changed error code names following @FlamingHotToast's suggestion

4 files changed, 26 insertions, 25 deletions

diff --git a/robot/consts.h b/robot/consts.h
index a81908d..1e021e0 100644
--- a/robot/consts.h
+++ b/robot/consts.h
@@ -7,13 +7,14 @@
 
 #define W2_MAX_MODULE_CYCLE_MS (20)
 #define W2_SERIAL_BAUD (9600)
-#define W2_ERROR_BUFFER_SIZE (16)
 
-#define W2_ERR_TYPE_CRIT (0b00 << 6)
-#define W2_ERR_TYPE_WARN (0b01 << 6)
-#define W2_ERR_TYPE_INFO (0b10 << 6)
-#define W2_ERR_TYPE_VERB (0b11 << 6)
-#define W2_ERR_TYPE_MASK (0b11 << 6)
+#define W2_E_BUFFER_SIZE (16)
+#define W2_E_TYPE_MASK (0b11 << 6)
+
+#define W2_E_TYPE_CRIT (0b00 << 6)
+#define W2_E_TYPE_WARN (0b01 << 6)
+#define W2_E_TYPE_INFO (0b10 << 6)
+#define W2_E_TYPE_VERB (0b11 << 6)
 
 /**
  * enum storing all error codes
@@ -23,14 +24,14 @@
  */
 enum w2_e_errorcodes {
 	// critical error codes
-	W2_ERR_CONN_LOST	   = 0x00 | W2_ERR_TYPE_CRIT,
-	W2_ERR_COM_UNAVAILABLE = 0x01 | W2_ERR_TYPE_CRIT, // client-only
-	W2_ERR_LINE_LOST	   = 0x02 | W2_ERR_TYPE_CRIT,
-	W2_ERR_OBSTACLE_STUCK  = 0x03 | W2_ERR_TYPE_CRIT,
+	W2_E_CRIT_CONN_LOST		  = 0x00 | W2_E_TYPE_CRIT,
+	W2_E_CRIT_COM_UNAVAILABLE = 0x01 | W2_E_TYPE_CRIT, // client-only
+	W2_E_CRIT_LINE_LOST		  = 0x02 | W2_E_TYPE_CRIT,
+	W2_E_CRIT_OBSTACLE_STUCK  = 0x03 | W2_E_TYPE_CRIT,
 
 	// warnings
-	W2_ERR_BATTERY_LOW		 = 0x00 | W2_ERR_TYPE_WARN,
-	W2_ERR_OBSTACLE_DETECTED = 0x01 | W2_ERR_TYPE_WARN,
-	W2_ERR_CYCLE_EXPIRED	 = 0x02 | W2_ERR_TYPE_WARN,
-	W2_ERR_UNCAUGHT_ERROR	 = 0x03 | W2_ERR_TYPE_WARN,
+	W2_E_WARN_BATTERY_LOW		= 0x00 | W2_E_TYPE_WARN,
+	W2_E_WARN_OBSTACLE_DETECTED = 0x01 | W2_E_TYPE_WARN,
+	W2_E_WARN_CYCLE_EXPIRED		= 0x02 | W2_E_TYPE_WARN,
+	W2_E_WARN_UNCAUGHT_ERROR	= 0x03 | W2_E_TYPE_WARN,
 };
diff --git a/robot/errcatch.c b/robot/errcatch.c
index 0dc60e9..0f97566 100644
--- a/robot/errcatch.c
+++ b/robot/errcatch.c
@@ -8,15 +8,15 @@
 #include "modes.h"
 #include "orangutan_shim.h"
 
-w2_s_error *g_w2_error_buffer[W2_ERROR_BUFFER_SIZE] = {};
-uint8_t g_w2_error_index							= 0;
-uint8_t g_w2_error_offset							= 0;
+w2_s_error *g_w2_error_buffer[W2_E_BUFFER_SIZE] = {};
+uint8_t g_w2_error_index					   = 0;
+uint8_t g_w2_error_offset					   = 0;
 
 void w2_errcatch_main() {
 	while (g_w2_error_index != g_w2_error_offset) {
 		w2_s_error *error = g_w2_error_buffer[g_w2_error_offset];
 		w2_errcatch_handle_error(error);
-		g_w2_error_offset = (g_w2_error_offset + 1) % W2_ERROR_BUFFER_SIZE;
+		g_w2_error_offset = (g_w2_error_offset + 1) % W2_E_BUFFER_SIZE;
 	}
 }
 
@@ -33,22 +33,22 @@ void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const cha
 	free(g_w2_error_buffer[g_w2_error_index]);
 	w2_s_error *error					= w2_alloc_error(code, length, message);
 	g_w2_error_buffer[g_w2_error_index] = error;
-	g_w2_error_index					= (g_w2_error_index + 1) % W2_ERROR_BUFFER_SIZE;
+	g_w2_error_index					= (g_w2_error_index + 1) % W2_E_BUFFER_SIZE;
 }
 
 void w2_errcatch_handle_error(w2_s_error *error) {
-	uint8_t severity = error->code & W2_ERR_TYPE_MASK;
+	uint8_t severity = error->code & W2_E_TYPE_MASK;
 
 	// trigger emergency mode for critical errors
-	if ((severity ^ W2_ERR_TYPE_CRIT) == 0) g_w2_current_mode = &w2_mode_halt;
+	if ((severity ^ W2_E_TYPE_CRIT) == 0) g_w2_current_mode = &w2_mode_halt;
 
 	// TODO: handle more error types
 	switch (error->code) {
-		case W2_ERR_UNCAUGHT_ERROR: {
+		case W2_E_WARN_UNCAUGHT_ERROR: {
 			break;
 		}
 		default: {
-			w2_errcatch_throw(W2_ERR_UNCAUGHT_ERROR);
+			w2_errcatch_throw(W2_E_WARN_UNCAUGHT_ERROR);
 #ifdef W2_SIM
 			simwarn("Uncaught/unhandled error found with code 0x%02x\n", error->code);
 #endif
diff --git a/robot/errcatch.h b/robot/errcatch.h
index fa7a15b..98bb7d0 100644
--- a/robot/errcatch.h
+++ b/robot/errcatch.h
@@ -17,7 +17,7 @@ typedef struct {
 } w2_s_error;
 
 /** error ring buffer */
-extern w2_s_error *g_w2_error_buffer[W2_ERROR_BUFFER_SIZE];
+extern w2_s_error *g_w2_error_buffer[W2_E_BUFFER_SIZE];
 /** stores head of ring buffer */
 extern uint8_t g_w2_error_index;
 /** stores start of ring buffer */
diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index 6b32776..dbdc62a 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -27,5 +27,5 @@ void w2_hypervisor_main() {
 	usleep(100e3);
 #endif
 
-	if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED);
+	if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_E_WARN_CYCLE_EXPIRED);
 }