ardupilot/libraries/AP_InternalError/AP_InternalError.h

/*
  AP_InternalError holds information about "should not happen" errors
  that have occured within ArduPilot.  This covers things like code
  paths that should not be crossed or pointers being null when they
  really, really shouldn't be.  It does NOT cover things like losing
  GPS lock at inopportune times - that's just bad luck, not bad
  programming.

  This program is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#include <AP_BoardConfig/AP_BoardConfig.h>

class AP_InternalError {
public:
    // internal error counters.  Do not set these unless it is a
    // *true* internal error - a thread locking up, a codepath which
    // should never be taken, a code-sanity-check failing, that sort
    // of thing.  Examples of what NOT to put in here - sd card
    // filling up, bad input received from GCS, GPS unit was working
    // and now is not.
    enum class error_t {
        logger_mapfailure           = (1U <<  0),
        logger_missing_logstructure = (1U <<  1),
        logger_logwrite_missingfmt  = (1U <<  2),
        logger_too_many_deletions   = (1U <<  3),
        logger_bad_getfilename      = (1U <<  4),
        logger_stopping_without_sem = (1U <<  5),
        logger_flushing_without_sem = (1U <<  6),
        logger_bad_current_block    = (1U <<  7),
        logger_blockcount_mismatch  = (1U <<  8),
        logger_dequeue_failure      = (1U <<  9),
        constraining_nan            = (1U << 10),
        watchdog_reset              = (1U << 11),
        iomcu_reset                 = (1U << 12),
        iomcu_fail                  = (1U << 13),
        spi_fail                    = (1U << 14),
        main_loop_stuck             = (1U << 15),
        gcs_bad_missionprotocol_link= (1U << 16),
        bitmask_range               = (1U << 17),
    };

    void error(const AP_InternalError::error_t error);

    // internal_errors - return mask of internal errors seen
    uint32_t errors() const {
        return internal_errors;
    }

private:

    // bitmask holding errors from internal_error_t
    uint32_t internal_errors;
};

namespace AP {
    AP_InternalError &internalerror();
};