sdo_error.hpp

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#ifndef LELY_COAPP_SDO_ERROR_HPP_
#define LELY_COAPP_SDO_ERROR_HPP_

#include <lely/coapp/coapp.hpp>

#include <stdexcept>
#include <system_error>

#include <cstdint>

namespace lely {

namespace canopen {

enum class SdoErrc : uint32_t {
  TOGGLE = UINT32_C(0x05030000),
  TIMEOUT = UINT32_C(0x05040000),
  NO_CS = UINT32_C(0x05040001),
  BLK_SIZE = UINT32_C(0x05040002),
  BLK_SEQ = UINT32_C(0x05040003),
  BLK_CRC = UINT32_C(0x05040004),
  NO_MEM = UINT32_C(0x05040005),
  NO_ACCESS = UINT32_C(0x06010000),
  NO_READ = UINT32_C(0x06010001),
  NO_WRITE = UINT32_C(0x06010002),
  NO_OBJ = UINT32_C(0x06020000),
  NO_PDO = UINT32_C(0x06040041),
  PDO_LEN = UINT32_C(0x06040042),
  PARAM = UINT32_C(0x06040043),
  COMPAT = UINT32_C(0x06040047),
  HARDWARE = UINT32_C(0x06060000),
  TYPE_LEN = UINT32_C(0x06070010),
  TYPE_LEN_HI = UINT32_C(0x06070012),
  TYPE_LEN_LO = UINT32_C(0x06070013),
  NO_SUB = UINT32_C(0x06090011),
  PARAM_VAL = UINT32_C(0x06090030),
  PARAM_HI = UINT32_C(0x06090031),
  PARAM_LO = UINT32_C(0x06090032),
  PARAM_RANGE = UINT32_C(0x06090036),
  NO_SDO = UINT32_C(0x060a0023),
  ERROR = UINT32_C(0x08000000),
  DATA = UINT32_C(0x08000020),
  DATA_CTL = UINT32_C(0x08000021),
  DATA_DEV = UINT32_C(0x08000022),
  NO_OD = UINT32_C(0x08000023),
  NO_VAL = UINT32_C(0x08000024)
};

class SdoError : public ::std::runtime_error {
 public:
  SdoError(uint8_t netid, uint8_t id, uint16_t idx, uint8_t subidx,
           ::std::error_code ec);
  SdoError(uint8_t netid, uint8_t id, uint16_t idx, uint8_t subidx,
           ::std::error_code ec, const ::std::string& what_arg);
  SdoError(uint8_t netid, uint8_t id, uint16_t idx, uint8_t subidx,
           ::std::error_code ec, const char* what_arg);
  SdoError(uint8_t netid, uint8_t id, uint16_t idx, uint8_t subidx, int ev,
           const char* what_arg);
  SdoError(uint8_t netid, uint8_t id, uint16_t idx, uint8_t subidx, int ev);

  uint8_t
  netid() const noexcept {
    return netid_;
  }

  uint8_t
  id() const noexcept {
    return id_;
  }

  uint16_t
  idx() const noexcept {
    return idx_;
  }

  uint8_t
  subidx() const noexcept {
    return subidx_;
  }

  const ::std::error_code&
  code() const noexcept {
    return ec_;
  }

 private:
  uint8_t netid_{0};
  uint8_t id_{0};
  uint16_t idx_{0};
  uint8_t subidx_{0};
  ::std::error_code ec_;
};

const ::std::error_category& SdoCategory() noexcept;

::std::error_code make_error_code(SdoErrc e) noexcept;

::std::error_condition make_error_condition(SdoErrc e) noexcept;

}  // namespace canopen

}  // namespace lely

namespace std {

template <>
struct is_error_code_enum<::lely::canopen::SdoErrc> : true_type {};

}  // namespace std

#endif  // LELY_COAPP_SDO_ERROR_HPP_