Fix parsing data dimension in lost can boards error

[MSECode]

Fix added with this PR:

• Remove parsing time from stillLOST canmonitor error, add parsing time to justFOUND and fix canmapping parsing Fix canmapping in can service errors
• Fix datatype and copy-paste typo
• Fix missing joint ID in motor generic error message

[pattacini]

Depend on:

• Fix s_mn_servicecategory_strings array icub-firmware-shared#92

[valegagge]

Hi @MSECode ,
Good catch! 💪
We need to be careful about the duplicated code.

I don't know which is the duplicated code SonarCloud referred to, but, in any case, is it necessary to avoid the replicated code:

            eOmn_serv_category_t serv_category =  (eOmn_serv_category_t)m_dnginfo.param16;
	        uint16_t foundMaskcan1 = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
            uint16_t foundMaskcan2 = (m_dnginfo.param64 & 0x000000000000ffff);

            char foundCanBoards1[64] = {0};
            char foundCanBoards2[64] = {0};

            for(int i=1; i<15; i++)
            {
                if ( (foundMaskcan1 & (1<<i)) == (1<<i) )
                {
                    strcat(foundCanBoards1,  std::to_string(i).c_str());
                    strcat(foundCanBoards1, " ");
                }

                if ( (foundMaskcan2 & (1<<i)) == (1<<i) )
                {
                    strcat(foundCanBoards2,  std::to_string(i).c_str());
                    strcat(foundCanBoards2, " ");
                }
            }

            snprintf(str, sizeof(str), "%s Type of service category is %s. CAN boards are on (can1map, can2map) = ([ %s ], [ %s ])",
                m_dnginfo.baseMessage.c_str(),
                eomn_servicecategory2string(serv_category),
                foundCanBoards1,
                foundCanBoards2
            );
            m_dnginfo.baseInfo.finalMessage.append(str);

We ought to create a function that parametrizes the string to print in case of justlost, stilllost, etc..

I guess we can use the same function in the cases eoerror_value_SYS_canservices_boards_lostcontact and eoerror_value_SYS_canservices_boards_retrievedcontact because currently they have the same output string and it is necessary to disambiguate the two cases.

[valegagge]

Hi @MSECode ,
we could improve a bit more in this way:

const int maxstr =64; 
typedef char miastr[maxstr];



void MotionControlParser::miaFunz(uint16_t foundMaskcan, miastr64 foundCanBoards)
{
    for(int i=1; i<15; i++)
    {
        miastr b{};
        if ( (foundMaskcan1 & (1<<i)) == (1<<i) )
        {
            //std::to_chars(aux, aux+2, i);
            snprintf(b, maxstr, "%d ", i);
            strcat(foundCanBoards, b);
        }
    }

}

MotionControlParser::new_private_function (eOmn_serv_category_t serv_category, miastr64 foundCanBoards1, miastr64 foundCanBoards2)
{

            eOmn_serv_category_t serv_category =  (eOmn_serv_category_t)m_dnginfo.param16;
	        uint16_t foundMaskcan1 = (m_dnginfo.param64 & 0x00000000ffff0000) >> 16;
            uint16_t foundMaskcan2 = (m_dnginfo.param64 & 0x000000000000ffff);

            miaFunz(foundMaskcan1, foundCanBoards1);
            miaFunz(foundMaskcan2, foundCanBoards2);
    

}

In this way, we reuse the code totally and provide a bit safer code forcing the use of the sting with a fixed size. Moreover, we avoid creating a temporary object on the heap with the to_string function.
What do you think?

[sonarqubecloud]

Quality Gate failed

Failed conditions
1 Security Hotspot
10.9% Duplication on New Code (required ≤ 3%)

See analysis details on SonarCloud

[valegagge]

well done!
Test already done! see here see #937

[valegagge]

This PR is in draft, because we are waiting for the robotology/icub-firmware-shared#92.

cc @pattacini @MSECode @marcoaccame

[pattacini]

robotology/icub-firmware-shared#92 is merged.
Putting this PR in ready for review to enable CI.

[pattacini]

CI is ok ✅
Merging.