error message logging working

5 files changed, 129 insertions, 8 deletions

diff --git a/client/i18n/en_us.h b/client/i18n/en_us.h
index fccfaa3..47debd7 100644
--- a/client/i18n/en_us.h
+++ b/client/i18n/en_us.h
@@ -9,6 +9,7 @@
 #define W2_UI_BATT_STAT_BATTERY "battery"
 #define W2_UI_EXPT_STAT_WARNINGS "warning(s)"
 #define W2_UI_EXPT_STAT_ERRORS "error(s)"
+
 #define W2_UI_MODE_CHRG "charging station"
 #define W2_UI_MODE_DIRC "direct control"
 #define W2_UI_MODE_GRID "grid"
@@ -17,12 +18,14 @@
 #define W2_UI_MODE_MAZE "maze"
 #define W2_UI_MODE_SCAL "sensor calibration"
 #define W2_UI_MODE_SPIN "wet floor simulation"
+
 #define W2_UI_TAB_LABEL_START "info"
 #define W2_UI_TAB_LABEL_DIRC "direct control"
 #define W2_UI_TAB_LABEL_ERRCATCH "logs"
 #define W2_UI_TAB_LABEL_MCFG "map"
 #define W2_UI_TAB_LABEL_ORDERS "orders"
 #define W2_UI_TAB_LABEL_MODE "set mode"
+
 #define W2_UI_TAB_START_MESSAGE "" \
 	"welcome to the wall-e2 console application!\n" \
 	"this is client version " W2_BUILD_STR "\n" \
@@ -43,3 +46,43 @@
 	"<S>  logs                   <M>  set mode\n" \
 	"<d>  direct control         <m>  map\n"
 
+#define W2_UI_ERROR_SEVERITY_CRIT "CRIT"
+#define W2_UI_ERROR_SEVERITY_WARN "WARN"
+#define W2_UI_ERROR_SEVERITY_INFO "INFO"
+#define W2_UI_ERROR_SEVERITY_VERB "VERB"
+
+#define W2_UI_ERROR_INT_W2_E_UNKNOWN "W2_E_UNKNOWN"
+#define W2_UI_ERROR_INT_W2_E_CRIT_CONN_LOST "W2_E_CRIT_CONN_LOST"
+#define W2_UI_ERROR_INT_W2_E_CRIT_COM_UNAVAILABLE "W2_E_CRIT_COM_UNAVAILABLE"
+#define W2_UI_ERROR_INT_W2_E_CRIT_LINE_LOST "W2_E_CRIT_LINE_LOST"
+#define W2_UI_ERROR_INT_W2_E_CRIT_OBSTACLE_STUCK "W2_E_CRIT_OBSTACLE_STUCK"
+#define W2_UI_ERROR_INT_W2_E_CRIT_VERSION_INCOMPATIBLE "W2_E_CRIT_VERSION_INCOMPATIBLE"
+#define W2_UI_ERROR_INT_W2_E_WARN_BATTERY_LOW "W2_E_WARN_BATTERY_LOW"
+#define W2_UI_ERROR_INT_W2_E_WARN_OBSTACLE_DETECTED "W2_E_WARN_OBSTACLE_DETECTED"
+#define W2_UI_ERROR_INT_W2_E_WARN_CYCLE_EXPIRED "W2_E_WARN_CYCLE_EXPIRED"
+#define W2_UI_ERROR_INT_W2_E_WARN_UNCAUGHT_ERROR "W2_E_WARN_UNCAUGHT_ERROR"
+#define W2_UI_ERROR_INT_W2_E_WARN_ERR_BUFFER_FULL "W2_E_WARN_ERR_BUFFER_FULL"
+#define W2_UI_ERROR_INT_W2_E_WARN_LINE_LOST "W2_E_WARN_LINE_LOST"
+#define W2_UI_ERROR_INT_W2_E_WARN_SERCOMM_BUFFER_FULL "W2_E_WARN_SERCOMM_BUFFER_FULL"
+#define W2_UI_ERROR_INT_W2_E_WARN_VERSION_INCOMPATIBLE "W2_E_WARN_VERSION_INCOMPATIBLE"
+#define W2_UI_ERROR_INT_W2_E_WARN_SERIAL_NOISY "W2_E_WARN_SERIAL_NOISY"
+#define W2_UI_ERROR_INT_W2_E_WARN_MODE_HISTORY_BUFFER_IOB "W2_E_WARN_MODE_HISTORY_BUFFER_IOB"
+#define W2_UI_ERROR_INT_W2_E_WARN_PING_TIMEOUT "W2_E_WARN_PING_TIMEOUT"
+
+#define W2_UI_ERROR_USR_W2_E_UNKNOWN "unknown error code"
+#define W2_UI_ERROR_USR_W2_E_CRIT_CONN_LOST "connection to robot lost"
+#define W2_UI_ERROR_USR_W2_E_CRIT_COM_UNAVAILABLE "COM-port unavailable"
+#define W2_UI_ERROR_USR_W2_E_CRIT_LINE_LOST "line lost and unable to be found automatically"
+#define W2_UI_ERROR_USR_W2_E_CRIT_OBSTACLE_STUCK "obstacle detected, robot stuck"
+#define W2_UI_ERROR_USR_W2_E_CRIT_VERSION_INCOMPATIBLE "major version mismatch detected, please update robot"
+#define W2_UI_ERROR_USR_W2_E_WARN_BATTERY_LOW "battery low, going to charging station"
+#define W2_UI_ERROR_USR_W2_E_WARN_OBSTACLE_DETECTED "obstacle detected, waiting"
+#define W2_UI_ERROR_USR_W2_E_WARN_CYCLE_EXPIRED "maximum logic module cycle time exceeded"
+#define W2_UI_ERROR_USR_W2_E_WARN_UNCAUGHT_ERROR "uncaught error occurred"
+#define W2_UI_ERROR_USR_W2_E_WARN_ERR_BUFFER_FULL "error buffer full"
+#define W2_UI_ERROR_USR_W2_E_WARN_LINE_LOST "line lost, trying to find line automatically"
+#define W2_UI_ERROR_USR_W2_E_WARN_SERCOMM_BUFFER_FULL "serial communication buffer full"
+#define W2_UI_ERROR_USR_W2_E_WARN_VERSION_INCOMPATIBLE "minor version mismatch detected, this might cause problems"
+#define W2_UI_ERROR_USR_W2_E_WARN_SERIAL_NOISY "invalid serial data received (noisy channel / check connection?)"
+#define W2_UI_ERROR_USR_W2_E_WARN_MODE_HISTORY_BUFFER_IOB "mode history buffer index out of bounds"
+#define W2_UI_ERROR_USR_W2_E_WARN_PING_TIMEOUT "ping timed out"
diff --git a/client/setup.c b/client/setup.c
index 41a987d..0f2b0f7 100644
--- a/client/setup.c
+++ b/client/setup.c
@@ -49,8 +49,6 @@ void w2_client_setup(int argc, char **argv) {
 	g_w2_ui_pad_body   = newpad(g_w2_ui_height - 5, g_w2_ui_width);
 	scrollok(g_w2_ui_pad_body, true);
 
-	w2_errcatch_throw(W2_E_CRIT_COM_UNAVAILABLE);
-
 	// check endianness
 	g_w2_endianness = *_ptest;
 }
diff --git a/client/strings.c b/client/strings.c
index 4dda1c8..c89cbbf 100644
--- a/client/strings.c
+++ b/client/strings.c
@@ -1,7 +1,11 @@
+#include "../shared/errcatch.h"
 #include "strings.h"
 
 char *g_w2_mode_strings[W2_MODE_COUNT];
 char *g_w2_tab_strings[W2_UI_TAB_COUNT];
+char *g_w2_error_type_strings[4];
+char *g_w2_error_internal_strings[0x100];
+char *g_w2_error_user_strings[0x100];
 
 void w2_strings_modes_init() {
 	g_w2_mode_strings[W2_M_CHRG] = W2_UI_MODE_CHRG;
@@ -19,7 +23,55 @@ void w2_strings_tabs_init() {
 	g_w2_tab_strings[W2_UI_TAB_DIRC]	 = W2_UI_TAB_LABEL_DIRC;
 }
 
+void w2_strings_errors_types() {
+	g_w2_error_type_strings[0b00] = W2_UI_ERROR_SEVERITY_CRIT;
+	g_w2_error_type_strings[0b01] = W2_UI_ERROR_SEVERITY_WARN;
+	g_w2_error_type_strings[0b10] = W2_UI_ERROR_SEVERITY_INFO;
+	g_w2_error_type_strings[0b11] = W2_UI_ERROR_SEVERITY_VERB;
+}
+
+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_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_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_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_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_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_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_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_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_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_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_PING_TIMEOUT] = W2_UI_ERROR_USR_W2_E_WARN_PING_TIMEOUT;
+}
+
 void w2_strings_init() {
+	w2_strings_errors_types();
+	w2_strings_errors_internal();
+	w2_strings_errors_user();
 	w2_strings_modes_init();
 	w2_strings_tabs_init();
 }
diff --git a/client/strings.h b/client/strings.h
index ec1f415..5d20b8e 100644
--- a/client/strings.h
+++ b/client/strings.h
@@ -6,5 +6,8 @@
 
 extern char *g_w2_mode_strings[W2_MODE_COUNT];
 extern char *g_w2_tab_strings[W2_UI_TAB_COUNT];
+extern char *g_w2_error_type_strings[4];
+extern char *g_w2_error_internal_strings[0x100];
+extern char *g_w2_error_user_strings[0x100];
 
 void w2_strings_init();
diff --git a/client/ui_errcatch.c b/client/ui_errcatch.c
index d2c32b2..e1fd71b 100644
--- a/client/ui_errcatch.c
+++ b/client/ui_errcatch.c
@@ -1,27 +1,52 @@
 #include <stdlib.h>
+#include <string.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 newlines = 0;
+	for (unsigned int i = 0; i < len; i++)
+		if (str[i] == '\n') newlines++;
+	return newlines;
+}
+
 char *w2_err_format(w2_s_error *error) {
-	char *ret_str = malloc(32);
-	sprintf(ret_str, "hai, 0x%02x", 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;
+	}
+	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);
+	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);
+		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_ui_pad_body_scroll = 5 - g_w2_ui_height;
-	unsigned int line		= 0;
 	for (unsigned int x = 0; x < W2_ERRCATCH_LOG_SIZE; x++) {
 		unsigned int i = (x + g_w2_error_log_index) % W2_ERRCATCH_LOG_SIZE;
 		if (g_w2_error_log[i] == NULL) continue;
 
-		wmove(g_w2_ui_pad_body, line, 0);
+		wmove(g_w2_ui_pad_body, g_w2_errcatch_log_line, 0);
 		char *err_str = w2_err_format(g_w2_error_log[i]);
 		waddstr(g_w2_ui_pad_body, err_str);
 		free(err_str);
 
-		line++;
+		g_w2_errcatch_log_line++;
 	}
-	g_w2_ui_pad_body_scroll += line;
+	g_w2_ui_pad_body_scroll += g_w2_errcatch_log_line;
 }