ErrorHandler.cpp

Go to the documentation of this file.

/*
 * ErrorHandler.cpp
 *
 *  Created on: 09.02.2021
 *      Author: Yannick
 */
 
#include "ErrorHandler.h"
#include "global_callbacks.h"
#include "FFBoardMain.h"
#include "cppmain.h"
#include "critical.hpp"
#include <span>
 
std::vector<ErrorHandler*> ErrorHandler::errorHandlers;
//std::vector<Error> ErrorHandler::errors;
std::array<Error,ERRORHANDLER_MAXERRORS> ErrorHandler::errors;
 
 
std::string Error::toString(){
    std::string r = std::to_string((uint32_t)code) + ":";
    switch(type){
        case ErrorType::warning:
            r += "warn";
        break;
 
        case ErrorType::critical:
            r += "crit";
        break;
        case ErrorType::temporary:
            r += "info";
        break;
        default:
            r += "err";
    }
    r += ":" + (info == "" ? "no info" : info);
    return r;
}
 
 
ErrorHandler::ErrorHandler(){
//  errors.reserve(10);
    addCallbackHandler(errorHandlers,this);
}
 
ErrorHandler::~ErrorHandler() {
    removeCallbackHandler(errorHandlers,this);
}
 
/*
 * Clears ALL error conditions
 */
void ErrorHandler::clearAll(){
    // Call all error handlers
    for(ErrorHandler* e : errorHandlers){
        for(Error& error : errors)
            e->errorCallback(error, true);
    }
    errors.fill(Error());
}
 
/*
 * Clears errors marked as temporary
 */
void ErrorHandler::clearTemp(){
    for (uint8_t i = 0; i < errors.size(); i++){
        if((errors)[i].type == ErrorType::temporary){
            //errors.erase(errors.begin()+i);
            errors[i] = Error(); // Empty
            break;
        }
    }
    sortErrors();
}
 
void ErrorHandler::addError(const Error &error){
    for(Error e : errors){
        if(error == e){
            return;
        }
    }
//  errors.push_back(error);
    auto errIt = std::find_if(errors.begin(), errors.end(), [](const Error& err){return !err.isError();});
    if(errIt != errors.end()){
        *errIt = error; // If buffer is full do not store error but still call callbacks.
    }
 
 
    // Call all error handler with this error
    //cpp_freertos::CriticalSection::SuspendScheduler();
    for(ErrorHandler* e : errorHandlers){
        e->errorCallback(error, false);
    }
    //cpp_freertos::CriticalSection::ResumeScheduler();
}
 
void ErrorHandler::clearError(const Error &error){
    for (uint8_t i = 0; i < errors.size(); i++){
        if(errors[i] == error){
//          errors.erase(errors.begin()+i);
            errors[i] = Error(); // Empty
            break;
        }
    }
 
    // Call all error handler with this error and set clear flag
    for(ErrorHandler* e : errorHandlers){
        e->errorCallback(error, true);
    }
    sortErrors();
}
 
/*
 * Clears all errors with a specific errorcode
 */
void ErrorHandler::clearError(ErrorCode errorcode){
    for (uint8_t i = 0; i < errors.size(); i++){
        if(errors[i].code == errorcode){
//          errors.erase(errors.begin()+i);
            errors[i] = Error(); // Empty
            for(ErrorHandler* e : errorHandlers){
                e->errorCallback(errors[i], true);
            }
        }
    }
    sortErrors();
}
 
std::span<Error> ErrorHandler::getErrors(){
    return std::span<Error>(errors.begin(), std::find_if(errors.begin(), errors.end(), [](const Error& err){return err.type == ErrorType::none;}));
}
 
void ErrorHandler::errorCallback(const Error &error, bool cleared){
 
}
 
void ErrorHandler::sortErrors(){
    auto errSortFun = [](const Error& a, const Error& b){
        return a.code < b.code;
    };
    std::sort(errors.begin(),errors.end(),errSortFun);
}
 
 
//ClassIdentifier ErrorPrinter::info = {
//  .name = "Errorprinter",
//  .id=CLSID_ERRORS
//};
 
//ClassIdentifier ErrorPrinter::getInfo(){
//  return info;
//}
 
ErrorPrinter::ErrorPrinter() : Thread("errprint",256,19){ // Higher than default task but low.
    this->Start();
}
 
void ErrorPrinter::Run(){
    while(1){
        if(SystemCommands::systemCommandsInstance && enabled){
            std::vector<CommandReply> replies;
            SystemCommands::systemCommandsInstance->replyErrors(replies);
            CommandInterface::broadcastCommandReplyAsync(replies, SystemCommands::systemCommandsInstance, (uint32_t)FFBoardMain_commands::errors, CMDtype::get);
 
            ErrorHandler::clearTemp(); // Errors are sent. clear them
        }
        this->Suspend();
    }
}
 
 
// TODO prints in thread when called from isr
void ErrorPrinter::errorCallback(const Error &error, bool cleared){
    if(!cleared){
//      this->errorsToPrint.push_back(error); // Errors are stored in errorhandler
        if(inIsr()){
            this->ResumeFromISR();
        }else{
            this->Resume();
        }
    }
}
 
void ErrorPrinter::setEnabled(bool enabled){
    if(this->enabled == enabled){
        return;
    }
 
    if(!enabled){
        removeCallbackHandler(errorHandlers,static_cast<ErrorHandler*>(this));
    }else{
        addCallbackHandler(errorHandlers,static_cast<ErrorHandler*>(this));
    }
    this->enabled = enabled;
}
 
bool ErrorPrinter::getEnabled(){
    return this->enabled;
}