Update diagnostic generic error parsing

robotology · Mar 5, 2024 · 69f1446 · 69f1446
1 parent 7fcda93
commit 69f1446
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Showing 2 changed files with 14 additions and 11 deletions.
diff --git a/src/libraries/icubmod/embObjLib/diagnosticInfoParsers.cpp b/src/libraries/icubmod/embObjLib/diagnosticInfoParsers.cpp
@@ -6,7 +6,6 @@
  * BSD-3-Clause license. See the accompanying LICENSE file for details.
  */
 
-#include <string>
 #include "diagnosticLowLevelFormatter_hid.h"
 #include "diagnosticLowLevelFormatter.h"
 #include "EoBoards.h"
@@ -534,10 +533,9 @@ void ConfigParser::parseInfo()
 /**************************************************************************************************************************/
 
 // private class functions
-void MotionControlParser::motorStatusBitsToString(uint32_t motorstatus, std::string &statusstring)
+std::string MotionControlParser::motorStatusBitsToString(uint32_t motorstatus)
 {
-    statusstring.clear();
-    static const std::array<std::string, 32> s_motor_fault_status =
+    static const std::array<std::string_view, 32> s_motor_fault_status =
     {
         //B0 L
         "ExternalFaultAsserted",
@@ -581,15 +579,19 @@ void MotionControlParser::motorStatusBitsToString(uint32_t motorstatus, std::str
         "PositionLimitLower"
     };
 
-    std::stringstream mfaultss = {};
-
+    std::string statusstring = {};
+    statusstring.reserve(256);
+
     for (uint8_t i = 0; i < s_motor_fault_status.size(); i++)
     {
         // check bit by bit and add to ss the faulted bits
         if(embot::core::binary::bit::check(motorstatus, i))
-            mfaultss << " " << s_motor_fault_status.at(i);
+        {
+            statusstring.append(static_cast<const char*>(s_motor_fault_status.at(i).data()));
+            statusstring.append(" ");
+        }
     }
-    statusstring = mfaultss.str();
+    return statusstring;
 }
 
 MotionControlParser::MotionControlParser(AuxEmbeddedInfo &dnginfo, EntityNameProvider &entityNameProvider):DefaultParser(dnginfo, entityNameProvider){;}
@@ -656,11 +658,11 @@ void MotionControlParser::parseInfo()
 
         case eoerror_value_MC_generic_error: //TBD Check print
         {
-            std::string motorStatusString;
+
             uint16_t joint_num = m_dnginfo.param16;
             uint32_t motor_status = m_dnginfo.param64 & 0xffffffff;
             m_entityNameProvider.getAxisName(joint_num, m_dnginfo.baseInfo.axisName);
-            motorStatusBitsToString(motor_status, motorStatusString);
+            std::string motorStatusString = motorStatusBitsToString(motor_status);
             snprintf(str, sizeof(str), " %s (Joint=%s (NIB=%d) (Errors:%s)", 
                                         m_dnginfo.baseMessage.c_str(), m_dnginfo.baseInfo.axisName.c_str(), joint_num, motorStatusString.c_str()
                                         );

diff --git a/src/libraries/icubmod/embObjLib/diagnosticLowLevelFormatter_hid.h b/src/libraries/icubmod/embObjLib/diagnosticLowLevelFormatter_hid.h
@@ -11,6 +11,7 @@
 #define __diagnosticLowLevelFormatter_hid_h__
 
 #include <string>
+#include <string_view>
 #include <memory>
 #include <yarp/os/LogStream.h>
 #include "diagnosticLowLevelFormatter.h"
@@ -117,7 +118,7 @@ class Diagnostic::LowLevel::MotionControlParser : public Diagnostic::LowLevel::D
     void parseInfo();
 
 private:
-void motorStatusBitsToString(uint32_t motorstatus, std::string &statusstring);
+std::string motorStatusBitsToString(uint32_t motorstatus);
 };
 
 class Diagnostic::LowLevel::SkinParser : public Diagnostic::LowLevel::DefaultParser