error_stack.h

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/** @file error_stack.h
 *  @brief 汇总错误码
 */
#ifndef AUBO_SDK_ERROR_STACK_H
#define AUBO_SDK_ERROR_STACK_H
 
#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include <string>
#include <sstream>
#include <iomanip>
 
#include <aubo/global_config.h>
 
// 格式化占位符，默认是 fmt 的格式
#ifndef _PH1_
#define _PH1_ "{}"
#define _PH2_ "{}"
#define _PH3_ "{}"
#define _PH4_ "{}"
#endif
 
namespace arcs {
namespace error_stack {
 
constexpr int ARCS_ABI_EXPORT codeCompose(int aa, int bb, int cccc)
{
    return (int)((aa * 1000000) + (bb * 10000) + cccc);
}
 
constexpr int ARCS_ABI_EXPORT mod(int x)
{
    return (x % 1000000);
}
 
#include <aubo/error_stack/hal_error.h>
#include <aubo/error_stack/rtm_error.h>
#include <aubo/error_stack/system_error.h>
 
#define ARCS_ERROR_CODES          \
    SYSTEM_ERRORS                 \
    JOINT_ERRORS                  \
    JOINT_EX_ERRORS               \
    EXT_AXIS_ERRORS               \
    SAFETY_INTERFACE_BOARD_ERRORS \
    RTM_ERRORS                    \
    TOOL_ERRORS                   \
    EX_TOOL_ERRORS                \
    PEDSTRAL_ERRORS               \
    EX_PEDSTRAL_ERRORS            \
    HARDWARE_INTERFACE_ERRORS     \
    _D(ARCS_MAX_ERROR_CODE, -1, "Max error code", "suggest...")
 
// 错误代码枚举
enum ErrorCodes
{
#define _D(n, v, s, r) n = (int)v,
    ARCS_ERROR_CODES
#undef _D
};
 
inline int str2ErrorCode(const char *err_code_name)
{
#define _D(n, v, s, r)                  \
    if (strcmp(#n, err_code_name) == 0) \
        return v;
    ARCS_ERROR_CODES
#undef _D
    return ARCS_MAX_ERROR_CODE;
}
 
inline const char *errorCode2Str(int err_code)
{
    static const char *errcode_str[] = {
#define _D(n, v, s, r) s,
        ARCS_ERROR_CODES
#undef _D
    };
 
    enum arcs_index
    {
#define _D(n, v, s, r) n##_INDEX,
        ARCS_ERROR_CODES
#undef _D
    };
 
    int index = -1;
 
#define _D(n, v, s, r) \
    if (err_code == v) \
        index = n##_INDEX;
    ARCS_ERROR_CODES
#undef _D
 
    if (index == -1) {
        index = ARCS_MAX_ERROR_CODE_INDEX;
    }
 
    return errcode_str[(unsigned)index];
}
 
inline std::ostream &dump(std::ostream &os)
{
#define _D(n, v, s, r)                                               \
    os << std::setw(20) << #n << "\t" << v << "\t" << s << "\t" << r \
       << std::endl;
 
    ARCS_ERROR_CODES
#undef _D
 
    return os;
}
 
} // namespace error_stack
} // namespace arcs
 
#endif // AUBO_SDK_ERROR_STACK_H