mirror of https://github.com/ArduPilot/ardupilot
108 lines
4.6 KiB
C++
108 lines
4.6 KiB
C++
/*
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AP_InternalError holds information about "should not happen" errors
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that have occured within ArduPilot. This covers things like code
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paths that should not be crossed or pointers being null when they
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really, really shouldn't be. It does NOT cover things like losing
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GPS lock at inopportune times - that's just bad luck, not bad
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programming.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdint.h>
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class AP_InternalError {
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public:
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// internal error counters. Do not set these unless it is a
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// *true* internal error - a thread locking up, a codepath which
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// should never be taken, a code-sanity-check failing, that sort
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// of thing. Examples of what NOT to put in here - sd card
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// filling up, bad input received from GCS, GPS unit was working
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// and now is not.
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// note that this map is an internal ArduPilot fixture and is
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// prone to change at regular intervals. The meanings of these
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// bits can change day-to-day.
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enum class error_t { // Hex Decimal
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logger_mapfailure = (1U << 0), // 0x00001 1
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logger_missing_logstructure = (1U << 1), // 0x00002 2
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logger_logwrite_missingfmt = (1U << 2), // 0x00004 4
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logger_too_many_deletions = (1U << 3), // 0x00008 8
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logger_bad_getfilename = (1U << 4), // 0x00010 16
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unused1 = (1U << 5), // 0x00020 32
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logger_flushing_without_sem = (1U << 6), // 0x00040 64
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logger_bad_current_block = (1U << 7), // 0x00080 128
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logger_blockcount_mismatch = (1U << 8), // 0x00100 256
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logger_dequeue_failure = (1U << 9), // 0x00200 512
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constraining_nan = (1U << 10), // 0x00400 1024
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watchdog_reset = (1U << 11), // 0x00800 2048
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iomcu_reset = (1U << 12), // 0x01000 4096
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iomcu_fail = (1U << 13), // 0x02000 8192
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spi_fail = (1U << 14), // 0x04000 16384
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main_loop_stuck = (1U << 15), // 0x08000 32768
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gcs_bad_missionprotocol_link= (1U << 16), // 0x10000 65536
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bitmask_range = (1U << 17), // 0x20000 131072
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gcs_offset = (1U << 18), // 0x40000 262144
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i2c_isr = (1U << 19), // 0x80000 524288
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flow_of_control = (1U << 20), //0x100000 1048576 for generic we-should-never-get-here situations
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switch_full_sector_recursion= (1U << 21), //0x200000 2097152
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bad_rotation = (1U << 22), //0x400000 4194304
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stack_overflow = (1U << 23), //0x800000 8388608
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imu_reset = (1U << 24), //0x1000000 16777216
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gpio_isr = (1U << 25), //0x2000000 33554432
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__LAST__ = (1U << 26), // used only for sanity check
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};
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// if you've changed __LAST__ to be 32, then you will want to
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// rejig the way we do sanity checks as we don't want to move to a
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// 64-bit type for error_t:
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static_assert(sizeof(error_t) == 4, "error_t should be 32-bit type");
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uint16_t last_error_line() const { return last_line; }
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void error(const AP_InternalError::error_t error, uint16_t line=0);
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// fill buffer with a description of the exceptions present in
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// internal errors. buffer will always be null-terminated.
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void errors_as_string(uint8_t *buffer, uint16_t len) const;
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uint32_t count() const { return total_error_count; }
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// internal_errors - return mask of internal errors seen
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uint32_t errors() const {
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return internal_errors;
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}
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private:
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// bitmask holding errors from internal_error_t
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uint32_t internal_errors;
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uint32_t total_error_count;
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uint16_t last_line;
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};
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namespace AP {
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AP_InternalError &internalerror();
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};
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extern "C" {
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void AP_stack_overflow(const char *thread_name);
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}
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#define INTERNAL_ERROR(error_number) \
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AP::internalerror().error(error_number, __LINE__);
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