DynaError.cxx File Reference

Error and logging handling routines. More...

#include <stdio.h>
#include <stdlib.h>
#include <libgen.h>
#include <string.h>
#include <string>
#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "rnr/new.h"
#include "rnr/units.h"
#include "Dynamixel/dxl/dxl.h"
#include "Dynamixel/Dynamixel.h"
#include "Dynamixel/DynaError.h"
#include "Dynamixel/DynaComm.h"
#include "DynaLibInternal.h"

Go to the source code of this file.

Functions
int	DynaMapDxlToEcode (int nDxlError)
	Map DXL library error code to Dynamixel error code. More...
const char *	DynaStrError (int ecode)
	Get the error string describing the Dynamixel error code. More...
void	DynaPrintBuf (FILE *fp, const char *sPreface, byte_t buf[], const char *sFmt, size_t uCount, size_t uNLFreq, uint_t uCol)
	Pretty print a byte buffer to opened file stream. More...
void	DynaLogServoAlarms (int nServoId, uint_t uAlarms)
	Log servo alarms. More...
void	DynaLogBuf (const char *sPreface, byte_t buf[], size_t uCount, const char *sFmt)
	Log integer data. More...

Variables
static const char *	DynaEcodeStrTbl []
	Package Dynamixel Error Code String Table. More...

Detailed Description

Error and logging handling routines.

LastChangedDate

2015-03-13 13:28:02 -0600 (Fri, 13 Mar 2015)

Rev

3890

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2011-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file DynaError.cxx.

Function Documentation

void DynaLogBuf	(	const char *	sPreface,
		byte_t	buf[],
		size_t	uCount,
		const char *	sFmt
	)

Log integer data.

Print diagnostic logging of the contents of a buffer of bytes.

Parameters

sPreface	Buffer preface string.
buf	Buffer contents to log.
uCount	Number of entries to log.
sFmt	Buffer entry format string.

Definition at line 206 of file DynaError.cxx.

{
  FILE   *fp;   // log file pointer
  size_t  i;    // working index

  fp = LOG_GET_LOGFP();

  fprintf(fp, "%sDiag%d: %s", LOG_PREFACE, LOG_GET_THRESHOLD()-1, sPreface);
  for(i=0; i<uCount; ++i)
  {
    if( (i % 16) == 0 )
    {
      fprintf(fp, "\n");
    }
    fprintf(fp, sFmt, buf[i]);
  }
  fprintf(fp, "\n");
}

void DynaLogServoAlarms	(	int	nServoId,
		uint_t	uAlarms
	)

Log servo alarms.

Parameters

nServoId	Servo id.
uAlarms	Alarm bits fields.

Definition at line 183 of file DynaError.cxx.

References DYNA_ALARM_NONE, and DynaComm::GetAlarmsString().

{
  FILE   *fp;
  string  strAlarms;

  fp = LOG_GET_LOGFP();

  fprintf(fp, "%sDiag%d: ", LOG_PREFACE, LOG_GET_THRESHOLD()-1);
  fprintf(fp, "Servo %d alarms: ", nServoId);

  if( uAlarms == DYNA_ALARM_NONE )
  {
    fprintf(fp, "no alarms;\n");
    return;
  }

  else
  {
    strAlarms = DynaComm::GetAlarmsString(uAlarms);
    fprintf(fp, "%s\n", strAlarms.c_str());
  }
}

int DynaMapDxlToEcode

(

int

nDxlError

)

Map DXL library error code to Dynamixel error code.

Parameters

nDxlError

DXL error code.

Returns

Dynamixel library error code.

Definition at line 117 of file DynaError.cxx.

References DXL_COMM_RXCORRUPT, DXL_COMM_RXFAIL, DXL_COMM_RXTIMEOUT, DXL_COMM_TXERROR, DXL_COMM_TXFAIL, DYNA_ECODE_ECOMM, DYNA_ECODE_RX_BAD_PKT, DYNA_ECODE_RX_FAIL, DYNA_ECODE_RX_TIMEOUT, DYNA_ECODE_TX_ERROR, and DYNA_ECODE_TX_FAIL.

Referenced by newstr(), DynaCommSerial::Read16(), DynaCommSerial::Read8(), DynaCommSerial::Reset(), DynaCommSerial::SyncWrite(), DynaCommSerial::Write16(), and DynaCommSerial::Write8().

{
  switch( nDxlError )
  {
    case DXL_COMM_TXFAIL:
      return DYNA_ECODE_TX_FAIL;
    case DXL_COMM_RXFAIL:
      return DYNA_ECODE_RX_FAIL;
    case DXL_COMM_TXERROR:
      return DYNA_ECODE_TX_ERROR;
    case DXL_COMM_RXTIMEOUT:
      return DYNA_ECODE_RX_TIMEOUT;
    case DXL_COMM_RXCORRUPT:
      return DYNA_ECODE_RX_BAD_PKT;
    default:
      return DYNA_ECODE_ECOMM;
  }
}

void DynaPrintBuf	(	FILE *	fp,
		const char *	sPreface,
		byte_t	buf[],
		const char *	sFmt,
		size_t	uCount,
		size_t	uNLFreq,
		uint_t	uCol
	)

Pretty print a byte buffer to opened file stream.

Parameters

fp	File pointer.
sPreface	Optional buffer preface string (set to NULL for no preface).
buf	Buffer to print.
sFmt	Buffer entry format string.
uCount	Number of entries to print.
uNLFreq	Newline frequency (set to 0 for no newlines).
uCol	Column alignment number.

Definition at line 155 of file DynaError.cxx.

{
  size_t  i;

  if( sPreface && *sPreface )
  {
    fprintf(fp, "%s", sPreface);
  }

  for(i=0; i<uCount; ++i)
  {
    if( (uNLFreq > 0) && ((i % uNLFreq) == 0) && (i != 0) )
    {
      fprintf(fp, "\n%*s", uCol, "");
    }
    fprintf(fp, sFmt, buf[i]);
  }
  fprintf(fp, "\n");
}

const char* DynaStrError

(

int

ecode

)

Get the error string describing the Dynamixel error code.

The absolute value of the error code is taken prior retrieving the string. An unknown or out-of-range error code will be mapped to DYNA_ECODE_BADEC.

Parameters

ecode

Dynamixel error code.

Returns

Returns the appropriate error code string.

Definition at line 141 of file DynaError.cxx.

References DYNA_ECODE_BADEC, and DynaEcodeStrTbl.

Referenced by DynaShellCmdPlay::ControlToGoals(), DynaShell::Error(), DynaShellCmdPlay::PidSetPoint(), and DynaShellCmdPlay::SetRecordGoals().

{
  if( ecode < 0 )
  {
    ecode = -ecode;
  }

  if( ecode >= arraysize(DynaEcodeStrTbl) )
  {
    ecode = DYNA_ECODE_BADEC;
  }
  return DynaEcodeStrTbl[ecode];
}

Variable Documentation

const char* DynaEcodeStrTbl[]

static

Initial value:

=
{
  "Ok",                                     

  "Error",                                  
  "System error",                           
  "Internal error",                         
  "Invalid error code",                     
  "Invalid units",                          
  "Invalid value",                          
  "No servo",                               
  "Serial device error",                    
  "Not open",                               
  "Communication error",                    
  "Transmit packet failure",                
  "Receive packet failure",                 
  "Transmit packet error",                  
  "Receive packet time out",                
  "Received corrupted packet",              
  "Servo errored condition",                
  "Resource not available",                 
  "feature/function no supported",          
  "Linked servos error",                    
  "Operation not permitted on slave servo", 
  "BotSense proxy error",                   
  "Shell parse error",                      
  "Shell run-time error",                   
  "Cannot execute"                          
}

Package Dynamixel Error Code String Table.

Table is indexed by error codes (see Package Error Codes). Keep in sync.

Definition at line 82 of file DynaError.cxx.

Referenced by DynaStrError().