PersistentError.h

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/*
 * Copyright (C) 2012 MetraLabs GmbH (MLAB), GERMANY.
 * All rights reserved.
 * Contact: info@MetraLabs.com
 *
 * Commercial Usage:
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 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MetraLabs.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file.  Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
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 *   General Public License if such license has been publicly approved by
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 *
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 * SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE
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 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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 */

#ifndef _MLAB_PERSISTENTERROR_H_
#define _MLAB_PERSISTENTERROR_H_

namespace mira { namespace robot {


class PersistentError
{
public:
    enum Type
    {
        WARNING = 0x00,
        ERROR = 0x01
    };

    PersistentError() :
        powerupCounter(0),
        unixTime(Time::unixEpoch()),
        nodeID(0),
        type(WARNING),
        emergencyCode(0),
        errorRegister(0),
        code(0),
        globalCounter(0),
        accu24VVoltage(0),
        accuMinVoltage(0),
        accuCurrent(0),
        accuMaxCurrent(0),
        accuLoadVoltage(0),
        accuVoltageExtCh(0),
        accuCurrentExtCh(0),
        accuVoltageIntCh(0),
        accuCurrentIntCh(0),
        accuStatus(0),
        embeddedPCStatus(0),
        requestedVelocityTime(0),
        currentVelocityTime(0)
    {
        memset(cellVoltage, 0, 8 * sizeof(uint16));
    }

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("PowerupCounter", powerupCounter, "");
        r.member("UnixTime", unixTime, "");
        r.member("NodeID", nodeID, "");
        r.member("Type", type, "");
        r.member("EmergencyCode", emergencyCode, "");
        r.member("ErrorRegister", errorRegister, "");
        r.member("Code", code, "");
        r.member("GlobalCounter", globalCounter, "");
        r.member("Accu24VVoltage", accu24VVoltage, "");
        r.member("AccuMinVoltage", accuMinVoltage, "");
        r.member("AccuCurrent", accuCurrent, "");
        r.member("AccuMaxCurrent", accuMaxCurrent, "");
        r.member("AccuMaxCurrent", accuMaxCurrent, "");
        r.member("AccuLoadVoltage", accuLoadVoltage, "");
        r.member("AccuVoltageExternalCharger", accuVoltageExtCh, "");
        r.member("AccuCurrentExternalCharger", accuCurrentExtCh, "");
        r.member("AccuVoltageInternalCharger", accuVoltageIntCh, "");
        r.member("AccuCurrentInternalCharger", accuCurrentIntCh, "");
        r.member("AccuStatus", accuStatus, "");
        r.member("EmbeddedPCStatus", embeddedPCStatus, "");
        r.member("RequestedVelocity", requestedVelocity, "");
        r.member("RequestedVelocityTime", requestedVelocityTime, "");
        r.member("CurrentVelocity", currentVelocity, "");
        r.member("CurrentVelocityTime", currentVelocityTime, "");
        r.member("CellVoltage", cellVoltage, "");
        r.member("Message", message, "");
    }

    uint16      powerupCounter;            
    Time        unixTime;                  
    uint8       nodeID;                    
    Type        type;                      
    uint16      emergencyCode;             
    uint8       errorRegister;             
    uint32      code;                      
    uint32      globalCounter;             
    float       accu24VVoltage;            
    float       accuMinVoltage;            
    float       accuCurrent;               
    float       accuMaxCurrent;            
    float       accuLoadVoltage;           
    float       accuVoltageExtCh;          
    float       accuCurrentExtCh;          
    float       accuVoltageIntCh;          
    float       accuCurrentIntCh;          
    uint8       accuStatus;                
    uint8       embeddedPCStatus;          
    Velocity2   requestedVelocity;         
    uint16      requestedVelocityTime;     
    Velocity2   currentVelocity;           
    uint16      currentVelocityTime;       
    float       cellVoltage[8];            
    std::string message;                   
};


}}

#endif