ErrorMemory.h

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/*
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 * All rights reserved.
 * Contact: info@MetraLabs.com
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 *
 * GNU General Public License Usage:
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#ifndef _MLAB_SCITOS_FUNCTION_BLOCK_ERROR_MEMORY_H_
#define _MLAB_SCITOS_FUNCTION_BLOCK_ERROR_MEMORY_H_

#include <FunctionBlock.h>

namespace mira { namespace robot {


class ErrorMemory : public FunctionBlock
{
    MIRA_OBJECT(ErrorMemory)

public:

    struct ErrorInfo
    {
        ErrorInfo() :
            timeUnix(0), code(0)
        {
            memset(&data, 0x00, sizeof(data));
        }

        template <typename Reflector>
        void reflect(Reflector& r)
        {
            r.version(1, this);
            r.member("TimeUnix",  timeUnix, "");
            r.member("TimeLocal", timeLocal, "");
            r.member("ErrorCode", code, "");
            r.member("ErrorName", name, "");
            r.member("ErrorData", data, "");
        }

        uint32      timeUnix;
        std::string timeLocal;
        uint32      code;
        std::string name;
        uint32      data[8];
    };

    struct ModuleInfo {
        uint8  node;
        uint32 hardwareVersion;
        uint32 softwareVersion;
        uint32 serialNumber;
        uint32 productID;

        ModuleInfo() :
            node(0), hardwareVersion(0), softwareVersion(0),
            serialNumber(0), productID(0)
        {}

        template <typename Reflector>
        void reflect(Reflector& r)
        {
            r.member("Node",            node, "");
            r.member("HardwareVersion", hardwareVersion, "");
            r.member("SoftwareVersion", softwareVersion, "");
            r.member("SerialNumber",    serialNumber, "");
            r.member("ProductID",       productID, "");
        };
    };

    struct Report {
        template <typename Reflector>
        void reflect(Reflector& r)
        {
            r.version(1, this);
            r.member("ReportTime",    reportTime, "");
            r.member("ReportTimeStr", reportTimeStr, "");
            r.member("ModuleInfo",    moduleInfo, "");
            r.member("ErrorList",     errors, "");
        }

        Time reportTime;
        std::string reportTimeStr;
        ModuleInfo moduleInfo;
        std::vector<ErrorInfo> errors;
    };


public:

    ErrorMemory() : FunctionBlock()
    {
        functionBlockID = 0xF0000001;
    }

    ErrorMemory(const std::string& rpcPrefix) :
        FunctionBlock(), mRPCPrefix(rpcPrefix)
    {
        functionBlockID = 0xF0000001;
    }

    virtual ~ErrorMemory() {}

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, FunctionBlock);

        r.roproperty("ErrorCount",
                     getter<uint32>(boost::bind(&ErrorMemory::getErrorCount, this)),
                     "Number of errors in error memory");
        r.roproperty("LastErrorTime",
                     getter<Time>(boost::bind(&ErrorMemory::getLastErrorTime, this)),
                     "The time of the last error in local time.");

        std::string methodPrefix;
        if (mRPCPrefix.size() > 0)
            methodPrefix = mRPCPrefix+"_";

        r.method((methodPrefix+"getErrorInfo").c_str(),
                 &ErrorMemory::getErrorInfo, this,
                 "Read out a single error from the error memory.",
                 "index", "Error index", 0);
        r.method((methodPrefix+"readoutErrorMemory").c_str(),
                 &ErrorMemory::readoutErrorMemory, this,
                 "Readout the error memory.");
        r.method((methodPrefix+"exportErrorMemoryToFile").c_str(),
                 &ErrorMemory::exportErrorMemoryToFile, this,
                 "Readout the error memory and export to a json file.",
                 "filename", "Report file name", "report.json");
        r.method((methodPrefix+"clearErrorMemory").c_str(),
                 &ErrorMemory::clearErrorMemory, this,
                 "Clear the error memory.");
    }


public:
    uint32 getErrorCount() const;

    Time getLastErrorTime() const;

    ErrorInfo getErrorInfo(uint32 idx) const;

    Report readoutErrorMemory() const;

    void exportErrorMemoryToFile(const std::string& path);

    void clearErrorMemory();

public:
    void addErrorCode(uint32 code, const std::string& name);

private:
    std::string mRPCPrefix;
    std::map<uint32, std::string> mErrorCodes;
};


}}

#endif