[wip] error handling module

4 files changed, 57 insertions, 10 deletions

diff --git a/robot/consts.h b/robot/consts.h
index 1195422..fb67f26 100644
--- a/robot/consts.h
+++ b/robot/consts.h
@@ -1,12 +1,13 @@
 #pragma once
 
 #ifndef W2_BUILD_STR
-// should be defined with -DBUILD_STR in makefile
+// is defined by CFLAGS += -DW2_BUILD_STR in makefile
 #define W2_BUILD_STR ("????????")
 #endif
 
 #define W2_MAX_MODULE_CYCLE_MS (20)
 #define W2_SERIAL_BAUD (9600)
+#define W2_ERROR_BUFFER_SIZE (16)
 
 #define W2_ERR_TYPE_CRIT (0b00 << 6)
 #define W2_ERR_TYPE_WARN (0b01 << 6)
diff --git a/robot/errcatch.c b/robot/errcatch.c
index 5b42bb4..a70a409 100644
--- a/robot/errcatch.c
+++ b/robot/errcatch.c
@@ -1,7 +1,34 @@
+#include <stdlib.h>
+#include <string.h>
+
 #include "errcatch.h"
 
+w2_s_error g_w2_error_buffer[W2_ERROR_BUFFER_SIZE] = {};
+uint8_t g_w2_error_index = 0;
+uint8_t g_w2_error_offset = 0;
+
 void w2_errcatch_main() {}
 
-void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const char *message) {}
+
+/**
+ * allocate and initialize error struct
+ *
+ * TODO: doesn't handle null pointers from calloc
+ */
+inline w2_s_error* w2_alloc_error(enum w2_e_errorcodes code, uint16_t length, const char *message) {
+  w2_s_error* error = calloc(sizeof(w2_s_error) + length, 1);
+
+	memcpy(error, &(w2_s_error const){ .code = code, .message_length = length }, sizeof(w2_s_error));
+	
+	// strncpy(error->message, message, length);
+
+  return error;
+}
+
+void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const char *message) {
+	w2_s_error error = *w2_alloc_error(code, length, message);
+	g_w2_error_buffer[g_w2_error_index] = error;
+	g_w2_error_index = (g_w2_error_index) & W2_ERROR_BUFFER_SIZE;
+}
 
 void w2_errcatch_throw(enum w2_e_errorcodes code) { w2_errcatch_throw_msg(code, 0, ""); }
diff --git a/robot/errcatch.h b/robot/errcatch.h
index 48e2a75..dcea672 100644
--- a/robot/errcatch.h
+++ b/robot/errcatch.h
@@ -12,3 +12,22 @@ void w2_errcatch_throw(enum w2_e_errorcodes code);
 
 /** append error to error buffer (with debug message) */
 void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const char *message);
+
+/**
+ * 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;
+	uint8_t message[];
+} w2_s_error;
+
+/** error ring buffer */
+extern w2_s_error g_w2_error_buffer[W2_ERROR_BUFFER_SIZE];
+/** stores head of ring buffer */
+extern uint8_t g_w2_error_index;
+/** stores start of ring buffer */
+extern uint8_t g_w2_error_offset;
diff --git a/robot/readme.md b/robot/readme.md
index bb88e80..1ffdb65 100644
--- a/robot/readme.md
+++ b/robot/readme.md
@@ -48,12 +48,12 @@ what they're supposed to do:
 |module          |internal name|author|purpose|
 |----------------|-------------|-|-|
 |hypervisor      |`hypervisor `|N/a| backbone of all other modules; stores global variables; controls when other modules run|
-|pc communication|`sercomm    `|Jorn & Abdullaahi| reads and parses incoming serial data; sends all data in the message buffer|
+|pc communication|`sercomm    `|Fiona| reads and parses incoming serial data; sends all data in the message buffer|
 |error handling  |`errcatch   `|Loek| receives error codes; controls how errors are handled|
-|i/o read & write|`io         `|Fiona| reads all inputs to global state; writes all outputs|
+|i/o read & write|`io         `|Jorn & Abdullaahi| reads all inputs to global state; writes all outputs|
 |mode logic      |`modes      `|N/a| executes the appropriate module for current mode|
-|maze            |`mode_maze  `|TBD| controls robot during maze portion of map; hands off control to warehouse module|
-|warehouse       |`mode_grid  `|TDB| controls robot during warehouse portion of map; hands off control to maze module|
+|maze            |`mode_maze  `|Jorn & Abdullaahi| controls robot during maze portion of map; hands off control to warehouse module|
+|warehouse       |`mode_grid  `|Loek| controls robot during warehouse portion of map; hands off control to maze module|
 |emergency stop  |`mode_halt  `|Fiona| stops all execution until emergency mode is reset by software or user|
 |calibration     |`mode_calb  `|Fiona| find line by turning on own axis if lost|
 
@@ -120,10 +120,10 @@ to act on accordingly.
 the error handling module (a) provides functions for other modules to report
 errors, and (b) handles errors accordingly.
 
-- [ ] create an error `struct` that holds:
-  - [ ] error code
-  - [ ] message length
-  - [ ] message contents
+- [x] create an error `struct` that holds:
+  - [x] error code
+  - [x] message length
+  - [x] message contents
 - [ ] create a global error ring buffer with an appropriate size that holds
   error messages
 - [ ] handle errors in the error buffer, referencing the functional