Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix/diagnostic gen error #942

Merged
merged 1 commit into from
Mar 14, 2024
Merged

Fix/diagnostic gen error #942

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions src/libraries/icubmod/embObjLib/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -109,6 +109,7 @@ install(TARGETS ${PROJECT_NAME}
target_link_libraries(${PROJECT_NAME} YARP::YARP_os
YARP::YARP_dev
icub_firmware_shared::embobj
icub_firmware_shared::embot
ACE::ACE)

icub_export_library(${PROJECT_NAME})
Expand Down
77 changes: 71 additions & 6 deletions src/libraries/icubmod/embObjLib/diagnosticInfoParsers.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,10 @@
* BSD-3-Clause license. See the accompanying LICENSE file for details.
*/

#include <string>
#include "diagnosticLowLevelFormatter_hid.h"
#include "diagnosticLowLevelFormatter.h"
#include "EoBoards.h"
#include "embot_core_binary.h"


using namespace Diagnostic::LowLevel;
Expand Down Expand Up @@ -532,6 +532,69 @@ void ConfigParser::parseInfo()
/****************************************** MotionControlParser ***************************************************/
/**************************************************************************************************************************/

// private class functions
std::string MotionControlParser::motorStatusBitsToString(eOmc_motorFaultState_t motorstatus)
{
// dimesion of the array is hard-code but it must be aligned w/ the union typedef eOmc_motorFaultState_t
static const std::array<std::string_view, eOmc_motorFaultState_numberof> s_motor_fault_status =
{
//B0 L
"ExternalFaultAsserted",
"UnderVoltageFailure",
"OverVoltageFailure",
"OverCurrentFailure",
//B0 H
"DHESInvalidValue",
"AS5045CSumError",
"DHESInvalidSequence",
"CANInvalidProtocol",
//B1 L
"CAN_BufferOverRun",
"SetpointExpired",
"CAN_TXIsPasv",
"CAN_RXIsPasv",
//B1 H
"CAN_IsWarnTX",
"CAN_IsWarnRX",
"OverHeatingFailure",
"",
//B2 L
"ADCCalFailure",
"I2TFailure",
"EMUROMFault",
"EMUROMCRCFault",
//B2 H
"EncoderFault",
"FirmwareSPITimingError",
"AS5045CalcError",
"FirmwarePWMFatalError",
//B3 L
"CAN_TXWasPasv",
"CAN_RXWasPasv",
"CAN_RTRFlagActive",
"CAN_WasWarn",
//B3 H
"CAN_DLCError",
"SiliconRevisionFault",
"PositionLimitUpper",
"PositionLimitLower"
};

std::string statusstring = {};
statusstring.reserve(256);

for (uint8_t i = 0; i < eOmc_motorFaultState_numberof; i++) // important to loop over the eOmc_motorFaultState_numberof (dimension of the union typedef eOmc_motorFaultState_t)
{
// check bit by bit and add to ss the faulted bits
if(embot::core::binary::bit::check(motorstatus.bitmask, i))
{
statusstring.append(static_cast<const char*>(s_motor_fault_status.at(i).data()));
statusstring.append(" ");
}
}
return statusstring;
}

MotionControlParser::MotionControlParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}

void MotionControlParser::parseInfo()
Expand Down Expand Up @@ -596,11 +659,13 @@ void MotionControlParser::parseInfo()

case eoerror_value_MC_generic_error: //TBD Check print
{
eOmc_motorFaultState_t motor_status;
uint16_t joint_num = m_dnginfo.param16;
motor_status.bitmask = m_dnginfo.param64 & 0xffffffff;
m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);

snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d) (Error is %lx)",
m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, m_dnginfo.param64
std::string motorStatusString = motorStatusBitsToString(motor_status);
snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d) (Errors:%s)",
m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, motorStatusString.c_str()
);
m_dnginfo.baseInfo.finalMessage.append(str);
} break;
Expand Down Expand Up @@ -1149,7 +1214,7 @@ void SysParser::parseInfo()
diagstr lostCanBoards2 = {0};
getCanMonitorInfo(serv_category, lostCanBoards1, lostCanBoards2);

snprintf(str, sizeof(str), "%s Type of service category is %s. Lost can boards on (can1map, can2map) = ([ %s ], [ %s ] )",
snprintf(str, sizeof(str), "%s Type of service category is %s. Lost can boards on (can1map, can2map) = ([ %s ], [ %s ] ).",
m_dnginfo.baseMessage.c_str(),
eomn_servicecategory2string(serv_category),
lostCanBoards1, lostCanBoards2
Expand Down Expand Up @@ -1393,7 +1458,7 @@ void InertialSensorParser::parseInfo()
case eoerror_value_IS_arrayofinertialdataoverflow:
{

uint8_t frame_id = m_dnginfo.param16 & 0x00ff;
uint8_t frame_id = m_dnginfo.param16 & 0x0fff;
MSECode marked this conversation as resolved.
Show resolved Hide resolved
uint8_t frame_size = (m_dnginfo.param16 & 0xf000) >> 12;
uint64_t frame_data = m_dnginfo.param64;

Expand Down
5 changes: 4 additions & 1 deletion src/libraries/icubmod/embObjLib/diagnosticLowLevelFormatter_hid.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,9 @@
#define __diagnosticLowLevelFormatter_hid_h__

#include <string>
#include <string_view>
#include <memory>
#include <array>
#include <yarp/os/LogStream.h>
#include "diagnosticLowLevelFormatter.h"
#include "EoError.h"
Expand Down Expand Up @@ -116,7 +118,8 @@ class Diagnostic::LowLevel::MotionControlParser : public Diagnostic::LowLevel::D

void parseInfo();


private:
std::string motorStatusBitsToString(eOmc_motorFaultState_t motorstatus);
};

class Diagnostic::LowLevel::SkinParser : public Diagnostic::LowLevel::DefaultParser
Expand Down