Statusword.hpp

Go to the documentation of this file.

#pragma once

// std
#include <chrono>
#include <mutex>
#include <vector>

// rokubimini
// #include "rokubimini/mode/ModeEnum.hpp"
#include <rokubimini/fsm/StateEnum.hpp>

namespace rokubimini
{
class Statusword
{
public:
  struct DataBits
  {
    uint32_t errorAdcSaturated_ : 1;
    uint32_t errorAccSaturated_ : 1;
    uint32_t errorGyroSaturated_ : 1;
    uint32_t errorAdcOutOfSync_ : 1;
    uint32_t errorSensingRangeExceeded_ : 1;
    uint32_t warningOvertemperature_ : 1;
    uint32_t fatalSupplyVoltage_ : 1;
    uint32_t reserved1_ : 1;

    uint32_t reserved2_ : 8;

    uint32_t unused_ : 16;
  };

  union Data
  {
    DataBits bits_;

    uint32_t all_ = 0;

    Data() = default;

    explicit Data(const uint32_t data);

    bool operator==(const Data& other);

    bool operator!=(const Data& other);
  };

protected:
  using TimePoint = std::chrono::system_clock::time_point;
  using Duration = std::chrono::duration<double>;

  mutable std::recursive_mutex mutex_;

  TimePoint stamp_;

  Data data_;

public:
  Statusword() = default;

  Statusword(const Statusword& statusword);

  explicit Statusword(const uint32_t data);
  virtual ~Statusword() = default;

  Statusword& operator=(const Statusword& statusword);

  bool isEmpty() const;

  double getAge() const;

  TimePoint getStamp() const;

  void setData(const uint32_t data);

  uint32_t getData() const;

  // fsm::StateEnum getStateEnum() const;
  // void setStateEnum(const fsm::StateEnum stateEnum);

  void getMessages(std::vector<std::string>& infos, std::vector<std::string>& warnings,
                   std::vector<std::string>& errors, std::vector<std::string>& fatals) const;

  void getMessagesDiff(Statusword& previousStatusword, std::vector<std::string>& infos,
                       std::vector<std::string>& warnings, std::vector<std::string>& errors,
                       std::vector<std::string>& fatals) const;

  bool hasErrorAdcSaturated() const;

  bool hasErrorAccSaturated() const;

  bool hasErrorGyroSaturated() const;

  bool hasErrorAdcOutOfSync() const;

  bool hasErrorSensingRangeExceeded() const;

  bool hasWarningOvertemperature() const;

  bool hasFatalSupplyVoltage() const;
};

std::ostream& operator<<(std::ostream& os, const Statusword& statusword);

}  // namespace rokubimini