#pragma once
#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

#define ERROR_CODE(errortype, suberrorcode) (errortype + suberrorcode)

typedef enum {

  ksucc = ERROR_CODE(0, 0),
  kfail = ERROR_CODE(0, 1),

  kparam_out_of_range  = ERROR_CODE(100, 2),  // 参数超出范围
  kcmd_not_support     = ERROR_CODE(100, 3),  // 操作不支持
  kdevice_is_busy      = ERROR_CODE(100, 4),  // 设备忙
  kdevice_is_offline   = ERROR_CODE(100, 5),  // 设备离线
  kovertime            = ERROR_CODE(100, 6),
  knoack               = ERROR_CODE(100, 7),
  kerrorack            = ERROR_CODE(100, 8),
  kdevice_offline      = ERROR_CODE(100, 9),
  ksubdevice_overtime  = ERROR_CODE(100, 11),
  kbuffer_not_enough   = ERROR_CODE(100, 12),
  kcmd_param_num_error = ERROR_CODE(100, 14),
  kcheckcode_is_error  = ERROR_CODE(100, 15),
  killegal_operation   = ERROR_CODE(100, 16),

  kstep_motor_not_found_zero_point = ERROR_CODE(600, 0),   // 未找到零点
  kstep_motor_not_go_zero          = ERROR_CODE(600, 1),   // 设备未归零
  kstep_motor_over_temperature     = ERROR_CODE(600, 2),   // 过温
  kstep_motor_over_voltage         = ERROR_CODE(600, 3),   // 过压
  kstep_motor_run_overtime         = ERROR_CODE(600, 4),   // 运行超时
  kstep_motor_not_enable           = ERROR_CODE(600, 5),   // 电机未使能
  kstep_motor_ioindex_out_of_range = ERROR_CODE(600, 6),   // IO超出范围
  kstep_motor_subic_reset          = ERROR_CODE(600, 7),   // 子IC复位
  kstep_motor_drv_err              = ERROR_CODE(600, 8),   // 驱动器异常
  kstep_motor_uv_cp                = ERROR_CODE(600, 9),   // 驱动器异常
  kstep_motor_not_found_point_edge = ERROR_CODE(600, 10),  // 未找到零点

} error_t;

typedef struct {
  int         index;
  const char* info;
} ecode_table_item_t;

const char* error2str(int32_t code);

ecode_table_item_t* error_get_table();
int                 error_get_table_size();

#ifdef __cplusplus
}
#endif