DynaError.h File Reference

RoadNarrows Dynamixel Library Error and Logging Routines. More...

#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "Dynamixel/Dynamixel.h"

Go to the source code of this file.

Functions
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...

Detailed Description

RoadNarrows Dynamixel Library Error and Logging Routines.

LastChangedDate

2015-01-12 10:56:06 -0700 (Mon, 12 Jan 2015)

Rev

3845

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.h.

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());
  }
}

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];
}