`make format` and send info on robot startup

4 files changed, 49 insertions, 33 deletions

diff --git a/client/setup.c b/client/setup.c
index 0f2b0f7..e51965f 100644
--- a/client/setup.c
+++ b/client/setup.c
@@ -10,8 +10,6 @@
 #include "strings.h"
 #include "ui.h"
 
-#include "errcatch.h"
-
 // pointers for endianness check
 static const uint16_t _test	 = 1;
 static const uint8_t *_ptest = (uint8_t *)&_test;
diff --git a/client/strings.c b/client/strings.c
index c89cbbf..0ab260e 100644
--- a/client/strings.c
+++ b/client/strings.c
@@ -1,5 +1,5 @@
-#include "../shared/errcatch.h"
 #include "strings.h"
+#include "../shared/errcatch.h"
 
 char *g_w2_mode_strings[W2_MODE_COUNT];
 char *g_w2_tab_strings[W2_UI_TAB_COUNT];
@@ -32,39 +32,53 @@ void w2_strings_errors_types() {
 
 void w2_strings_errors_internal() {
 	g_w2_error_internal_strings[W2_E_CRIT_CONN_LOST] = W2_UI_ERROR_INT_W2_E_CRIT_CONN_LOST;
-	g_w2_error_internal_strings[W2_E_CRIT_COM_UNAVAILABLE] = W2_UI_ERROR_INT_W2_E_CRIT_COM_UNAVAILABLE;
+	g_w2_error_internal_strings[W2_E_CRIT_COM_UNAVAILABLE] =
+		W2_UI_ERROR_INT_W2_E_CRIT_COM_UNAVAILABLE;
 	g_w2_error_internal_strings[W2_E_CRIT_LINE_LOST] = W2_UI_ERROR_INT_W2_E_CRIT_LINE_LOST;
-	g_w2_error_internal_strings[W2_E_CRIT_OBSTACLE_STUCK] = W2_UI_ERROR_INT_W2_E_CRIT_OBSTACLE_STUCK;
-	g_w2_error_internal_strings[W2_E_CRIT_VERSION_INCOMPATIBLE] = W2_UI_ERROR_INT_W2_E_CRIT_VERSION_INCOMPATIBLE;
+	g_w2_error_internal_strings[W2_E_CRIT_OBSTACLE_STUCK] =
+		W2_UI_ERROR_INT_W2_E_CRIT_OBSTACLE_STUCK;
+	g_w2_error_internal_strings[W2_E_CRIT_VERSION_INCOMPATIBLE] =
+		W2_UI_ERROR_INT_W2_E_CRIT_VERSION_INCOMPATIBLE;
 	g_w2_error_internal_strings[W2_E_WARN_BATTERY_LOW] = W2_UI_ERROR_INT_W2_E_WARN_BATTERY_LOW;
-	g_w2_error_internal_strings[W2_E_WARN_OBSTACLE_DETECTED] = W2_UI_ERROR_INT_W2_E_WARN_OBSTACLE_DETECTED;
+	g_w2_error_internal_strings[W2_E_WARN_OBSTACLE_DETECTED] =
+		W2_UI_ERROR_INT_W2_E_WARN_OBSTACLE_DETECTED;
 	g_w2_error_internal_strings[W2_E_WARN_CYCLE_EXPIRED] = W2_UI_ERROR_INT_W2_E_WARN_CYCLE_EXPIRED;
-	g_w2_error_internal_strings[W2_E_WARN_UNCAUGHT_ERROR] = W2_UI_ERROR_INT_W2_E_WARN_UNCAUGHT_ERROR;
-	g_w2_error_internal_strings[W2_E_WARN_ERR_BUFFER_FULL] = W2_UI_ERROR_INT_W2_E_WARN_ERR_BUFFER_FULL;
+	g_w2_error_internal_strings[W2_E_WARN_UNCAUGHT_ERROR] =
+		W2_UI_ERROR_INT_W2_E_WARN_UNCAUGHT_ERROR;
+	g_w2_error_internal_strings[W2_E_WARN_ERR_BUFFER_FULL] =
+		W2_UI_ERROR_INT_W2_E_WARN_ERR_BUFFER_FULL;
 	g_w2_error_internal_strings[W2_E_WARN_LINE_LOST] = W2_UI_ERROR_INT_W2_E_WARN_LINE_LOST;
-	g_w2_error_internal_strings[W2_E_WARN_SERCOMM_BUFFER_FULL] = W2_UI_ERROR_INT_W2_E_WARN_SERCOMM_BUFFER_FULL;
-	g_w2_error_internal_strings[W2_E_WARN_VERSION_INCOMPATIBLE] = W2_UI_ERROR_INT_W2_E_WARN_VERSION_INCOMPATIBLE;
+	g_w2_error_internal_strings[W2_E_WARN_SERCOMM_BUFFER_FULL] =
+		W2_UI_ERROR_INT_W2_E_WARN_SERCOMM_BUFFER_FULL;
+	g_w2_error_internal_strings[W2_E_WARN_VERSION_INCOMPATIBLE] =
+		W2_UI_ERROR_INT_W2_E_WARN_VERSION_INCOMPATIBLE;
 	g_w2_error_internal_strings[W2_E_WARN_SERIAL_NOISY] = W2_UI_ERROR_INT_W2_E_WARN_SERIAL_NOISY;
-	g_w2_error_internal_strings[W2_E_WARN_MODE_HISTORY_BUFFER_IOB] = W2_UI_ERROR_INT_W2_E_WARN_MODE_HISTORY_BUFFER_IOB;
+	g_w2_error_internal_strings[W2_E_WARN_MODE_HISTORY_BUFFER_IOB] =
+		W2_UI_ERROR_INT_W2_E_WARN_MODE_HISTORY_BUFFER_IOB;
 	g_w2_error_internal_strings[W2_E_WARN_PING_TIMEOUT] = W2_UI_ERROR_INT_W2_E_WARN_PING_TIMEOUT;
 }
 
 void w2_strings_errors_user() {
-	g_w2_error_user_strings[W2_E_CRIT_CONN_LOST] = W2_UI_ERROR_USR_W2_E_CRIT_CONN_LOST;
+	g_w2_error_user_strings[W2_E_CRIT_CONN_LOST]	   = W2_UI_ERROR_USR_W2_E_CRIT_CONN_LOST;
 	g_w2_error_user_strings[W2_E_CRIT_COM_UNAVAILABLE] = W2_UI_ERROR_USR_W2_E_CRIT_COM_UNAVAILABLE;
-	g_w2_error_user_strings[W2_E_CRIT_LINE_LOST] = W2_UI_ERROR_USR_W2_E_CRIT_LINE_LOST;
-	g_w2_error_user_strings[W2_E_CRIT_OBSTACLE_STUCK] = W2_UI_ERROR_USR_W2_E_CRIT_OBSTACLE_STUCK;
-	g_w2_error_user_strings[W2_E_CRIT_VERSION_INCOMPATIBLE] = W2_UI_ERROR_USR_W2_E_CRIT_VERSION_INCOMPATIBLE;
+	g_w2_error_user_strings[W2_E_CRIT_LINE_LOST]	   = W2_UI_ERROR_USR_W2_E_CRIT_LINE_LOST;
+	g_w2_error_user_strings[W2_E_CRIT_OBSTACLE_STUCK]  = W2_UI_ERROR_USR_W2_E_CRIT_OBSTACLE_STUCK;
+	g_w2_error_user_strings[W2_E_CRIT_VERSION_INCOMPATIBLE] =
+		W2_UI_ERROR_USR_W2_E_CRIT_VERSION_INCOMPATIBLE;
 	g_w2_error_user_strings[W2_E_WARN_BATTERY_LOW] = W2_UI_ERROR_USR_W2_E_WARN_BATTERY_LOW;
-	g_w2_error_user_strings[W2_E_WARN_OBSTACLE_DETECTED] = W2_UI_ERROR_USR_W2_E_WARN_OBSTACLE_DETECTED;
-	g_w2_error_user_strings[W2_E_WARN_CYCLE_EXPIRED] = W2_UI_ERROR_USR_W2_E_WARN_CYCLE_EXPIRED;
-	g_w2_error_user_strings[W2_E_WARN_UNCAUGHT_ERROR] = W2_UI_ERROR_USR_W2_E_WARN_UNCAUGHT_ERROR;
+	g_w2_error_user_strings[W2_E_WARN_OBSTACLE_DETECTED] =
+		W2_UI_ERROR_USR_W2_E_WARN_OBSTACLE_DETECTED;
+	g_w2_error_user_strings[W2_E_WARN_CYCLE_EXPIRED]   = W2_UI_ERROR_USR_W2_E_WARN_CYCLE_EXPIRED;
+	g_w2_error_user_strings[W2_E_WARN_UNCAUGHT_ERROR]  = W2_UI_ERROR_USR_W2_E_WARN_UNCAUGHT_ERROR;
 	g_w2_error_user_strings[W2_E_WARN_ERR_BUFFER_FULL] = W2_UI_ERROR_USR_W2_E_WARN_ERR_BUFFER_FULL;
-	g_w2_error_user_strings[W2_E_WARN_LINE_LOST] = W2_UI_ERROR_USR_W2_E_WARN_LINE_LOST;
-	g_w2_error_user_strings[W2_E_WARN_SERCOMM_BUFFER_FULL] = W2_UI_ERROR_USR_W2_E_WARN_SERCOMM_BUFFER_FULL;
-	g_w2_error_user_strings[W2_E_WARN_VERSION_INCOMPATIBLE] = W2_UI_ERROR_USR_W2_E_WARN_VERSION_INCOMPATIBLE;
+	g_w2_error_user_strings[W2_E_WARN_LINE_LOST]	   = W2_UI_ERROR_USR_W2_E_WARN_LINE_LOST;
+	g_w2_error_user_strings[W2_E_WARN_SERCOMM_BUFFER_FULL] =
+		W2_UI_ERROR_USR_W2_E_WARN_SERCOMM_BUFFER_FULL;
+	g_w2_error_user_strings[W2_E_WARN_VERSION_INCOMPATIBLE] =
+		W2_UI_ERROR_USR_W2_E_WARN_VERSION_INCOMPATIBLE;
 	g_w2_error_user_strings[W2_E_WARN_SERIAL_NOISY] = W2_UI_ERROR_USR_W2_E_WARN_SERIAL_NOISY;
-	g_w2_error_user_strings[W2_E_WARN_MODE_HISTORY_BUFFER_IOB] = W2_UI_ERROR_USR_W2_E_WARN_MODE_HISTORY_BUFFER_IOB;
+	g_w2_error_user_strings[W2_E_WARN_MODE_HISTORY_BUFFER_IOB] =
+		W2_UI_ERROR_USR_W2_E_WARN_MODE_HISTORY_BUFFER_IOB;
 	g_w2_error_user_strings[W2_E_WARN_PING_TIMEOUT] = W2_UI_ERROR_USR_W2_E_WARN_PING_TIMEOUT;
 }
 
diff --git a/client/ui_errcatch.c b/client/ui_errcatch.c
index e1fd71b..abfbe22 100644
--- a/client/ui_errcatch.c
+++ b/client/ui_errcatch.c
@@ -1,14 +1,14 @@
 #include <stdlib.h>
 #include <string.h>
 
+#include "errcatch.h"
 #include "i18n.h"
 #include "strings.h"
-#include "errcatch.h"
 #include "ui.h"
 
 unsigned int g_w2_errcatch_log_line = 0;
 
-unsigned int w2_newline_count(char* str, unsigned int len) {
+unsigned int w2_newline_count(char *str, unsigned int len) {
 	unsigned int newlines = 0;
 	for (unsigned int i = 0; i < len; i++)
 		if (str[i] == '\n') newlines++;
@@ -16,26 +16,27 @@ unsigned int w2_newline_count(char* str, unsigned int len) {
 }
 
 char *w2_err_format(w2_s_error *error) {
-	const char* type = g_w2_error_type_strings[error->code >> 6];
-	const char* internal = g_w2_error_internal_strings[error->code];
-	const char* user = g_w2_error_user_strings[error->code];
+	const char *type	 = g_w2_error_type_strings[error->code >> 6];
+	const char *internal = g_w2_error_internal_strings[error->code];
+	const char *user	 = g_w2_error_user_strings[error->code];
 	if (internal == NULL || user == NULL) {
 		internal = W2_UI_ERROR_INT_W2_E_UNKNOWN;
-		user = W2_UI_ERROR_USR_W2_E_UNKNOWN;
+		user	 = W2_UI_ERROR_USR_W2_E_UNKNOWN;
 	}
 	size_t errdesc_len = strlen(type) + strlen(internal) + strlen(user) + 8;
-	size_t msg_indent = strlen(type) + 3;
-	char *ret_str = malloc(errdesc_len + (error->message_length > 0 ? error->message_length + msg_indent : 0) + 1);
+	size_t msg_indent  = strlen(type) + 3;
+	char *ret_str	   = malloc(
+			 errdesc_len + (error->message_length > 0 ? error->message_length + msg_indent : 0) + 1);
 	sprintf(ret_str, "[%s] %02x#%s: %s", type, error->code, internal, user);
 	if (error->message_length > 0) {
-		sprintf(ret_str + errdesc_len, "\n%*c%s", (int) msg_indent, ' ', error->message);
+		sprintf(ret_str + errdesc_len, "\n%*c%s", (int)msg_indent, ' ', error->message);
 		g_w2_errcatch_log_line += 1 + w2_newline_count(error->message, error->message_length);
 	}
 	return ret_str;
 }
 
 void w2_ui_tab_errcatch(bool first) {
-	g_w2_errcatch_log_line = 0;
+	g_w2_errcatch_log_line	= 0;
 	g_w2_ui_pad_body_scroll = 5 - g_w2_ui_height;
 	for (unsigned int x = 0; x < W2_ERRCATCH_LOG_SIZE; x++) {
 		unsigned int i = (x + g_w2_error_log_index) % W2_ERRCATCH_LOG_SIZE;
diff --git a/robot/setup.c b/robot/setup.c
index 4706d64..dfd88bd 100644
--- a/robot/setup.c
+++ b/robot/setup.c
@@ -34,6 +34,9 @@ void w2_setup_main() {
 	w2_modes_swap(W2_M_MAZE);
 	w2_modes_call(W2_M_HALT);
 
+	// send info
+	w2_cmd_info_rx(NULL);
+
 	// indicate startup done
 	play("L50 c>c");
 }