serial parsing working on client

7 files changed, 7 insertions, 102 deletions

diff --git a/robot/errcatch.c b/robot/errcatch.c
index 8df90b8..0f809f9 100644
--- a/robot/errcatch.c
+++ b/robot/errcatch.c
@@ -1,52 +1,10 @@
-#include <stdlib.h>
 #include <string.h>
 
-#include "errcatch.h"
+#include "../shared/errcatch.h"
 #include "modes.h"
 #include "orangutan_shim.h"
 #include "sercomm.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;
-uint8_t g_w2_error_buffer_full						= 0;
-uint8_t g_w2_error_uncaught							= 0;
-
-void w2_errcatch_main() {
-	while (g_w2_error_offset != g_w2_error_index) {
-		w2_s_error *error = g_w2_error_buffer[g_w2_error_offset];
-		w2_errcatch_handle_error(error);
-		g_w2_error_offset = (g_w2_error_offset + 1) % W2_ERROR_BUFFER_SIZE;
-	}
-	if (g_w2_error_buffer_full) {
-		w2_errcatch_throw(W2_E_WARN_ERR_BUFFER_FULL);
-		g_w2_error_buffer_full = 0;
-	}
-	if (g_w2_error_uncaught) {
-		w2_errcatch_throw(W2_E_WARN_UNCAUGHT_ERROR);
-		g_w2_error_uncaught = 0;
-	}
-}
-
-w2_s_error *w2_alloc_error(w2_e_errorcode code, uint16_t length, const char *message) {
-	w2_s_error *error = malloc(sizeof(w2_s_error) + length);
-	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(w2_e_errorcode code) { w2_errcatch_throw_msg(code, 0, ""); }
-void w2_errcatch_throw_msg(w2_e_errorcode code, uint16_t length, const char *message) {
-	uint8_t next_index	   = (g_w2_error_index + 1) % W2_ERROR_BUFFER_SIZE;
-	g_w2_error_buffer_full = next_index == g_w2_error_offset;
-	free(g_w2_error_buffer[g_w2_error_index]);
-	w2_s_error *error					= w2_alloc_error(code, length, message);
-	g_w2_error_buffer[g_w2_error_index] = error;
-	if (g_w2_error_buffer_full) return;
-	g_w2_error_index = next_index;
-}
-
 void w2_errcatch_handle_error(w2_s_error *error) {
 	uint8_t severity = error->code & W2_E_TYPE_MASK;
 
@@ -59,7 +17,7 @@ void w2_errcatch_handle_error(w2_s_error *error) {
 			break;
 		}
 		default: {
-			g_w2_error_uncaught = 1;
+			g_w2_error_uncaught = true;
 #ifdef W2_SIM
 			simwarn("Uncaught/unhandled error found with code 0x%02x\n", error->code);
 #endif
diff --git a/robot/errcatch.h b/robot/errcatch.h
deleted file mode 100644
index add4ece..0000000
--- a/robot/errcatch.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#pragma once
-
-/** @file errcatch.h */
-
-#include <stdint.h>
-
-#include "../shared/consts.h"
-#include "../shared/errors.h"
-
-/** 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;
-
-/** error-handler module main */
-void w2_errcatch_main();
-
-/** handle error */
-void w2_errcatch_handle_error(w2_s_error *error);
-
-/** append error to error buffer */
-void w2_errcatch_throw(w2_e_errorcode code);
-
-/** append error to error buffer (with debug message) */
-void w2_errcatch_throw_msg(w2_e_errorcode code, uint16_t length, const char *message);
-
-/**
- * allocate and initialize error struct
- *
- * TODO: doesn't handle null pointers from malloc
- */
-w2_s_error *w2_alloc_error(w2_e_errorcode code, uint16_t length, const char *message);
diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index 1fd3ac2..e781877 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -1,6 +1,6 @@
 #include "hypervisor.h"
 #include "../shared/util.h"
-#include "errcatch.h"
+#include "../shared/errcatch.h"
 #include "io.h"
 #include "modes.h"
 #include "orangutan_shim.h"
diff --git a/robot/main.c b/robot/main.c
index d76dbaf..eba94cb 100644
--- a/robot/main.c
+++ b/robot/main.c
@@ -5,6 +5,7 @@
 #include "sim.h"
 #endif
 
+#include <unistd.h>
 int main(int argc, char **argv) {
 #ifdef W2_SIM
 	w2_sim_setup(argc, argv);
diff --git a/robot/modes.c b/robot/modes.c
index 9877f6e..55bb1d4 100644
--- a/robot/modes.c
+++ b/robot/modes.c
@@ -1,7 +1,7 @@
 #include "modes.h"
 #include "../shared/protocol.h"
 #include "../shared/util.h"
-#include "errcatch.h"
+#include "../shared/errcatch.h"
 #include "sercomm.h"
 
 /** function pointer to current mode */
diff --git a/robot/sercomm.c b/robot/sercomm.c
index 07c4bd8..e346cc2 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -3,7 +3,7 @@
 
 #include "../shared/bin.h"
 #include "../shared/serial_parse.h"
-#include "errcatch.h"
+#include "../shared/errcatch.h"
 #include "hypervisor.h"
 #include "io.h"
 #include "mode_dirc.h"
@@ -58,26 +58,6 @@ void w2_sercomm_append_msg(w2_s_bin *data) {
 	g_w2_sercomm_index = next_index;
 }
 
-void w2_cmd_handler(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_length) {
-	w2_s_bin *copy				= w2_bin_s_alloc(data_length, data);
-	void (*handler)(w2_s_bin *) = g_w2_cmd_handlers[data[0]];
-
-	if (handler == NULL) {
-#ifdef W2_SIM
-		// TODO throw warning
-		simwarn("unknown serial message with code 0x%02x\n", data[0]);
-#endif
-		w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY);
-	} else {
-#ifdef W2_SIM
-		w2_sim_print_serial(copy);
-#endif
-		handler(copy);
-	}
-
-	free(copy);
-}
-
 void w2_cmd_ping_rx(w2_s_bin *data) {
 	w2_s_cmd_ping_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
 	memcpy(message, data->data, data->bytes);
diff --git a/robot/sim.c b/robot/sim.c
index 34e4932..0e4c9b7 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -10,7 +10,7 @@
 #include "../shared/consts.h"
 #include "../shared/protocol.h"
 #include "sercomm.h"
-#include "errcatch.h"
+#include "../shared/errcatch.h"
 
 struct timespec reference_time; // NOLINT
 bool g_w2_sim_headless = false;