encoders_not_verified_yet:
381 case eoerror_value_CFG_mc_using_onboard_config:
382 case eoerror_value_CFG_strain_using_onboard_config:
383 case eoerror_value_CFG_mais_using_onboard_config:
384 case eoerror_value_CFG_inertials3_using_onboard_config:
385 case eoerror_value_CFG_skin_using_onboard_config:
386 case eoerror_value_CFG_inertials3_ok:
387 case eoerror_value_CFG_temperatures_not_verified_yet:
388 case eoerror_value_CFG_temperatures_ok:
389 case eoerror_value_CFG_temperatures_using_onboard_config:
390 case eoerror_value_CFG_psc_failed_verify_because_active:
391 case eoerror_value_CFG_psc_not_verified_yet:
392 case eoerror_value_CFG_psc_using_onboard_config:
393 case eoerror_value_CFG_mc_mc2pluspsc_ok:
394 case eoerror_value_CFG_mc_mc2pluspsc_failed_encoders_verify:
395 case eoerror_value_CFG_mc_mc2pluspsc_failed_candiscovery_of_pscs:
396 case eoerror_value_CFG_inertials3_failed_notsupported:
397 case eoerror_value_CFG_temperatures_failed_notsupported:
398 case eoerror_value_CFG_mais_failed_notsupported:
399 case eoerror_value_CFG_strain_failed_notsupported:
400 case eoerror_value_CFG_skin_failed_notsupported:
401 case eoerror_value_CFG_psc_failed_notsupported:
402 case eoerror_value_CFG_mc_failed_notsupported:
403 case eoerror_value_CFG_encoders_failed_notsupported:
404 case eoerror_value_CFG_pos_not_verified_yet:
405 case eoerror_value_CFG_pos_using_onboard_config:
406 case eoerror_value_CFG_pos_failed_notsupported:
407 case eoerror_value_CFG_mc_mc4plusfaps_ok:
408 case eoerror_value_CFG_mc_mc4plusfaps_failed_encoders_verify:
409 case eoerror_value_CFG_mc_mc4plusfaps_failed_candiscovery:
410 case eoerror_value_CFG_mc_mc4pluspmc_ok:
411 case eoerror_value_CFG_mc_mc4pluspmc_failed_encoders_verify:
412 case eoerror_value_CFG_mc_mc4pluspmc_failed_candiscovery_of_pmc:
413 case eoerror_value_CFG_ft_ok:
414 case eoerror_value_CFG_ft_failed_candiscovery:
415 case eoerror_value_CFG_ft_not_verified_yet:
416 case eoerror_value_CFG_ft_using_onboard_config:
417 case eoerror_value_CFG_ft_failed_notsupported:
418 case eoerror_value_CFG_ft_failed_fullscales:
419 case eoerror_value_CFG_bat_ok:
420 case eoerror_value_CFG_bat_failed_candiscovery:
421 case eoerror_value_CFG_bat_not_verified_yet:
422 case eoerror_value_CFG_bat_using_onboard_config:
423 case eoerror_value_CFG_bat_failed_notsupported:
424 {
425 printBaseInfo();
426 } break;
427
428 // 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"},
429 case eoerror_value_CFG_encoders_ok:
430 case eoerror_value_CFG_encoders_failed_verify:
431 {
432 uint8_t numOfJoints = (m_dnginfo.param16 & 0xf000) >> 12;
433 uint8_t failmaskenc1 = m_dnginfo.param16 & 0x000f;
434 int16_t errorenc1 = m_dnginfo.param64 & 0x0000ffff;
435 uint8_t failmaskenc2 = (m_dnginfo.param16 & 0x00f0) >> 4;
436 int16_t errorenc2 = (m_dnginfo.param64 & 0xffff0000) >> 16;
437
438 int16_t rawerror1 = errorenc1 & failmaskenc1;
439 int16_t rawerror2 = errorenc2 & failmaskenc2;
440 snprintf(str, sizeof(str), "%s", m_dnginfo.baseMessage.c_str());
441 m_dnginfo.baseInfo.finalMessage.append(str);
442
443 for(auto i=0; i < numOfJoints; i++)
444 {
445 // 1. check if joint ith has encoder with errors
446 auto primary_enc_with_error = (failmaskenc1 & (1<<i));
447 auto secondary_enc_with_error = (failmaskenc2 & (1<<i));
448 auto primary_error_code = 0;
449 auto secondary_error_code = 0;
450 if(primary_enc_with_error)
451 {
452 primary_error_code = ( (errorenc1 & (0xf <<i)) >> 4*i);
453 m_entityNameProvider.getAxisName(i, m_dnginfo.baseInfo.axisName);
454 snprintf(str, sizeof(str), " joint %d (%s) has error on primary encoder (code=%d). ",
455 i, m_dnginfo.baseInfo.axisName.c_str(), primary_error_code); //TODO: get a string instead of a code
456 m_dnginfo.baseInfo.finalMessage.append(str);
457 }
458
459 if(secondary_enc_with_error)
460 {
461 secondary_error_code = ( (errorenc2 & (0xf <<i)) >> 4*i);
462 m_entityNameProvider.getAxisName(i, m_dnginfo.baseInfo.axisName);
463 snprintf(str, sizeof(str), " joint %d (%s) has error on secodary encoder (code=%d)",
464 i, m_dnginfo.baseInfo.axisName.c_str(), secondary_error_code); //TODO: get a string instead of a code
465 m_dnginfo.baseInfo.finalMessage.append(str);
466 }
467
468
469 }
470
471 } break;
472
473 case eoerror_value_CFG_inertials3_failed_unsupportedsensor:
474 {
475 int16_t unsuppsens = m_dnginfo.param16;
476
477 snprintf(str, sizeof(str), "%s. Number of unsupported sens is %d",
478 m_dnginfo.baseMessage.c_str(),
479 unsuppsens
480 );
481 m_dnginfo.baseInfo.finalMessage.append(str);
482 } break;
483
484 case eoerror_value_CFG_inertials3_changed_requestedrate:
485 case eoerror_value_CFG_temperatures_changed_requestedrate:
486 case eoerror_value_CFG_psc_changed_requestedrate:
487 case eoerror_value_CFG_pos_changed_requestedrate:
488 {
489 uint8_t reqrate = (m_dnginfo.param16 & 0xff00) >> 8;
490 uint8_t assrate = m_dnginfo.param16 & 0x00ff;
491
492 snprintf(str, sizeof(str), "%s. Requested rate %u and Assigned rate %u",
493 m_dnginfo.baseMessage.c_str(),
494 reqrate,
495 assrate
496 );
497 m_dnginfo.baseInfo.finalMessage.append(str);
498 } break;
499
500 case eoerror_value_CFG_inertials3_failed_generic:
501 case eoerror_value_CFG_temperatures_failed_generic:
502 {
503 uint8_t numOfSens = m_dnginfo.param64;
504
505 snprintf(str, sizeof(str), "%s for %d sensors",
506 m_dnginfo.baseMessage.c_str(),
507 numOfSens
508 );
509 m_dnginfo.baseInfo.finalMessage.append(str);
510 } break;
511
512 case EOERROR_VALUE_DUMMY:
513 {
514 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_Config error value.");
515
516
517 } break;
518
519 default:
520 {
521 Diagnostic::LowLevel::DefaultParser::parseInfo();
522
523 }
524
525 }//end switch
526
527
528
529}
530
531
532
533
534/**************************************************************************************************************************/
535/****************************************** MotionControlParser ***************************************************/
536/**************************************************************************************************************************/
537
538// private class functions
539std::string MotionControlParser::motorStatusBitsToString(eOmc_motorFaultState_t motorstatus)
540{
541 // dimesion of the array is hard-code but it must be aligned w/ the union typedef eOmc_motorFaultState_t
542 static const std::array<std::string_view, eOmc_motorFaultState_numberof> s_motor_fault_status =
543 {
544 //B0 L
545 "ExternalFaultAsserted",
546 "UnderVoltageFailure",
547 "OverVoltageFailure",
548 "OverCurrentFailure",
549 //B0 H
550 "DHESInvalidValue",
551 "AS5045CSumError",
552 "DHESInvalidSequence",
553 "CANInvalidProtocol",
554 //B1 L
555 "CAN_BufferOverRun",
556 "SetpointExpired",
557 "CAN_TXIsPasv",
558 "CAN_RXIsPasv",
559 //B1 H
560 "CAN_IsWarnTX",
561 "CAN_IsWarnRX",
562 "OverHeatingFailure",
563 "",
564 //B2 L
565 "ADCCalFailure",
566 "I2TFailure",
567 "EMUROMFault",
568 "EMUROMCRCFault",
569 //B2 H
570 "EncoderFault",
571 "FirmwareSPITimingError",
572 "AS5045CalcError",
573 "FirmwarePWMFatalError",
574 //B3 L
575 "CAN_TXWasPasv",
576 "CAN_RXWasPasv",
577 "CAN_RTRFlagActive",
578 "CAN_WasWarn",
579 //B3 H
580 "CAN_DLCError",
581 "SiliconRevisionFault",
582 "PositionLimitUpper",
583 "PositionLimitLower"
584 };
585
586 std::string statusstring = {};
587 statusstring.reserve(256);
588
589 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)
590 {
591 // check bit by bit and add to ss the faulted bits
592 if(embot::core::binary::bit::check(motorstatus.bitmask, i))
593 {
594 statusstring.append(static_cast<const char*>(s_motor_fault_status.at(i).data()));
595 statusstring.append(" ");
596 }
597 }
598 return statusstring;
599}
600
601MotionControlParser::MotionControlParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
602
603void MotionControlParser::parseInfo()
604{
605 char str[512] = {0};
606 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
607 m_dnginfo.baseInfo.finalMessage.clear();
608
609 switch(value)
610 {
611
612 case eoerror_value_MC_motor_external_fault:
613 case eoerror_value_MC_motor_qencoder_phase_disappeared:
614 {
615 snprintf(str, sizeof(str), " %s", m_dnginfo.baseMessage.c_str());
616 m_dnginfo.baseInfo.finalMessage.append(str);
617 } break;
618
619 case eoerror_value_MC_motor_overcurrent:
620 case eoerror_value_MC_motor_i2t_limit:
621 case eoerror_value_MC_motor_hallsensors:
622 case eoerror_value_MC_motor_can_invalid_prot:
623 case eoerror_value_MC_motor_can_generic:
624 case eoerror_value_MC_motor_can_no_answer:
625 case eoerror_value_MC_axis_torque_sens:
626 case eoerror_value_MC_joint_hard_limit:
627 {
628 uint8_t joint_num = m_dnginfo.param16 & 0x00ff;
629 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
630
631 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d))", m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num);
632 m_dnginfo.baseInfo.finalMessage.append(str);
633 } break;
634
635 case eoerror_value_MC_abs_enc_invalid:
636 case eoerror_value_MC_abs_enc_spikes:
637 case eoerror_value_MC_abs_enc_timeout:
638 {
639 std::string encoderTypeName = {};
640 uint8_t joint_num = m_dnginfo.param16 & 0x00ff;
641 uint8_t enc_port = (m_dnginfo.param16 & 0xff00)>>8;
642 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
643 m_entityNameProvider.getEncoderTypeName(joint_num, eomc_pos_atjoint, encoderTypeName);
644 std::transform(encoderTypeName.begin(), encoderTypeName.end(), encoderTypeName.begin(), ::toupper);
645
646 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d), encoderPort=%d, encoderType=%s)",
647 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, enc_port, encoderTypeName.c_str()
648 );
649 m_dnginfo.baseInfo.finalMessage.append(str);
650 } break;
651
652
653 //case eoerror_value_MC_motor_qencoder_dirty:
654 case eoerror_value_MC_motor_qencoder_phase: //TBD: check encoder raw value
655 {
656 uint16_t joint_num = m_dnginfo.param16;
657 uint16_t enc_raw_value = m_dnginfo.param64 & 0xffff;
658 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
659
660 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d), Raw_quad_encoder_value=%d)",
661 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, enc_raw_value
662 );
663 m_dnginfo.baseInfo.finalMessage.append(str);
664 } break;
665
666 case eoerror_value_MC_motor_qencoder_dirty:
667 {
668 uint16_t joint_num = m_dnginfo.param16;
669 uint16_t dirty_error = m_dnginfo.param64 & 0xffff;
670 uint16_t index_error = (m_dnginfo.param64 & 0xffff0000)>>16;
671 uint16_t phase_error = (m_dnginfo.param64 & 0xffff00000000)>>32;
672 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
673
674 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d), index=%d, dirty=%d, phase=%d)",
675 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, index_error, dirty_error, phase_error
676 );
677 m_dnginfo.baseInfo.finalMessage.append(str);
678 } break;
679
680 case eoerror_value_MC_generic_error: //TBD Check print
681 {
682 eOmc_motorFaultState_t motor_status;
683 uint16_t joint_num = m_dnginfo.param16;
684 motor_status.bitmask = m_dnginfo.param64 & 0xffffffff;
685 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
686 std::string motorStatusString = motorStatusBitsToString(motor_status);
687 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d) (Errors:%s)",
688 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, motorStatusString.c_str()
689 );
690 m_dnginfo.baseInfo.finalMessage.append(str);
691 } break;
692
693 case eoerror_value_MC_motor_wrong_state: //TBD: check states
694 {
695 uint16_t joint_num = m_dnginfo.param16;
696 uint16_t req_state = (m_dnginfo.param64 & 0xf0)>>4;
697 uint16_t cur_state = m_dnginfo.param64 & 0x0f;
698
699 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
700
701
702 snprintf(str, sizeof(str), " %s Joint=%s (NIB=%d). The requested state is %d, but the current is %d)",
703 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, req_state, cur_state
704 );
705 m_dnginfo.baseInfo.finalMessage.append(str);
706 } break;
707
708 case eoerror_value_MC_motor_overheating:
709 {
710 uint16_t joint_num = m_dnginfo.param16;
711 int16_t temp_raw_value = m_dnginfo.param64 & 0xffff;
712
713 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
714
715 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d), Raw_temperature_value=%d)",
716 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, temp_raw_value
717 );
718 m_dnginfo.baseInfo.finalMessage.append(str);
719 } break;
720
721 case eoerror_value_MC_motor_tdb_not_reading:
722 {
723 uint16_t joint_num = m_dnginfo.param16;
724
725 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
726
727 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d))",
728 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num);
729 m_dnginfo.baseInfo.finalMessage.append(str);
730 } break;
731
732 case EOERROR_VALUE_DUMMY:
733 {
734 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_MotionControl error value.");
735
736
737 } break;
738
739 default:
740 {
741 Diagnostic::LowLevel::DefaultParser::parseInfo();
742
743 }
744
745 }//end switch
746
747
748
749}
750
751
752
753
754/**************************************************************************************************************************/
755/****************************************** SkinParser ***************************************************/
756/**************************************************************************************************************************/
757
758
759
760SkinParser::SkinParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
761
762void SkinParser::parseInfo()
763{
764 char str[512] = {0};
765 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
766 m_dnginfo.baseInfo.finalMessage.clear();
767
768 switch (value)
769 {
770 case eoerror_value_SK_unspecified:
771 case eoerror_value_SK_obsoletecommand:
772 {
773 printBaseInfo();
774 } break;
775
776 case eoerror_value_SK_arrayofcandataoverflow:
777 {
778 uint8_t frame_id = m_dnginfo.param16 & 0x00ff;
779 uint8_t frame_size = (m_dnginfo.param16 & 0xf000) >> 12;
780 uint64_t frame_data = m_dnginfo.param64;
781
782 snprintf(str, sizeof(str), " %s. Frame.ID=%d, Frame.Size=%d Frame.Data=0x%lx",
783 m_dnginfo.baseMessage.c_str(), frame_id, frame_size, frame_data
784 );
785 m_dnginfo.baseInfo.finalMessage.append(str);
786 } break;
787
788 case eoerror_value_SK_onoroff:
789 {
790 std::string emsboardstate = "unknown";
791 switch (m_dnginfo.param16)
792 {
793 case 0: emsboardstate = "OFF"; break;
794 case 1: emsboardstate = "ON"; break;
795 };
796
797 snprintf(str, sizeof(str), " %s %s", m_dnginfo.baseMessage.c_str(), emsboardstate.c_str());
798 m_dnginfo.baseInfo.finalMessage.append(str);
799 } break;
800
801 case eoerror_value_SK_unexpecteddata:
802 {
803 std::string emsboardstate = "unknown";
804 switch (m_dnginfo.param16)
805 {
806 case 0: emsboardstate = "CFG"; break;
807 case 1: emsboardstate = "RUN"; break;
808 }
809
810 snprintf(str, sizeof(str), " %s %s", m_dnginfo.baseMessage.c_str(), emsboardstate.c_str());
811 m_dnginfo.baseInfo.finalMessage.append(str);
812 } break;
813
814 case EOERROR_VALUE_DUMMY:
815 {
816 m_dnginfo.baseInfo.finalMessage.append(": unrecognized eoerror_category_Skin error value");
817 } break;
818
819 default:
820 {
821 Diagnostic::LowLevel::DefaultParser::parseInfo();
822
823 } break;
824 }
825}
826
827/**************************************************************************************************************************/
828/****************************************** HwErrorParser ***************************************************/
829/**************************************************************************************************************************/
830
831
832
833HwErrorParser::HwErrorParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
834
835void HwErrorParser::parseInfo()
836{
837 char str[512] = {0};
838 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
839 m_dnginfo.baseInfo.finalMessage.clear();
840
841 switch(value)
842 {
843
844 case eoerror_value_HW_strain_saturation:
845 {
846 uint16_t channel = m_dnginfo.param16;
847 uint32_t lower_saturation_counts = m_dnginfo.param64 & 0xffffffff;
848 uint32_t upper_saturation_counts = (m_dnginfo.param64 & 0xffffffff00000000)>>32;
849 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",
850 m_dnginfo.baseMessage.c_str(),
851 channel,
852 lower_saturation_counts,
853 upper_saturation_counts);
854 m_dnginfo.baseInfo.finalMessage.append(str);
855 } break;
856
857 case eoerror_value_HW_encoder_invalid_value:
858 case eoerror_value_HW_encoder_close_to_limits:
859 case eoerror_value_HW_encoder_crc:
860 case eoerror_value_HW_encoder_not_connected:
861 {
862 uint8_t joint_num = m_dnginfo.param16 & 0x00ff;
863 int16_t number_of_errors = m_dnginfo.param64 & 0x000000000000ffff;
864 m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
865
866 snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d) Number of error in 10 seconds is: %d)",
867 m_dnginfo.baseMessage.c_str(),
868 m_dnginfo.baseInfo.axisName.c_str(),
869 joint_num,
870 number_of_errors);
871 m_dnginfo.baseInfo.finalMessage.append(str);
872 } break;
873
874 case eoerror_value_HW_amo_encoder_status0:
875 {
876 uint8_t joint_num = m_dnginfo.param16 & 0x00ff;
877 uint32_t nonius_track_errors = (m_dnginfo.param64 & 0xffffffff00000000) >> 32;
878 uint32_t master_track_errors = m_dnginfo.param64 & 0x00000000ffffffff;
879 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)",
880 m_dnginfo.baseMessage.c_str(),
881 m_dnginfo.baseInfo.axisName.c_str(),
882 joint_num,
883 nonius_track_errors,
884 master_track_errors);
885 m_dnginfo.baseInfo.finalMessage.append(str);
886 } break;
887
888 case eoerror_value_HW_amo_encoder_status1:
889 {
890 uint8_t joint_num = m_dnginfo.param16 & 0x00ff;
891 uint16_t internal_crc_errors = (m_dnginfo.param64 & 0xffff000000000000) >> 48;
892 uint16_t i2c_comm_errors = (m_dnginfo.param64 & 0x0000ffff00000000) >> 32;
893 uint16_t nonius_period_consistency_errors = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
894 uint16_t eccessive_input_signal_frequency_errors = (m_dnginfo.param64 & 0x000000000000ffff);
895 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)",
896 m_dnginfo.baseMessage.c_str(),
897 m_dnginfo.baseInfo.axisName.c_str(),
898 joint_num,
899 internal_crc_errors,
900 i2c_comm_errors,
901 nonius_period_consistency_errors,
902 eccessive_input_signal_frequency_errors);
903 m_dnginfo.baseInfo.finalMessage.append(str);
904 } break;
905
906 case EOERROR_VALUE_DUMMY:
907 {
908 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_HardWare error value.");
909
910
911 } break;
912
913 default:
914 {
915 Diagnostic::LowLevel::DefaultParser::parseInfo();
916
917 }
918
919 }//end switch
920
921
922
923}
924
925
926
927/**************************************************************************************************************************/
928/****************************************** SysErrorParser ***************************************************/
929/**************************************************************************************************************************/
930
931// Private class functions
932void SysParser::canMask2canBoardsStr(uint16_t canmask, diagstr canboardsstr)
933{
934 for(int i=1; i<15; i++)
935 {
936 diagstr tmpstr{};
937 if ( (canmask & (1<<i)) == (1<<i))
938 {
939 snprintf(tmpstr, diagstr_lenght, "%d", i);
940 strcat(canboardsstr, tmpstr);
941 }
942 }
943}
944
945void SysParser::getCanMonitorInfo(eOmn_serv_category_t &serv_category, diagstr boardsOnCan1, diagstr boardsOnCan2)
946{
947 serv_category = (eOmn_serv_category_t)m_dnginfo.param16;
948 uint16_t boardsMaskCan1 = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
949 uint16_t boardsMaskCan2 = (m_dnginfo.param64 & 0x000000000000ffff);
950
951 canMask2canBoardsStr(boardsMaskCan1, boardsOnCan1);
952 canMask2canBoardsStr(boardsMaskCan2, boardsOnCan2);
953
954}
955
956void SysParser::getCanMonitorInfoWithTime(eOmn_serv_category_t &serv_category, diagstr boardsOnCan1, diagstr boardsOnCan2, uint32_t &time)
957{
958 getCanMonitorInfo(serv_category, boardsOnCan1, boardsOnCan2);
959 time = (m_dnginfo.param64 & 0xffffffff00000000) >> 32;
960}
961
962SysParser::SysParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
963void SysParser::parseInfo()
964{
965 char str[512] = {0};
966 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
967 m_dnginfo.baseInfo.finalMessage.clear();
968
969 switch(value)
970 {
971
972 case eoerror_value_SYS_runninghappily:
973 {
974 std::string appstate = "unknown";
975 switch(m_dnginfo.param16&0x000f)
976 {
977 case 0: appstate="just restarted"; break;
978 case 1: appstate="idle"; break;
979 case 2: appstate="running"; break;
980 };
981 snprintf(str, sizeof(str), " %s Application state is %s.", m_dnginfo.baseMessage.c_str(), appstate.c_str());
982 m_dnginfo.baseInfo.finalMessage.append(str);
983 }break;
984
985 case eoerror_value_SYS_ctrloop_execoverflowRX:
986 {
987 //here the param64 contains: TX RX DO TX
988 uint16_t prev_rx = (m_dnginfo.param64 & 0x0000ffff00000000)>>32;
989 uint16_t prev_do = (m_dnginfo.param64 & 0x00000000ffff0000)>>16;
990 uint16_t prev_tx = (m_dnginfo.param64 & 0x000000000000ffff);
991 uint16_t prev_prev_tx = (m_dnginfo.param64 & 0xffff000000000000)>>48;
992 //currently we don't print the two time ago TX.
993
994 //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);
995 snprintf(str, sizeof(str), " %s RX execution time %d[usec]. Latest previous execution times[usec] (..., Tx=%d);(RX=%d, DO=%d, TX=%d);",
996 m_dnginfo.baseMessage.c_str(), m_dnginfo.param16, prev_prev_tx, prev_rx, prev_do, prev_tx);
997 m_dnginfo.baseInfo.finalMessage.append(str);
998 }break;
999
1000 case eoerror_value_SYS_ctrloop_execoverflowDO:
1001 {
1002 //here the param64 contains: RX DO TX RX
1003 uint16_t prev_do = (m_dnginfo.param64 & 0x0000ffff00000000)>>32;
1004 uint16_t prev_tx = (m_dnginfo.param64 & 0x00000000ffff0000)>>16;
1005 uint16_t prev_rx = (m_dnginfo.param64 & 0x000000000000ffff);
1006 uint16_t prev_prev_rx = (m_dnginfo.param64 & 0xffff000000000000)>>48;
1007 //currently we don't print the two time ago RX.
1008 //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);
1009 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, ...);",
1010 m_dnginfo.baseMessage.c_str(), m_dnginfo.param16, "N/A", prev_prev_rx, prev_do, prev_tx, prev_rx);
1011 m_dnginfo.baseInfo.finalMessage.append(str);
1012 }break;
1013
1014 case eoerror_value_SYS_ctrloop_execoverflowTX:
1015 {
1016 //here the param64 contains: DO TX RX DO
1017 uint16_t prev_tx = (m_dnginfo.param64 & 0x0000ffff00000000)>>32;
1018 uint16_t prev_rx = (m_dnginfo.param64 & 0x00000000ffff0000)>>16;
1019 uint16_t prev_do = (m_dnginfo.param64 & 0x000000000000ffff);
1020 uint8_t can1_frames = (m_dnginfo.param64 & 0x00ff000000000000) >> 48;
1021 uint8_t can2_frames = (m_dnginfo.param64 & 0xff00000000000000) >> 56;
1022 //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(),
1023 //m_dnginfo.param16, prev_tx, prev_rx, prev_do, can1_frames, can2_frames );
1024 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]",
1025 m_dnginfo.baseMessage.c_str(), m_dnginfo.param16, "N/A", "N/A" , prev_tx, prev_rx, prev_do, can1_frames, can2_frames);
1026 m_dnginfo.baseInfo.finalMessage.append(str);
1027 }break;
1028
1029 case eoerror_value_SYS_ropparsingerror:
1030 {
1031 snprintf(str, sizeof(str), " %s Error code is %d (eOparserResult_t).", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1032 m_dnginfo.baseInfo.finalMessage.append(str);
1033 }break;
1034
1035 case eoerror_value_SYS_halerror:
1036 {
1037 snprintf(str, sizeof(str), " %s HAL error code is %d.", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1038 m_dnginfo.baseInfo.finalMessage.append(str);
1039 }break;
1040
1041 case eoerror_value_SYS_osalerror:
1042 {
1043 snprintf(str, sizeof(str), " %s OSAL error code is %d.", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1044 m_dnginfo.baseInfo.finalMessage.append(str);
1045 }break;
1046
1047 case eoerror_value_SYS_ipalerror:
1048 {
1049 snprintf(str, sizeof(str), " %s IPAL error code is %d.", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1050 m_dnginfo.baseInfo.finalMessage.append(str);
1051 }break;
1052
1053 case eoerror_value_SYS_dispatcherfifooverflow:
1054 {
1055 snprintf(str, sizeof(str), " %s Number of lost items is %d.", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1056 m_dnginfo.baseInfo.finalMessage.append(str);
1057 }break;
1058
1059 case eoerror_value_SYS_canservices_txfifooverflow:
1060 {
1061 snprintf(str, sizeof(str), " %s CanPort=%s Frame.ID=%d, Frame.Size=%d Frame.Data=0x%lx",
1062 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), (m_dnginfo.param16 & 0x0fff), ((m_dnginfo.param16 & 0xf000)>>12), m_dnginfo.param64 );
1063 m_dnginfo.baseInfo.finalMessage.append(str);
1064 }break;
1065
1066 case eoerror_value_SYS_canservices_txbusfailure:
1067 {
1068 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));
1069 m_dnginfo.baseInfo.finalMessage.append(str);
1070 }break;
1071
1072 case eoerror_value_SYS_canservices_formingfailure:
1073 {
1074 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));
1075 m_dnginfo.baseInfo.finalMessage.append(str);
1076 }break;
1077
1078 case eoerror_value_SYS_canservices_parsingfailure:
1079 {
1080 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));
1081 m_dnginfo.baseInfo.finalMessage.append(str);
1082 }break;
1083
1084 case eoerror_value_SYS_canservices_genericerror:
1085 {
1086 snprintf(str, sizeof(str), " %s error code is %d ", m_dnginfo.baseMessage.c_str(), m_dnginfo.param16);
1087 m_dnginfo.baseInfo.finalMessage.append(str);
1088
1089 }break;
1090
1091 case eoerror_value_SYS_ctrloop_rxphasemin:
1092 case eoerror_value_SYS_ctrloop_dophasemin:
1093 case eoerror_value_SYS_ctrloop_txphasemin:
1094 case eoerror_value_SYS_ctrloop_rxphaseaverage:
1095 case eoerror_value_SYS_ctrloop_dophaseaverage:
1096 case eoerror_value_SYS_ctrloop_txphaseaverage:
1097 case eoerror_value_SYS_ctrloop_rxphasemax:
1098 case eoerror_value_SYS_ctrloop_dophasemax:
1099 case eoerror_value_SYS_ctrloop_txphasemax:
1100 {
1101 snprintf(str, sizeof(str), " %s, monitored over %f sec is %d microsec", m_dnginfo.baseMessage.c_str(),
1102 0.01*static_cast<float>(m_dnginfo.param64 & 0xffff),
1103 m_dnginfo.param16
1104 );
1105 m_dnginfo.baseInfo.finalMessage.append(str);
1106 } break;
1107
1108 case eoerror_value_SYS_exec_time_stats:
1109 {
1110 static constexpr const char * const names[4] = { "runner.RX()", "runner.DO()", "runner.TX()", "other.ID = " };
1111 std::string actor = {};
1112 if(m_dnginfo.param16 < 3)
1113 {
1114 actor = names[m_dnginfo.param16];
1115 }
1116 else
1117 {
1118 actor= names[3] + std::to_string(m_dnginfo.param16);
1119 }
1120
1121 snprintf(str, sizeof(str), " %s: %s -> (%d, %d, %d) us over %f sec",
1122 m_dnginfo.baseMessage.c_str(),
1123 actor.c_str(),
1124 static_cast<uint16_t>((m_dnginfo.param64 >> 48) & 0xffff), // min
1125 static_cast<uint16_t>((m_dnginfo.param64 >> 32) & 0xffff), // average
1126 static_cast<uint16_t>((m_dnginfo.param64 >> 16) & 0xffff), // max
1127 0.01*static_cast<float>(m_dnginfo.param64 & 0xffff) // period
1128 );
1129 m_dnginfo.baseInfo.finalMessage.append(str);
1130 } break;
1131
1132 case eoerror_value_SYS_proxy_forward_fails:
1133 {
1134 snprintf(str, sizeof(str), " %s. ROP.sign=%d, ROP.id=%d. Proxy list capacity is %d, size is %d ",
1135 m_dnginfo.baseMessage.c_str(),
1136 (int32_t)((m_dnginfo.param64&0xffffffff00000000)>>32),
1137 (int32_t)(m_dnginfo.param64&0x00000000ffffffff),
1138 ((m_dnginfo.param16&0xff00)>>8), (m_dnginfo.param16&0x00ff));
1139 m_dnginfo.baseInfo.finalMessage.append(str);
1140
1141 }break;
1142
1143 case eoerror_value_SYS_proxy_ropdes_notfound:
1144 {
1145 snprintf(str, sizeof(str), " %s ROP.id=%d ", m_dnginfo.baseMessage.c_str(), (int32_t)(m_dnginfo.param64&0x00000000ffffffff));
1146 m_dnginfo.baseInfo.finalMessage.append(str);
1147
1148 }break;
1149
1150 case eoerror_value_SYS_canservices_canprint:
1151 {
1152 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 );
1153 m_dnginfo.baseInfo.finalMessage.append(str);
1154 }break;
1155
1156 case eoerror_value_SYS_canservices_rxmaisbug:
1157 {
1158 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 );
1159 m_dnginfo.baseInfo.finalMessage.append(str);
1160 }break;
1161
1162 case eoerror_value_SYS_canservices_rxfromwrongboard:
1163 {
1164 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 );
1165 m_dnginfo.baseInfo.finalMessage.append(str);
1166 }break;
1167
1168 case eoerror_value_SYS_transceiver_rxseqnumber_error:
1169 {
1170 int16_t receivedNum = m_dnginfo.param64+ m_dnginfo.param16;
1171 snprintf(str, sizeof(str), " %s Expected number is %ld, received number is %d ", m_dnginfo.baseMessage.c_str(), m_dnginfo.param64, receivedNum);
1172 m_dnginfo.baseInfo.finalMessage.append(str);
1173 }break;
1174
1175 case eoerror_value_SYS_transceiver_rxseqnumber_restarted:
1176 {
1177 snprintf(str, sizeof(str), " %s Expected number is %ld", m_dnginfo.baseMessage.c_str(), m_dnginfo.param64);
1178 m_dnginfo.baseInfo.finalMessage.append(str);
1179 }break;
1180
1181 case eoerror_value_SYS_canservices_board_detected:
1182 {
1183 //in param64 the fw copies the struct eObrd_typeandversions_t defined in EoBoards.h in icub=firmware repo
1200 //TODO:
1201 //checking the fw it seems this error code is no longer used.
1202 //So I cannot retrieve the board type.
1203 //For now I leave the code. When I'm sure that it is old, I'll remove it
1204 int fw_build = (m_dnginfo.param64 & 0x00000000000000ff);
1205 int fw_major = (m_dnginfo.param64 & 0x000000000000ff00) >> 8;
1206 int fw_minor = (m_dnginfo.param64 & 0x0000000000ff0000) >> 16;
1207 int proto_major = (m_dnginfo.param64 & 0x00000000ff000000) >> 24;
1208 int proto_minor = (m_dnginfo.param64 & 0x000000ff00000000) >> 32;
1209
1210 //used in comm-v1 protocol
1211 // eObrd_typeandversions_t *brd_info_ptr = (eObrd_typeandversions_t *)&m_dnginfo.param64;
1212 // int fw_build = brd_info_ptr->firmwarebuildnumber;
1213 // int fw_major = brd_info_ptr->firmwareversion.major;
1214 // int fw_minor = brd_info_ptr->firmwareversion.minor;
1215 // int proto_major =brd_info_ptr->protocolversion.major;
1216 // int proto_minor =brd_info_ptr->protocolversion.minor;
1217
1218 // eObrd_type_t general_brd_type = eoboards_cantype2type((eObrd_cantype_t )brd_info_ptr->boardtype);
1219
1220 // std::string board_type_str = eoboards_type2string(general_brd_type);
1221
1222 snprintf(str, sizeof(str), " %s on CAN port=%s with address %d. Fw ver is %d.%d.%d. Proto ver is %d.%d",
1223 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), m_dnginfo.baseInfo.sourceCANBoardAddr,
1224 fw_build, fw_major, fw_minor, proto_major, proto_minor );
1225 m_dnginfo.baseInfo.finalMessage.append(str);
1226 }break;
1227
1228 case eoerror_value_SYS_canservices_board_wrongprotversion:
1229 {
1230 //in param64 the fw copies the struct eObrd_typeandversions_t defined in EoBoards.h in icub=firmware repo
1247 //as above
1248 int fw_build = (m_dnginfo.param64 & 0x00000000000000ff);
1249 int fw_major = (m_dnginfo.param64 & 0x000000000000ff00) >> 8;
1250 int fw_minor = (m_dnginfo.param64 & 0x0000000000ff0000) >> 16;
1251 int proto_major = (m_dnginfo.param64 & 0x00000000ff000000) >> 24;
1252 int proto_minor = (m_dnginfo.param64 & 0x000000ff00000000) >> 32;
1253 int req_proto_major = (m_dnginfo.param16 & 0xff00) >>8;
1254 int req_proto_minor = (m_dnginfo.param16 & 0x00ff);
1255
1256
1257 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",
1258 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(), m_dnginfo.baseInfo.sourceCANBoardAddr,
1259 fw_build, fw_major, fw_minor, proto_major, proto_minor, req_proto_major, req_proto_minor );
1260 m_dnginfo.baseInfo.finalMessage.append(str);
1261 }break;
1262
1263 case eoerror_value_SYS_canservices_board_notfound:
1264 {
1265 eObrd_type_t general_brd_type = eoboards_cantype2type((eObrd_cantype_t)m_dnginfo.param16);
1266 snprintf(str, sizeof(str), " %s The board is on CAN port=%s with address %d. Board type is %s.",
1267 m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.sourceCANPortStr.c_str(),
1268 m_dnginfo.baseInfo.sourceCANBoardAddr, eoboards_type2string(general_brd_type));
1269 m_dnginfo.baseInfo.finalMessage.append(str);
1270
1271 }break;
1272
1273 case eoerror_value_SYS_canservices_boards_lostcontact:
1274 {
1275 eOmn_serv_category_t serv_category;
1276 diagstr lostCanBoards1 = {0};
1277 diagstr lostCanBoards2 = {0};
1278 getCanMonitorInfo(serv_category, lostCanBoards1, lostCanBoards2);
1279
1280 snprintf(str, sizeof(str), "%s Type of service category is %s. Lost can boards on (can1map, can2map) = ([ %s ], [ %s ] ).",
1281 m_dnginfo.baseMessage.c_str(),
1282 eomn_servicecategory2string(serv_category),
1283 lostCanBoards1, lostCanBoards2
1284 );
1285
1286 m_dnginfo.baseInfo.finalMessage.append(str);
1287
1288 } break;
1289
1290 case eoerror_value_SYS_canservices_boards_retrievedcontact:
1291 {
1292 eOmn_serv_category_t serv_category;
1293 diagstr retrievedCanBoards1 = {0};
1294 diagstr retrievedCanBoards2 = {0};
1295 getCanMonitorInfo(serv_category, retrievedCanBoards1, retrievedCanBoards2);
1296
1297 snprintf(str, sizeof(str), "%s Type of service category is %s. Retrieved can boards on (can1map, can2map) = ([ %s ], [ %s ] ).",
1298 m_dnginfo.baseMessage.c_str(),
1299 eomn_servicecategory2string(serv_category),
1300 retrievedCanBoards1, retrievedCanBoards2
1301 );
1302
1303 m_dnginfo.baseInfo.finalMessage.append(str);
1304
1305 } break;
1306
1307 case eoerror_value_SYS_canservices_monitor_regularcontact:
1308 {
1309 eOmn_serv_category_t serv_category;
1310 diagstr foundCanBoards1 = {0};
1311 diagstr foundCanBoards2 = {0};
1312 getCanMonitorInfo(serv_category, foundCanBoards1, foundCanBoards2);
1313
1314 snprintf(str, sizeof(str), "%s Type of service category is %s. CAN boards are on (can1map, can2map) = ([ %s ], [ %s ])",
1315 m_dnginfo.baseMessage.c_str(),
1316 eomn_servicecategory2string(serv_category),
1317 foundCanBoards1,
1318 foundCanBoards2
1319 );
1320 m_dnginfo.baseInfo.finalMessage.append(str);
1321 } break;
1322
1323 case eoerror_value_SYS_canservices_monitor_lostcontact:
1324 {
1325 eOmn_serv_category_t serv_category;
1326 diagstr lostCanBoards1 = {0};
1327 diagstr lostCanBoards2 = {0};
1328 getCanMonitorInfo(serv_category, lostCanBoards1, lostCanBoards2);
1329
1330 snprintf(str, sizeof(str), "%s Type of service category is %s. Lost CAN boards are on (can1map, can2map) = ([ %s ], [ %s ]).",
1331 m_dnginfo.baseMessage.c_str(),
1332 eomn_servicecategory2string(serv_category),
1333 lostCanBoards1,
1334 lostCanBoards2
1335 );
1336 m_dnginfo.baseInfo.finalMessage.append(str);
1337 } break;
1338
1339 case eoerror_value_SYS_canservices_monitor_retrievedcontact:
1340 {
1341 eOmn_serv_category_t serv_category;
1342 uint32_t totRetrvTime;
1343 diagstr retrievedCanBoards1 = {0};
1344 diagstr retrievedCanBoards2 = {0};
1345 getCanMonitorInfoWithTime(serv_category, retrievedCanBoards1, retrievedCanBoards2, totRetrvTime);
1346
1347
1348 snprintf(str, sizeof(str), "%s Type of service category is %s. CAN boards are on (can1map, can2map) = ([ %s ], [ %s ]). Total retrieving time: %d [ms]",
1349 m_dnginfo.baseMessage.c_str(),
1350 eomn_servicecategory2string(serv_category),
1351 retrievedCanBoards1,
1352 retrievedCanBoards2,
1353 totRetrvTime
1354 );
1355 m_dnginfo.baseInfo.finalMessage.append(str);
1356 } break;
1357
1358
1359 case eoerror_value_SYS_canservices_monitor_stillnocontact:
1360 {
1361 eOmn_serv_category_t serv_category;
1362 uint32_t totDisappTime;
1363 diagstr lostCanBoards1 = {0};
1364 diagstr lostCanBoards2 = {0};
1365 getCanMonitorInfoWithTime(serv_category, lostCanBoards1, lostCanBoards2, totDisappTime);
1366
1367 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]",
1368 m_dnginfo.baseMessage.c_str(),
1369 eomn_servicecategory2string(serv_category),
1370 lostCanBoards1,
1371 lostCanBoards2,
1372 totDisappTime
1373 );
1374 m_dnginfo.baseInfo.finalMessage.append(str);
1375 } break;
1376
1377
1378 case eoerror_value_SYS_unspecified:
1379 case eoerror_value_SYS_tobedecided:
1380 case eoerror_value_SYS_memory_zerorequested:
1381 case eoerror_value_SYS_memory_notinitialised:
1382 case eoerror_value_SYS_memory_missing:
1383 case eoerror_value_SYS_mutex_timeout:
1384 case eoerror_value_SYS_wrongparam:
1385 case eoerror_value_SYS_wrongusage:
1386 case eoerror_value_SYS_runtimeerror:
1387 case eoerror_value_SYS_runninginfatalerrorstate:
1388 case eoerror_value_SYS_udptxfailure:
1389 case eoerror_value_SYS_configurator_udptxfailure:
1390 case eoerror_value_SYS_runner_udptxfailure:
1391 case eoerror_value_SYS_runner_transceivererror:
1392 case eoerror_value_SYS_canservices_rxfifooverflow:
1393 case eoerror_value_SYS_proxy_forward_ok:
1394 case eoerror_value_SYS_proxy_forward_callback_fails:
1395 case eoerror_value_SYS_proxy_reply_ok:
1396 case eoerror_value_SYS_proxy_reply_fails:
1397 case eoerror_value_SYS_canservices_boards_missing:
1398 case eoerror_value_SYS_canservices_boards_searched:
1399 case eoerror_value_SYS_canservices_boards_found:
1400 case eoerror_value_SYS_transceiver_rxinvalidframe_error:
1401 {
1402 printBaseInfo();
1403 } break;
1404
1405
1406 case EOERROR_VALUE_DUMMY:
1407 {
1408 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_HardWare error value.");
1409
1410
1411 } break;
1412
1413 default:
1414 {
1415 Diagnostic::LowLevel::DefaultParser::parseInfo();
1416
1417 }
1418
1419 }//end switch
1420
1421
1422
1423}
1424
1425
1426
1427
1428
1429
1430/**************************************************************************************************************************/
1431/****************************************** EthMonitorParser *****************************************/
1432/**************************************************************************************************************************/
1433
1434
1435
1436EthMonitorParser::EthMonitorParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
1437
1438void EthMonitorParser::parseInfo()
1439{
1440 char str[512] = {0};
1441 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
1442 m_dnginfo.baseInfo.finalMessage.clear();
1443
1444 switch(value)
1445 {
1446
1447 case eoerror_value_ETHMON_link_goes_up:
1448 case eoerror_value_ETHMON_link_goes_down:
1449 case eoerror_value_ETHMON_error_rxcrc:
1450 {
1451 std::string appstate = "unknown";
1452 switch(m_dnginfo.param64&0xff00000000000000)
1453 {
1454 case 0: appstate="N/A"; break;
1455 case 1: appstate="idle"; break;
1456 case 3: appstate="running"; break;
1457 };
1458
1459 std::string ethport = "unknown";
1460 switch(m_dnginfo.param16)
1461 {
1462 case 0: ethport="ETH input (P2/P13/J4)"; break;
1463 case 1: ethport="ETH output (P3/P12/J5)"; break;
1464 case 2: ethport="internal"; break;
1465 };
1466 if(eoerror_value_ETHMON_error_rxcrc == value)
1467 snprintf(str, sizeof(str), " %s in port %s. Application state is %s. Number of erros is %ld",
1468 m_dnginfo.baseMessage.c_str(), ethport.c_str(), appstate.c_str(), (m_dnginfo.param64&0xffffffff));
1469 else
1470 snprintf(str, sizeof(str), " %s in port %s. Application state is %s.", m_dnginfo.baseMessage.c_str(), ethport.c_str(), appstate.c_str());
1471
1472 m_dnginfo.baseInfo.finalMessage.append(str);
1473 }break;
1474
1475 case eoerror_value_ETHMON_txseqnumbermissing:
1476 {
1477 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);
1478 m_dnginfo.baseInfo.finalMessage.append(str);
1479 }break;
1480
1481
1482 case eoerror_value_ETHMON_juststarted:
1483 case eoerror_value_ETHMON_justverified:
1484 {
1485 printBaseInfo();
1486 } break;
1487
1488
1489 case EOERROR_VALUE_DUMMY:
1490 {
1491 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_HardWare error value.");
1492
1493
1494 } break;
1495
1496 default:
1497 {
1498 Diagnostic::LowLevel::DefaultParser::parseInfo();
1499
1500 }
1501
1502 }//end switch
1503}
1504
1505
1506/**************************************************************************************************************************/
1507/****************************************** InertialSensorParser ********************************************/
1508/**************************************************************************************************************************/
1509
1510InertialSensorParser::InertialSensorParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
1511
1512void InertialSensorParser::parseInfo()
1513{
1514 char str[512] = {0};
1515 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
1516 m_dnginfo.baseInfo.finalMessage.clear();
1517
1518 switch(value)
1519 {
1520
1521 case eoerror_value_IS_arrayofinertialdataoverflow:
1522 {
1523
1524 uint8_t frame_id = m_dnginfo.param16 & 0x0fff;
1525 uint8_t frame_size = (m_dnginfo.param16 & 0xf000) >> 12;
1526 uint64_t frame_data = m_dnginfo.param64;
1527
1528 snprintf(str, sizeof(str), " %s. Frame.ID=%d, Frame.Size=%d Frame.Data=0x%lx",
1529 m_dnginfo.baseMessage.c_str(), frame_id, frame_size, frame_data
1530 );
1531 m_dnginfo.baseInfo.finalMessage.append(str);
1532 } break;
1533
1534 case eoerror_value_IS_unknownsensor:
1535 {
1536 printBaseInfo();
1537 } break;
1538
1539
1540 case EOERROR_VALUE_DUMMY:
1541 {
1542 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_HardWare error value.");
1543
1544
1545 } break;
1546
1547 default:
1548 {
1549 Diagnostic::LowLevel::DefaultParser::parseInfo();
1550
1551 }
1552
1553 }//end switch
1554}
1555
1556/**************************************************************************************************************************/
1557/****************************************** AnalogSensorParser **********************************************/
1558/**************************************************************************************************************************/
1559
1560AnalogSensorParser::AnalogSensorParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
1561void AnalogSensorParser::parseInfo()
1562{
1563 char str[512] = {0};
1564 eOerror_value_t value = eoerror_code2value(m_dnginfo.errorCode);
1565 m_dnginfo.baseInfo.finalMessage.clear();
1566
1567 switch(value)
1568 {
1569
1570 case eoerror_value_AS_arrayoftemperaturedataoverflow:
1571 {
1572
1573 uint8_t frame_id = m_dnginfo.param16 & 0x00ff;
1574 uint8_t frame_size = (m_dnginfo.param16 & 0xf000) >> 12;
1575 uint64_t frame_data = m_dnginfo.param64;
1576
1577 snprintf(str, sizeof(str), " %s. Frame.ID=%d, Frame.Size=%d Frame.Data=0x%lx",
1578 m_dnginfo.baseMessage.c_str(), frame_id, frame_size, frame_data
1579 );
1580 m_dnginfo.baseInfo.finalMessage.append(str);
1581 } break;
1582
1583 case eoerror_value_AS_unknownsensor:
1584 {
1585 printBaseInfo();
1586 } break;
1587
1588
1589 case EOERROR_VALUE_DUMMY:
1590 {
1591 m_dnginfo.baseInfo.finalMessage.append(": unrecognised eoerror_category_HardWare error value.");
1592
1593
1594 } break;
1595
1596 default:
1597 {
1598 Diagnostic::LowLevel::DefaultParser::parseInfo();
1599
1600 }
1601
1602 }//end switch
1603}
1604
Diagnostic::LowLevel::DefaultParser::m_entityNameProvider
Diagnostic::LowLevel::EntityNameProvider & m_entityNameProvider
Definition diagnosticLowLevelFormatter_hid.h:94
Diagnostic::LowLevel::DefaultParser::m_dnginfo
Diagnostic::LowLevel::AuxEmbeddedInfo & m_dnginfo
Definition diagnosticLowLevelFormatter_hid.h:93
Diagnostic::LowLevel::EntityNameProvider::getEncoderTypeName
bool getEncoderTypeName(uint32_t jomoId, eOmc_position_t pos, std::string &encoderTypeName)
Definition diagnosticInfoFormatter.cpp:162
Diagnostic::LowLevel::EntityNameProvider::getAxisName
bool getAxisName(uint32_t entityId, std::string &axisName)
Definition diagnosticInfoFormatter.cpp:151
n
int n
Definition debugFunctions.cpp:58
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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