fix buffer overflow in error handling module

- fixed ring buffer overflow in errcatch module
- fixed naming of commands in sercomm module
- added comments to macro's in consts.h
- properly handle `W2_E_WARN_UNCAUGHT_ERROR` and
  `W2_E_WARN_ERR_BUFFER_FULL` (these used to cause infinite loops)
- added buffer full warning code
- added options to hide some simulation messages
- more boilerplate sercomm module code

1 files changed, 7 insertions, 8 deletions

diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index dbdc62a..c558de8 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -1,5 +1,4 @@
 #include "hypervisor.h"
-#include "consts.h"
 #include "errcatch.h"
 #include "io.h"
 #include "modes.h"
@@ -7,6 +6,10 @@
 #include "sercomm.h"
 
 void w2_hypervisor_main() {
+#ifdef W2_SIM
+	siminfo("cycle start\n");
+#endif
+
 	time_reset();
 
 	w2_sercomm_main();
@@ -18,14 +21,10 @@ void w2_hypervisor_main() {
 	w2_modes_main();
 	unsigned long mode_time = get_ms() - io_time;
 
-#ifdef W2_SIM
-	siminfo("sercomm:  %lums\n", sercomm_time);
-	siminfo("errcatch: %lums\n", errcatch_time);
-	siminfo("io:       %lums\n", io_time);
-	siminfo("mode:     %lums\n", mode_time);
+	if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_E_WARN_CYCLE_EXPIRED);
 
+#ifdef W2_SIM
+	siminfo("cycle end\n");
 	usleep(100e3);
 #endif
-
-	if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_E_WARN_CYCLE_EXPIRED);
 }