sdo_error.cpp

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#include "coapp.hpp"
#include <lely/co/sdo.h>
#include <lely/coapp/sdo_error.hpp>

#include <iomanip>
#include <sstream>

namespace lely {

namespace canopen {

namespace {

class SdoErrcCategory : public ::std::error_category {
 public:
  const char*
  name() const noexcept override {
    return "SDO";
  }

  ::std::error_condition default_error_condition(int ev) const
      noexcept override;
  // bool equivalent(int code, const ::std::error_condition& condition) const
  // noexcept override; bool equivalent(const std::error_code& code, int
  // condition) const noexcept override;

  ::std::string
  message(int ev) const override {
    return co_sdo_ac2str(ev);
  }
};

::std::error_condition
SdoErrcCategory::default_error_condition(int ev) const noexcept {
  switch (static_cast<SdoErrc>(ev)) {
    case SdoErrc::TOGGLE:
      return ::std::errc::protocol_error;
    case SdoErrc::TIMEOUT:
      return ::std::errc::timed_out;
    case SdoErrc::NO_CS:
    case SdoErrc::BLK_SIZE:
    case SdoErrc::BLK_SEQ:
      return ::std::errc::protocol_error;
    case SdoErrc::BLK_CRC:
      return ::std::errc::illegal_byte_sequence;
    case SdoErrc::NO_MEM:
      return ::std::errc::not_enough_memory;
    case SdoErrc::NO_ACCESS:
    case SdoErrc::NO_READ:
    case SdoErrc::NO_WRITE:
      return ::std::errc::permission_denied;
    case SdoErrc::NO_OBJ:
      return ::std::errc::no_such_file_or_directory;
    // case SdoErrc::NO_PDO:
    // case SdoErrc::PDO_LEN:
    case SdoErrc::PARAM:
      return ::std::errc::invalid_argument;
    case SdoErrc::COMPAT:
      return ::std::errc::no_such_device_or_address;
    case SdoErrc::HARDWARE:
      return ::std::errc::io_error;
    case SdoErrc::TYPE_LEN:
    case SdoErrc::TYPE_LEN_HI:
    case SdoErrc::TYPE_LEN_LO:
      return ::std::errc::invalid_argument;
    case SdoErrc::NO_SUB:
      return ::std::errc::no_such_file_or_directory;
    case SdoErrc::PARAM_VAL:
      return ::std::errc::invalid_argument;
    case SdoErrc::PARAM_HI:
    case SdoErrc::PARAM_LO:
    case SdoErrc::PARAM_RANGE:
      return ::std::errc::result_out_of_range;
    case SdoErrc::NO_SDO:
      return ::std::errc::protocol_not_supported;
    // case SdoErrc::ERROR:
    case SdoErrc::DATA:
      return ::std::errc::io_error;
    case SdoErrc::DATA_CTL:
    case SdoErrc::DATA_DEV:
      return ::std::errc::device_or_resource_busy;
    // case SdoErrc::NO_OD:
    case SdoErrc::NO_VAL:
      return ::std::errc::no_message_available;
    default:
      return ::std::error_condition(ev, *this);
  }
}

::std::string
SdoWhat(uint8_t netid, uint8_t id, uint16_t idx, uint8_t subidx,
        ::std::error_code ec, const ::std::string& what_arg = "") {
  ::std::stringstream ss;
  ss << ::std::uppercase << ::std::setfill('0') << ::std::hex;
  if (!what_arg.empty()) ss << what_arg << ':';
  ss << ::std::setw(2) << int(netid) << ':' << int(id) << ':';
  ss << ::std::setw(4) << idx << ':' << ::std::setw(2) << int(subidx) << ": ";
  ss << ec.message();
  ss << " (" << ::std::setw(8) << uint32_t(ec.value()) << ')';
  return ss.str();
}

}  // namespace

SdoError::SdoError(uint8_t netid, uint8_t id, uint16_t idx, uint8_t subidx,
                   ::std::error_code ec)
    : ::std::runtime_error(SdoWhat(netid, id, idx, subidx, ec)),
      netid_(netid),
      id_(id),
      idx_(idx),
      subidx_(subidx),
      ec_(ec) {}

SdoError::SdoError(uint8_t netid, uint8_t id, uint16_t idx, uint8_t subidx,
                   ::std::error_code ec, const ::std::string& what_arg)
    : ::std::runtime_error(SdoWhat(netid, id, idx, subidx, ec, what_arg)),
      netid_(netid),
      id_(id),
      idx_(idx),
      subidx_(subidx),
      ec_(ec) {}

SdoError::SdoError(uint8_t netid, uint8_t id, uint16_t idx, uint8_t subidx,
                   ::std::error_code ec, const char* what_arg)
    : ::std::runtime_error(SdoWhat(netid, id, idx, subidx, ec, what_arg)),
      netid_(netid),
      id_(id),
      idx_(idx),
      subidx_(subidx),
      ec_(ec) {}

SdoError::SdoError(uint8_t netid, uint8_t id, uint16_t idx, uint8_t subidx,
                   int ev, const char* what_arg)
    : SdoError(netid, id, idx, subidx, ::std::error_code(ev, SdoCategory()),
               what_arg) {}

SdoError::SdoError(uint8_t netid, uint8_t id, uint16_t idx, uint8_t subidx,
                   int ev)
    : SdoError(netid, id, idx, subidx, ::std::error_code(ev, SdoCategory())) {}

const ::std::error_category&
SdoCategory() noexcept {
  static const SdoErrcCategory category;
  return category;
}

::std::error_code
make_error_code(SdoErrc e) noexcept {
  return {static_cast<int>(e), SdoCategory()};
}

::std::error_condition
make_error_condition(SdoErrc e) noexcept {
  return {static_cast<int>(e), SdoCategory()};
}

}  // namespace canopen

}  // namespace lely