ErrorHandler.h

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/*
 * ErrorHandler.h
 *
 *  Created on: 09.02.2021
 *      Author: Yannick
 */
 
#ifndef SRC_ERRORHANDLER_H_
#define SRC_ERRORHANDLER_H_
#include <array>
#include <string>
#include "thread.hpp"
#include "CommandHandler.h"
#include <span>
 
#ifndef ERRORHANDLER_MAXERRORS
#define ERRORHANDLER_MAXERRORS 16
#endif
 
/*
 * Error code definitions
 */
 
enum class ErrorCode : uint32_t{
            none = 0,
            shutdown = 1,
            emergencyStop = 2,
            brakeResistorFailure = 3,
            systemError = 5,
 
            cmdNotFound = 5,
            cmdExecutionError = 6,
 
            undervoltage = 10,
            overvoltage = 11,
            tmcCommunicationError = 12,
            tmcPLLunlocked = 13,
 
            overtemp = 15,
 
            encoderAlignmentFailed = 20,
            adcCalibrationError = 21,
            tmcCalibFail = 22,
            encoderIndexMissed = 23,
            encoderReversed = 24,
 
            axisOutOfRange = 31,
 
            externalConfigurationError = 32
};
/*
 * Error type for severity
 * temporary errors are cleared when read back
 * critical errors cause a shutdown or have to be cleared externally
 */
enum class ErrorType : uint8_t{
    none,warning,critical,temporary
};
 
class Error{
public:
    //Error(const Error &e);
    Error(){}; // No error
    Error(ErrorCode code, ErrorType type, std::string info) : code(code), type(type), info(info){};
    ErrorCode code = ErrorCode::none;
    ErrorType type = ErrorType::none;
    std::string info;
 
    std::string toString();
 
    /*
     * Errors are equivalent if their code and type match
     */
    bool operator ==(const Error &b) const {return (this->code == b.code && this->type == b.type);}
    bool isError() const {return this->code != ErrorCode::none && this->type != ErrorType::none;}
};
 
 
 
 
class ErrorHandler {
public:
    static std::vector<ErrorHandler*> errorHandlers;
 
    ErrorHandler();
    virtual ~ErrorHandler();
    virtual void errorCallback(const Error &error, bool cleared); // Called when a new error happened. Warning: Could be called from ISR!
 
    static void addError(const Error &error);
    static void clearError(const Error &error);
    static void clearError(ErrorCode errorcode);
    static void clearTemp();
    static void clearAll();
 
    static std::span<Error> getErrors(); // Returns a vector of active errors
 
protected:
    static std::array<Error,ERRORHANDLER_MAXERRORS> errors;
    static void sortErrors();
};
 
/*
 * Can handle errors occuring in the main class
 */
class ErrorPrinter : ErrorHandler, cpp_freertos::Thread{
public:
    ErrorPrinter();
    void errorCallback(const Error &error, bool cleared);
    void setEnabled(bool enable);
    bool getEnabled();
    void Run();
 
//  static ClassIdentifier info;
//  ClassIdentifier getInfo();
//
//  const ClassType getClassType(){return ClassType::Internal;};
private:
    bool enabled = true;
    //std::vector<Error> errorsToPrint;
};
 
#endif /* SRC_ERRORHANDLER_H_ */