error handling done + better simulation / debug messaging

1 files changed, 23 insertions, 8 deletions

diff --git a/robot/errcatch.c b/robot/errcatch.c
index b50ee4a..945aa96 100644
--- a/robot/errcatch.c
+++ b/robot/errcatch.c
@@ -1,12 +1,12 @@
+#include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include <stdio.h>
 
+#include "consts.h"
 #include "errcatch.h"
+#include "halt.h"
 #include "modes.h"
 #include "orangutan_shim.h"
-#include "consts.h"
-#include "halt.h"
 
 w2_s_error g_w2_error_buffer[W2_ERROR_BUFFER_SIZE] = {};
 uint8_t g_w2_error_index						   = 0;
@@ -14,7 +14,9 @@ uint8_t g_w2_error_offset						   = 0;
 
 void w2_errcatch_main() {
 	while (g_w2_error_index != g_w2_error_offset) {
-		w2_errcatch_handle_error(g_w2_error_buffer[g_w2_error_offset]);
+		w2_s_error* error = &g_w2_error_buffer[g_w2_error_offset];
+		w2_errcatch_handle_error(error);
+		free(error);
 		g_w2_error_offset = (g_w2_error_offset + 1) % W2_ERROR_BUFFER_SIZE;
 	}
 }
@@ -34,13 +36,26 @@ void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const cha
 	g_w2_error_index					= (g_w2_error_index + 1) % W2_ERROR_BUFFER_SIZE;
 }
 
-void w2_errcatch_handle_error(w2_s_error error) {
-	uint8_t severity = error.code & W2_ERR_TYPE_MASK;
+void w2_errcatch_handle_error(w2_s_error* error) {
+	uint8_t severity = error->code & W2_ERR_TYPE_MASK;
 
-	// go into emergency mode for critical errors
+	// trigger emergency mode for critical errors
 	if ((severity ^ W2_ERR_TYPE_CRIT) == 0) g_w2_current_mode = &w2_mode_halt;
 
-	//TODO: forward error to sercomm
+	// TODO: handle more error types
+	switch (error->code) {
+		case W2_ERR_UNCAUGHT_ERROR: {
+			break;
+		}
+		default: {
+			w2_errcatch_throw(W2_ERR_UNCAUGHT_ERROR);
+			#ifdef W2_SIM
+			simwarn("Uncaught/unhandled error found with code 0x%02x", error->code);
+			#endif
+		}
+	}
+
+	// TODO: forward error to sercomm
 
 	return;
 }