ErrorCode.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include <stdint.h>
 
namespace ctre {
namespace phoenix {
 
enum ErrorCode
#ifdef __cplusplus
    : int32_t
#endif
{
    OK = 0,
    OKAY = 0,       //!< No Error - Function executed as expected
 
    //CAN-Related
    CAN_MSG_STALE = 1,
    CAN_TX_FULL = -1,
    TxFailed = -1,              //!< Could not transmit the CAN frame.
    InvalidParamValue = -2,     //!< Caller passed an invalid param
    CAN_INVALID_PARAM = -2,
    RxTimeout = -3, //!< CAN frame has not been received within specified period of time.
    CAN_MSG_NOT_FOUND = -3,
    TxTimeout = -4,             //!< Not used.
    CAN_NO_MORE_TX_JOBS = -4,
    UnexpectedArbId = -5,       //!< Specified CAN Id is invalid.
    CAN_NO_SESSIONS_AVAIL = -5,
    BufferFull = +6,//!< Caller attempted to insert data into a buffer that is full.
    CAN_OVERFLOW = -6,
    SensorNotPresent = -7,      //!< Sensor is not present
    FirmwareTooOld = -8,
    CouldNotChangePeriod = -9,
    BufferFailure = -10,
    FirwmwareNonFRC = -11,
 
    //General
    GeneralError = -100,        //!< User Specified General Error
    GENERAL_ERROR = -100,
 
    //Signal
    SIG_NOT_UPDATED = -200,
    SigNotUpdated = -200,   //!< Have not received an value response for signal.
    NotAllPIDValuesUpdated = -201,
 
    //Gadgeteer Port Error Codes
    //These include errors between ports and modules
    GEN_PORT_ERROR = -300,
    PORT_MODULE_TYPE_MISMATCH = -301,
 
    //Gadgeteer Module Error Codes
    //These apply only to the module units themselves
    GEN_MODULE_ERROR = -400,
    MODULE_NOT_INIT_SET_ERROR = -401,
    MODULE_NOT_INIT_GET_ERROR = -402,
 
    //API
    WheelRadiusTooSmall = -500,
    TicksPerRevZero = -501,
    DistanceBetweenWheelsTooSmall = -502,
    GainsAreNotSet = -503,
    WrongRemoteLimitSwitchSource = -504,
    DoubleVoltageCompensatingWPI = -505,
    CANdleAnimSlotOutOfBounds = -506,
 
    //Higher Level
    IncompatibleMode = -600,
    InvalidHandle = -601,       //!< Handle does not match stored map of handles
 
    //Firmware Versions
    FeatureRequiresHigherFirm = -700,
    MotorControllerFeatureRequiresHigherFirm = -701,
    TalonFeatureRequiresHigherFirm = MotorControllerFeatureRequiresHigherFirm,
    ConfigFactoryDefaultRequiresHigherFirm = -702,
    ConfigMotionSCurveRequiresHigherFirm = -703,
    TalonFXFirmwarePreVBatDetect = -704,
    CANdleAnimationsRequireHigherFirm = -705,
 
    //Operating system centric
    LibraryCouldNotBeLoaded = -800,
    MissingRoutineInLibrary = -801,
    ResourceNotAvailable = -802,
 
    //MIDI and Orchestra centric
    MusicFileNotFound = -900,
    MusicFileWrongSize = -901,
    MusicFileTooNew = -902,
    MusicFileInvalid = -903,
    InvalidOrchestraAction = -904,
    MusicFileTooOld = -905,
    MusicInterrupted = -906,
    MusicNotSupported = -907,
 
    kInvalidInterface = -1000,
    kInvalidGuid = -1001,
    kInvalidClass = -1002,
    kInvalidProtocol = -1003,
    kInvalidPath = -1004,
    kGeneralWinUsbError = -1005,
    kFailedSetup = -1006,
    kListenFailed = -1007,
    kSendFailed = -1008,
    kReceiveFailed = -1009,
    kInvalidRespFormat = -1010,
    kWinUsbInitFailed = -1011,
    kWinUsbQueryFailed = -1012,
    kWinUsbGeneralError = -1013,
    kAccessDenied = -1014,
    kFirmwareInvalidResponse = -1015,
 
    //CAN Related
    PulseWidthSensorNotPresent = +10,   //!< Special Code for "isSensorPresent"
 
    //General
    GeneralWarning = 100,
    FeatureNotSupported = 101, // feature not implement in the API or firmware
    NotImplemented = 102, // feature not implement in the API
    FirmVersionCouldNotBeRetrieved = 103,
    FeaturesNotAvailableYet = 104, // feature will be release in an upcoming release
    ControlModeNotValid = 105, // Current control mode of motor controller not valid for this call
    ControlModeNotSupportedYet = 106,
    CascadedPIDNotSupporteYet = 107,
    AuxiliaryPIDNotSupportedYet = 107,
    RemoteSensorsNotSupportedYet = 108,
    MotProfFirmThreshold = 109,
    MotProfFirmThreshold2 = 110,
 
    //Simulation
    SimDeviceNotFound = 200,
    SimPhysicsTypeNotSupported = 201,
    SimDeviceAlreadyExists = 202,
};
class ErrorCollection {
public:
    ErrorCollection() {
        _firstError = OK;
    }
    void NewError(ErrorCode err) {
        _firstError = FirstOne(_firstError, err);
    }
    void NewError(int err) {
        _firstError = FirstOne(_firstError, (ErrorCode) err);
    }
    ErrorCode GetFirstNonZeroError()
    {
        return _firstError;
    }
private:
 
    static ErrorCode FirstOne(ErrorCode errorCode1, ErrorCode errorCode2) {
        if (errorCode1 != OK)
            return errorCode1;
        return errorCode2;
    }
 
    ErrorCode _firstError;
};
 
} // namespace phoenix
} // namespace ctre