ErrorReporting.h

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#pragma once
 
#include <atomic>
#include <condition_variable>
#include <filesystem>
#include <fstream>
#include <map>
#include <memory>
#include <mutex>
#include <optional>
#include <thread>
 
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/util/PropagateConst.h>
 
#include "SlaveIdentifier.h"
 
/**
 * @defgroup Namespace-error error
 * @ingroup Library-ethercat
 * A description of the namespace error.
 */
namespace armarx::control::ethercat::reporting
{
    /**
     * @enum Type
     * @ingroup Namespace-error
     *
     * @brief The Type enum
     */
    enum class Type
    {
        Bus, //!< Bussdfnödf
        Slave, //!< sdfluieb,dj
        Device,
        General
    };
 
    std::ostream& operator<<(std::ostream& stream, const Type& rhs);
 
    /**
     * @enum Severity
     * @ingroup Namespace-error
     *
     * @brief The Severity enum
     */
    enum class Severity
    {
        Debug,
        Info,
        Warning,
        Error,
        Fatal
    };
 
    std::ostream& operator<<(std::ostream& stream, const Severity& rhs);
 
    class Reporter;
    class Reporting;
 
    /**
     * @class Entry
     * @ingroup Namespace-error
     * @brief Brief description of class Entry.
     *
     * Detailed description of class Entry.
     */
    class Entry
    {
        static constexpr std::uint16_t DEVICE_NAME_BUFFER_SIZE = 64;
 
        static constexpr std::uint16_t MESSAGE_BUFFER_SIZE = 1024;
        static constexpr char OVERFLOW_MESSAGE[] = {"[ERROR MESSAGE TOO LONG]"};
        static_assert(MESSAGE_BUFFER_SIZE > sizeof(OVERFLOW_MESSAGE) + 1);
 
        static constexpr std::uint16_t FILE_STRING_BUFFER_SIZE = 256;
        static constexpr std::uint16_t FUNCTION_STRING_BUFFER_SIZE = 256;
 
        friend Reporter;
        friend Reporting;
 
        char m_message[MESSAGE_BUFFER_SIZE];
        std::size_t m_message_size = 0;
        Type m_type;
        SlaveIdentifier m_sid;
        char m_device_name[DEVICE_NAME_BUFFER_SIZE];
        Severity m_severity;
        IceUtil::Time m_timestamp;
        std::uint64_t m_bus_iteration_number = 0;
        float m_deactivate_spam_seconds = 0;
 
        struct MetaInfo
        {
            char file[FILE_STRING_BUFFER_SIZE];
            int line;
            char function[FUNCTION_STRING_BUFFER_SIZE];
        };
 
        MetaInfo m_metaInfo;
 
    public:
        Entry() = default;
        ~Entry() = default;
 
        template <typename... T>
        Entry&
        message(const char* fmt, T... args)
        {
#pragma GCC diagnostic ignored "-Wformat-security"
            int sz = std::snprintf(m_message, sizeof(m_message), fmt, args...);
            if (sz >= static_cast<int>(sizeof(m_message)))
            {
                std::snprintf(m_message + MESSAGE_BUFFER_SIZE - sizeof(OVERFLOW_MESSAGE),
                              sizeof(OVERFLOW_MESSAGE),
                              OVERFLOW_MESSAGE);
                m_message_size = MESSAGE_BUFFER_SIZE;
            }
            else
            {
                m_message_size = static_cast<std::size_t>(sz);
            }
#pragma GCC diagnostic pop
            return *this;
        }
 
        Entry& slaveIdentifier(SlaveIdentifier sid);
        Entry& errorType(Type type);
        Entry& metaInfo(const char* file, int line, const char* function);
        Entry& deviceName(const char* deviceName);
        Entry& busIterationNumber(std::uint64_t iteration);
 
        std::string toString() const;
    };
 
    /**
     * @class Reporter
     * @ingroup Namespace-error
     * @brief Brief description of class Reporter.
     *
     * Detailed description of class Reporter.
     */
    class Reporter
    {
        friend Reporting;
 
        class ReportWrapper
        {
        public:
            ReportWrapper(Entry& error, Reporter* reporter);
            ~ReportWrapper();
            ReportWrapper(const ReportWrapper&) = delete; // Copying not allowed
            ReportWrapper& operator=(const ReportWrapper&) = delete; // Assignment not allowed
 
            ReportWrapper& deactivateSpam(float seconds);
 
        private:
            Entry& m_error;
            Reporter* m_reporter;
        };
 
    public:
        ReportWrapper reportDebug(Entry& error);
        ReportWrapper reportInfo(Entry& error);
        ReportWrapper reportWarning(Entry& error);
        ReportWrapper reportError(Entry& error);
        [[noreturn]] void reportErrorAndThrow(Entry& error);
        bool hasErrors() const;
 
    private:
        Reporter() = delete;
        Reporter(Reporting* errorReporting);
        Reporting* m_errorReporting;
        unsigned int m_errorCount = 0;
    };
 
    /**
     * @class Reporting
     * @ingroup Namespace-error
     * @brief Brief description of class Reporting.
     *
     * Detailed description of class Reporting.
     */
    class Reporting : virtual public Logging
    {
    public:
        static Reporting& getErrorReporting();
 
        Reporter getErrorReporter();
        static Reporter& getGlobalErrorReporter();
        void report(Entry&& error);
 
        void setMaxErrorHistorySize(std::size_t maxErrorHistorySize);
 
        std::optional<std::filesystem::path> dumpToFile(std::filesystem::path file,
                                                        std::uint64_t lastNSeconds = 1000000);
 
    private:
        Reporting(std::size_t maxErrorHistorySize = 1000);
        ~Reporting() override;
 
        std::vector<Entry> m_errors;
 
        struct QueueImpl;
        PropagateConst<std::unique_ptr<QueueImpl>> pimpl;
 
        struct ErrorTimestamp
        {
            std::int64_t timestamp;
            std::uint16_t subid;
 
            bool
            operator<(const ErrorTimestamp& x) const
            {
                return std::tie(this->timestamp, this->subid) < std::tie(x.timestamp, x.subid);
            }
        };
 
        std::map<ErrorTimestamp, Entry> m_errorHistory;
        std::size_t m_maxErrorHistorySize;
 
        std::thread m_errorProcessingThread;
        std::atomic_bool m_errorProcessingRunning{true};
        void errorProcessingLoop();
        std::condition_variable m_errorProcessingCondition;
        std::mutex m_errorProcessingConditionMutex;
 
        IceUtil::Time m_timestampReportingStart;
    };
 
} // namespace armarx::control::ethercat::reporting
 
namespace armarx::control::ethercat
{
    using ReportingEntry = reporting::Entry;
    using ReportingType = reporting::Type;
    using Reporting = reporting::Reporting;
 
 
////////////////////////////////////////////////////////////////////////////////////////////////////
#define _detail_GENERAL_REPORT_CONSTRUCTION(...)                                                   \
    armarx::control::ethercat::ReportingEntry()                                                    \
        .errorType(armarx::control::ethercat::ReportingType::General)                              \
        .metaInfo(__FILE__, __LINE__, ARMARX_FUNCTION)                                             \
        .message(__VA_ARGS__)
 
#define GENERAL_DEBUG(...)                                                                         \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportDebug(                    \
        _detail_GENERAL_REPORT_CONSTRUCTION(__VA_ARGS__))
#define GENERAL_INFO(...)                                                                          \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportInfo(                     \
        _detail_GENERAL_REPORT_CONSTRUCTION(__VA_ARGS__))
#define GENERAL_WARNING(...)                                                                       \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportWarning(                  \
        _detail_GENERAL_REPORT_CONSTRUCTION(__VA_ARGS__))
#define GENERAL_ERROR(...)                                                                         \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportError(                    \
        _detail_GENERAL_REPORT_CONSTRUCTION(__VA_ARGS__))
 
 
////////////////////////////////////////////////////////////////////////////////////////////////////
#define _detail_BUS_REPORT_CONSTRUCTION(bin, ...)                                                  \
    armarx::control::ethercat::ReportingEntry()                                                    \
        .errorType(armarx::control::ethercat::ReportingType::Bus)                                  \
        .metaInfo(__FILE__, __LINE__, ARMARX_FUNCTION)                                             \
        .message(__VA_ARGS__)                                                                      \
        .busIterationNumber(bin)
 
#define BUS_DEBUG(bin, ...)                                                                        \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportDebug(                    \
        _detail_BUS_REPORT_CONSTRUCTION(bin, __VA_ARGS__))
#define BUS_INFO(bin, ...)                                                                         \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportInfo(                     \
        _detail_BUS_REPORT_CONSTRUCTION(bin, __VA_ARGS__))
#define BUS_WARNING(bin, ...)                                                                      \
    armarx::control::ethercat::reporting::Reporting::getGlobalErrorReporter().reportWarning(       \
        _detail_BUS_REPORT_CONSTRUCTION(bin, __VA_ARGS__))
#define BUS_ERROR(bin, ...)                                                                        \
    armarx::control::ethercat::reporting::Reporting::getGlobalErrorReporter().reportError(         \
        _detail_BUS_REPORT_CONSTRUCTION(bin, __VA_ARGS__))
#define BUS_FATAL_AND_THROW(bin, ...)                                                              \
    armarx::control::ethercat::reporting::Reporting::getGlobalErrorReporter().reportErrorAndThrow( \
        _detail_BUS_REPORT_CONSTRUCTION(bin, __VA_ARGS__))
 
#define BUS_WARNING_LOCAL(reporter, bin, ...)                                                      \
    (reporter).reportWarning(_detail_BUS_REPORT_CONSTRUCTION(bin, __VA_ARGS__))
#define BUS_ERROR_LOCAL(reporter, bin, ...)                                                        \
    (reporter).reportError(_detail_BUS_REPORT_CONSTRUCTION(bin, __VA_ARGS__))
 
////////////////////////////////////////////////////////////////////////////////////////////////////
#define _detail_SLAVE_REPORT_CONSTRUCTION(_sid, ...)                                               \
    armarx::control::ethercat::ReportingEntry()                                                    \
        .errorType(armarx::control::ethercat::ReportingType::Slave)                                \
        .metaInfo(__FILE__, __LINE__, ARMARX_FUNCTION)                                             \
        .message(__VA_ARGS__)                                                                      \
        .slaveIdentifier(_sid)
 
#define SLAVE_DEBUG(sid, ...)                                                                      \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportDebug(                    \
        _detail_SLAVE_REPORT_CONSTRUCTION(sid, __VA_ARGS__))
#define SLAVE_INFO(sid, ...)                                                                       \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportInfo(                     \
        _detail_SLAVE_REPORT_CONSTRUCTION(sid, __VA_ARGS__))
#define SLAVE_WARNING(sid, ...)                                                                    \
    armarx::control::ethercat::reporting::Reporting::getGlobalErrorReporter().reportWarning(       \
        _detail_SLAVE_REPORT_CONSTRUCTION(sid, __VA_ARGS__))
#define SLAVE_ERROR(sid, ...)                                                                      \
    armarx::control::ethercat::reporting::Reporting::getGlobalErrorReporter().reportError(         \
        _detail_SLAVE_REPORT_CONSTRUCTION(sid, __VA_ARGS__))
#define SLAVE_FATAL_AND_THROW(sid, ...)                                                            \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportErrorAndThrow(            \
        _detail_SLAVE_REPORT_CONSTRUCTION(sid, __VA_ARGS__))
 
#define SLAVE_WARNING_LOCAL(reporter, sid, ...)                                                    \
    (reporter).reportWarning(_detail_SLAVE_REPORT_CONSTRUCTION(sid, __VA_ARGS__))
#define SLAVE_ERROR_LOCAL(reporter, sid, ...)                                                      \
    (reporter).reportError(_detail_SLAVE_REPORT_CONSTRUCTION(sid, __VA_ARGS__))
 
////////////////////////////////////////////////////////////////////////////////////////////////////
#define _detail_DEVICE_REPORT_CONSTRUCTION(devName, ...)                                           \
    armarx::control::ethercat::ReportingEntry()                                                    \
        .errorType(armarx::control::ethercat::ReportingType::Device)                               \
        .metaInfo(__FILE__, __LINE__, ARMARX_FUNCTION)                                             \
        .message(__VA_ARGS__)                                                                      \
        .deviceName(devName)
 
#define DEVICE_WARNING(deviceName, ...)                                                            \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportWarning(                  \
        _detail_DEVICE_REPORT_CONSTRUCTION(deviceName, __VA_ARGS__))
#define DEVICE_ERROR(deviceName, ...)                                                              \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportError(                    \
        _detail_DEVICE_REPORT_CONSTRUCTION(deviceName, __VA_ARGS__))
#define DEVICE_FATAL_AND_THROW(deviceName, ...)                                                    \
    armarx::control::ethercat::Reporting::getGlobalErrorReporter().reportErrorAndThrow(            \
        _detail_DEVICE_REPORT_CONSTRUCTION(deviceName, __VA_ARGS__))
 
#define DEVICE_WARNING_LOCAL(reporter, deviceName, ...)                                            \
    (reporter).reportWarning(_detail_DEVICE_REPORT_CONSTRUCTION(deviceName, __VA_ARGS__))
#define DEVICE_ERROR_LOCAL(reporter, deviceName, ...)                                              \
    (reporter).reportError(_detail_DEVICE_REPORT_CONSTRUCTION(deviceName, __VA_ARGS__))
 
 
} // namespace armarx::control::ethercat