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