move more shared code

1 files changed, 1 insertions, 51 deletions

diff --git a/robot/errcatch.h b/robot/errcatch.h
index 1e273bd..dcb6a97 100644
--- a/robot/errcatch.h
+++ b/robot/errcatch.h
@@ -3,57 +3,7 @@
 #include <stdint.h>
 
 #include "../shared/consts.h"
-
-#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
- *
- * error codes are between 0-63 because the two most significant bits are
- * reserved for error type checking
- */
-enum w2_e_errorcodes {
-	/** wireless connection lost from either robot or client-side */
-	W2_E_CRIT_CONN_LOST = 0x00 | W2_E_TYPE_CRIT,
-	/** serial COM-port unavalable. client-side only */
-	W2_E_CRIT_COM_UNAVAILABLE = 0x01 | W2_E_TYPE_CRIT,
-	/** line unable to be found automatically */
-	W2_E_CRIT_LINE_LOST = 0x02 | W2_E_TYPE_CRIT,
-	/** obstacle unavoidable, robot stuck */
-	W2_E_CRIT_OBSTACLE_STUCK = 0x03 | W2_E_TYPE_CRIT,
-
-	/** battery low, returning to charging station */
-	W2_E_WARN_BATTERY_LOW = 0x00 | W2_E_TYPE_WARN,
-	/** obstacle detected, waiting then trying other route */
-	W2_E_WARN_OBSTACLE_DETECTED = 0x01 | W2_E_TYPE_WARN,
-	/** logic cycle took longer than `W2_MAX_MODULE_CYCLE_MS` */
-	W2_E_WARN_CYCLE_EXPIRED = 0x02 | W2_E_TYPE_WARN,
-	/** error thrown without handler, gets thrown on next cycle */
-	W2_E_WARN_UNCAUGHT_ERROR = 0x03 | W2_E_TYPE_WARN,
-	/** error buffer full, gets thrown on next cycle */
-	W2_E_WARN_ERR_BUFFER_FULL = 0x04 | W2_E_TYPE_WARN,
-	/** line lost, trying to calibrate */
-	W2_E_WARN_LINE_LOST = 0x05 | W2_E_TYPE_WARN,
-	/** serial buffer full, gets thrown on next cycle */
-	W2_E_WARN_SERCOMM_BUFFER_FULL = 0x06 | W2_E_TYPE_WARN,
-};
-
-/**
- * error struct
- *
- * holds an error with type `code`, and an optional `message` with length
- * `message_length`
- */
-typedef struct {
-	enum w2_e_errorcodes code;
-	uint8_t message_length;
-	char message[];
-} w2_s_error;
+#include "../shared/errors.h"
 
 /** error ring buffer */
 extern w2_s_error *g_w2_error_buffer[W2_ERROR_BUFFER_SIZE];