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support Ronbosense Helios32/Helios16/Bpearl/RubyPlus/M1Plus/E1
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nebula_common/include/nebula_common/robosense/error_code.hpp
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| /********************************************************************************************************************* | ||
| Copyright (c) 2020 RoboSense | ||
| All rights reserved | ||
| By downloading, copying, installing or using the software you agree to this license. If you do not | ||
| agree to this license, do not download, install, copy or use the software. | ||
| License Agreement | ||
| For RoboSense LiDAR SDK Library | ||
| (3-clause BSD License) | ||
| Redistribution and use in source and binary forms, with or without modification, are permitted | ||
| provided that the following conditions are met: | ||
| 1. Redistributions of source code must retain the above copyright notice, this list of conditions | ||
| and the following disclaimer. | ||
| 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions | ||
| and the following disclaimer in the documentation and/or other materials provided with the | ||
| distribution. | ||
| 3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other | ||
| contributors may be used to endorse or promote products derived from this software without specific | ||
| prior written permission. | ||
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR | ||
| IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND | ||
| FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR | ||
| CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER | ||
| IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF | ||
| THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************************************************************/ | ||
|
|
||
| #pragma once | ||
|
|
||
| #include <ctime> | ||
| #include <string> | ||
|
|
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| namespace nebular | ||
| { | ||
| namespace drivers | ||
| { | ||
|
|
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| enum class ErrCodeType { | ||
| INFO_CODE, // 0x00 ~ 0x3F | ||
| WARNING_CODE, // 0x40 ~ 0x7F | ||
| ERROR_CODE // 0x80 ~ 0xBF | ||
| }; | ||
|
|
||
| enum ErrCode { | ||
| // info | ||
| ERRCODE_SUCCESS = 0x00, ///< Normal Status | ||
| ERRCODE_PCAPREPEAT = 0x01, ///< Reach file end, and play PCAP file again. | ||
| ERRCODE_PCAPEXIT = 0x02, ///< Reach file end, and exit parsing PCAP file | ||
|
|
||
| // warning | ||
| ERRCODE_MSOPTIMEOUT = 0x40, ///< Timeout (1s) of receiving MSOP Packets | ||
| ERRCODE_NODIFOPRECV = 0x41, ///< Calibration data (in DIFOP packet in general) is not ready while | ||
| ///< handling MOSP Packet | ||
| ERRCODE_WRONGMSOPLEN = 0x42, ///< MSOP Packet length is wrong | ||
| ERRCODE_WRONGMSOPID = 0x43, ///< MSOP Packet ID is wrong | ||
| ERRCODE_WRONGMSOPBLKID = 0x44, ///< Block ID in MSOP Packet is wrong | ||
| ERRCODE_WRONGDIFOPLEN = 0x45, ///< DIFOP Packet length is wrong | ||
| ERRCODE_WRONGDIFOPID = 0x46, ///< DIFOP Packet ID is wrong | ||
| ERRCODE_ZEROPOINTS = 0x47, ///< No points in PointCloud | ||
| ERRCODE_PKTBUFOVERFLOW = 0x48, ///< Packet queue is overflow | ||
| ERRCODE_CLOUDOVERFLOW = 0x49, ///< Point cloud buffer is overflow | ||
| ERRCODE_WRONGCRC32 = 0x4A, ///< Wrong CRC32 value of MSOP Packet | ||
|
|
||
| // error | ||
| ERRCODE_STARTBEFOREINIT = 0x80, ///< User calls start() before init() | ||
| ERRCODE_PCAPWRONGPATH = 0x81, ///< Path of pcap file is wrong | ||
| ERRCODE_POINTCLOUDNULL = 0x82 ///< User provided PointCloud buffer is invalid | ||
| }; | ||
|
|
||
| struct Error | ||
| { | ||
| ErrCode error_code; | ||
| ErrCodeType error_code_type; | ||
|
|
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| Error() : error_code(ErrCode::ERRCODE_SUCCESS) {} | ||
|
|
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| explicit Error(const ErrCode & code) : error_code(code) | ||
| { | ||
| if (error_code < 0x40) { | ||
| error_code_type = ErrCodeType::INFO_CODE; | ||
| } else if (error_code < 0x80) { | ||
| error_code_type = ErrCodeType::WARNING_CODE; | ||
| } else { | ||
| error_code_type = ErrCodeType::ERROR_CODE; | ||
| } | ||
| } | ||
| std::string toString() const | ||
| { | ||
| switch (error_code) { | ||
| // info | ||
| case ERRCODE_PCAPREPEAT: | ||
| return "Info_PcapRepeat"; | ||
| case ERRCODE_PCAPEXIT: | ||
| return "Info_PcapExit"; | ||
|
|
||
| // warning | ||
| case ERRCODE_MSOPTIMEOUT: | ||
| return "ERRCODE_MSOPTIMEOUT"; | ||
| case ERRCODE_NODIFOPRECV: | ||
| return "ERRCODE_NODIFOPRECV"; | ||
| case ERRCODE_WRONGMSOPID: | ||
| return "ERRCODE_WRONGMSOPID"; | ||
| case ERRCODE_WRONGMSOPLEN: | ||
| return "ERRCODE_WRONGMSOPLEN"; | ||
| case ERRCODE_WRONGMSOPBLKID: | ||
| return "ERRCODE_WRONGMSOPBLKID"; | ||
| case ERRCODE_WRONGDIFOPID: | ||
| return "ERRCODE_WRONGDIFOPID"; | ||
| case ERRCODE_WRONGDIFOPLEN: | ||
| return "ERRCODE_WRONGDIFOPLEN"; | ||
| case ERRCODE_ZEROPOINTS: | ||
| return "ERRCODE_ZEROPOINTS"; | ||
| case ERRCODE_PKTBUFOVERFLOW: | ||
| return "ERRCODE_PKTBUFOVERFLOW"; | ||
| case ERRCODE_CLOUDOVERFLOW: | ||
| return "ERRCODE_CLOUDOVERFLOW"; | ||
| case ERRCODE_WRONGCRC32: | ||
| return "ERRCODE_WRONGCRC32"; | ||
|
|
||
| // error | ||
| case ERRCODE_STARTBEFOREINIT: | ||
| return "ERRCODE_STARTBEFOREINIT"; | ||
| case ERRCODE_PCAPWRONGPATH: | ||
| return "ERRCODE_PCAPWRONGPATH"; | ||
| case ERRCODE_POINTCLOUDNULL: | ||
| return "ERRCODE_POINTCLOUDNULL"; | ||
|
|
||
| // default | ||
| default: | ||
| return "ERRCODE_SUCCESS"; | ||
| } | ||
| } | ||
| }; | ||
|
|
||
| #define LIMIT_CALL(func, sec) \ | ||
| { \ | ||
| static time_t prev_tm = 0; \ | ||
| time_t cur_tm = time(NULL); \ | ||
| if ((cur_tm - prev_tm) > sec) { \ | ||
| func; \ | ||
| prev_tm = cur_tm; \ | ||
| } \ | ||
| } | ||
|
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| #define DELAY_LIMIT_CALL(func, sec) \ | ||
| { \ | ||
| static time_t prev_tm = time(NULL); \ | ||
| time_t cur_tm = time(NULL); \ | ||
| if ((cur_tm - prev_tm) > sec) { \ | ||
| func; \ | ||
| prev_tm = cur_tm; \ | ||
| } \ | ||
| } | ||
|
|
||
| } // namespace drivers | ||
| } // namespace nebular |
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