sm_errorpub.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2020 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_SM_ERRORPUB_H
#define MOTORCORTEX_CORE_SM_ERRORPUB_H
 
#include "motorcortex.pb.h"
#include "ps_parameter.h"
#include "sg_signalid.h"
#include "sm_errorhandlebase.h"
 
#include <functional>
#include <initializer_list>
#include <string>
 
namespace mcx::state_machine {
 
constexpr auto MAX_NUM_OF_ERRORS = sizeof(MotorcortexErrorList::errors) / sizeof(MotorcortexErrorList::errors[0]);
 
class ErrorPublisher {
 
  struct ErrorHandles {
    parameter_server::ParamHandle encoded;
    parameter_server::ParamHandle es;
    parameter_server::ParamHandle sd;
    parameter_server::ParamHandle fd;
    parameter_server::ParamHandle warnings;
  };
 
public:
  ErrorPublisher() = default;
 
  void addParameters(const std::string& param_name, parameter_server::Parameter* parent);
 
  bool clear(bool warnings_only);
 
  void update(const std::vector<std::reference_wrapper<const ErrorPublisher>>& error_pub);
 
  bool empty() const;
 
  bool hasError(const Error& error) const;
 
  bool hasErrorLevel(MotorcortexErrorLevel error_level) const;
 
  const std::map<Error, MotorcortexError>& getActiveErrors() const;
 
  MotorcortexError getActiveError() const;
 
  unsigned long getUpdateCounter() const;
 
  bool compare(unsigned long& counter) const;
 
  bool addError(const Error& error, MotorcortexErrorLevel error_level);
 
  void publish();
 
  void encode(size_t counter);
 
  inline void setName(const std::string& name) { name_ = name; }
 
  inline const std::string& getName() const { return name_; }
 
private:
  static void updateErrorHandle(ErrorHandles& error_handle);
 
  bool processError(const Error& error, motorcortex_ErrorLevel error_level, uint64_t timestamp, bool print_error);
 
  bool reset();
 
  bool resetWarnings();
 
  std::string name_;
 
  ErrorHandles error_handles_;
 
  uint8_t error_list_msg_[motorcortex_ErrorList_size]{};
 
  std::array<uint64_t, MAX_NUM_OF_ERRORS> es_errors_{};
  std::array<uint64_t, MAX_NUM_OF_ERRORS> sd_errors_{};
  std::array<uint64_t, MAX_NUM_OF_ERRORS> fd_errors_{};
  std::array<uint64_t, MAX_NUM_OF_ERRORS> warnings_{};
 
  MotorcortexError active_error_{};
  std::map<Error, MotorcortexError> active_errors_;
  MotorcortexErrorList error_list_{};
 
  size_t update_counter_{};
  size_t msg_size_{};
};
 
} // namespace mcx::state_machine
 
#endif // MOTORCORTEX_CORE_SM_ERRORPUB_H