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authorlonkaars <loek@pipeframe.xyz>2022-05-13 19:29:31 +0200
committerlonkaars <loek@pipeframe.xyz>2022-05-13 19:29:31 +0200
commit3f90c242ff00cc2a8ec26486c1d22bb0e3de0114 (patch)
tree0e4c041a4b2c8d0256c457bc9027e948ea35501c /robot
parent4dc9b15829321e29b82c5f0317d2a0811aee6482 (diff)
debug error handling
Diffstat (limited to 'robot')
-rw-r--r--robot/consts.h1
-rw-r--r--robot/errcatch.c22
-rw-r--r--robot/errcatch.h22
-rw-r--r--robot/hypervisor.c32
-rw-r--r--robot/makefile2
-rw-r--r--robot/sim.c23
-rw-r--r--robot/sim.h1
7 files changed, 82 insertions, 21 deletions
diff --git a/robot/consts.h b/robot/consts.h
index fb67f26..93cafa5 100644
--- a/robot/consts.h
+++ b/robot/consts.h
@@ -13,6 +13,7 @@
#define W2_ERR_TYPE_WARN (0b01 << 6)
#define W2_ERR_TYPE_INFO (0b10 << 6)
#define W2_ERR_TYPE_VERB (0b11 << 6)
+#define W2_ERR_TYPE_MASK (0b11 << 6)
/**
* enum storing all error codes
diff --git a/robot/errcatch.c b/robot/errcatch.c
index ec1ab74..b50ee4a 100644
--- a/robot/errcatch.c
+++ b/robot/errcatch.c
@@ -1,7 +1,12 @@
#include <stdlib.h>
#include <string.h>
+#include <stdio.h>
#include "errcatch.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;
@@ -9,8 +14,7 @@ uint8_t g_w2_error_offset = 0;
void w2_errcatch_main() {
while (g_w2_error_index != g_w2_error_offset) {
- // handle g_w2_error_buffer[g_w2_error_offset];
-
+ w2_errcatch_handle_error(g_w2_error_buffer[g_w2_error_offset]);
g_w2_error_offset = (g_w2_error_offset + 1) % W2_ERROR_BUFFER_SIZE;
}
}
@@ -23,10 +27,20 @@ w2_s_error *w2_alloc_error(enum w2_e_errorcodes code, uint16_t length, const cha
return error;
}
+void w2_errcatch_throw(enum w2_e_errorcodes code) { w2_errcatch_throw_msg(code, 0, ""); }
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;
+ g_w2_error_index = (g_w2_error_index + 1) % W2_ERROR_BUFFER_SIZE;
}
-void w2_errcatch_throw(enum w2_e_errorcodes code) { w2_errcatch_throw_msg(code, 0, ""); }
+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
+ if ((severity ^ W2_ERR_TYPE_CRIT) == 0) g_w2_current_mode = &w2_mode_halt;
+
+ //TODO: forward error to sercomm
+
+ return;
+}
diff --git a/robot/errcatch.h b/robot/errcatch.h
index 3bdc330..7ced980 100644
--- a/robot/errcatch.h
+++ b/robot/errcatch.h
@@ -4,15 +4,6 @@
#include "consts.h"
-/** error-handler module main */
-void w2_errcatch_main();
-
-/** append error to error buffer */
-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
*
@@ -32,9 +23,22 @@ 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(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);
+
/**
* allocate and initialize error struct
*
* TODO: doesn't handle null pointers from calloc
*/
w2_s_error *w2_alloc_error(enum w2_e_errorcodes code, uint16_t length, const char *message);
+
diff --git a/robot/hypervisor.c b/robot/hypervisor.c
index 8c22316..0350163 100644
--- a/robot/hypervisor.c
+++ b/robot/hypervisor.c
@@ -1,3 +1,8 @@
+#include <stdlib.h>
+#include <time.h>
+#include <stdio.h>
+#include <unistd.h>
+
#include "consts.h"
#include "errcatch.h"
#include "hypervisor.h"
@@ -7,12 +12,31 @@
#include "orangutan_shim.h"
void w2_hypervisor_main() {
+ time_reset();
+
w2_sercomm_main();
+ unsigned long sercomm_time = get_ms();
w2_errcatch_main();
+ unsigned long errcatch_time = get_ms() - sercomm_time;
w2_io_main();
-
- time_reset();
+ unsigned long io_time = get_ms() - errcatch_time;
w2_modes_main();
- unsigned long elapsed_ms = get_ms();
- if (elapsed_ms > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED);
+ unsigned long mode_time = get_ms() - io_time;
+
+ char* message = malloc(80);
+ sprintf(message, "sercomm: %lums ", sercomm_time);
+ serial_send(message, 80);
+ sprintf(message, "errcatch: %lums ", errcatch_time);
+ serial_send(message, 80);
+ sprintf(message, "io: %lums ", io_time);
+ serial_send(message, 80);
+ sprintf(message, "mode: %lums ", mode_time);
+ serial_send(message, 80);
+ sprintf(message, " ");
+ serial_send(message, 80);
+ free(message);
+
+ usleep(100e3);
+
+ if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED);
}
diff --git a/robot/makefile b/robot/makefile
index fb30b7e..1036a26 100644
--- a/robot/makefile
+++ b/robot/makefile
@@ -4,7 +4,7 @@ AVRDUDE_DEVICE = m328p
DEVICE ?= atmega168
MCU ?= atmega168
AVRDUDE_DEVICE ?= m168
-SIM =
+SIM = true
PORT ?= /dev/ttyACM0
diff --git a/robot/sim.c b/robot/sim.c
index 8fc8d00..3f7f686 100644
--- a/robot/sim.c
+++ b/robot/sim.c
@@ -1,15 +1,23 @@
#include <stdio.h>
+#include <time.h>
+#include <string.h>
#include "sim.h"
+struct timespec reference_time; // NOLINT
+
void time_reset() {
+ // printf("SIM: time_reset()\n");
+ clock_gettime(CLOCK_MONOTONIC, &reference_time);
return;
- printf("SIM: time_reset()\n");
}
unsigned long get_ms() {
- printf("SIM: get_ms()\n");
- return 0;
+ // printf("SIM: get_ms()\n");
+ struct timespec elapsed;
+ clock_gettime(CLOCK_MONOTONIC, &elapsed);
+ return ((elapsed.tv_sec * 1000) + (elapsed.tv_nsec / 1000000)) -
+ ((reference_time.tv_sec * 1000) + (reference_time.tv_nsec / 1000000));
}
void red_led(unsigned char on) {
@@ -36,3 +44,12 @@ void serial_set_baud_rate(unsigned int rate) {
printf("SIM: serial_set_baud_rate(%u)\n", rate);
return;
}
+
+// TODO: hexdump binary data
+void serial_send(char* message, unsigned int length) {
+ char message_copy[length];
+ strncpy(message_copy, message, length);
+ printf("SIM: serial_send(\"%s\", %u)\n", message_copy, length);
+ return;
+}
+
diff --git a/robot/sim.h b/robot/sim.h
index a408bc6..08faee5 100644
--- a/robot/sim.h
+++ b/robot/sim.h
@@ -11,3 +11,4 @@ void green_led(unsigned char on); // NOLINT
void clear(); // NOLINT
void play(const char* melody); // NOLINT
void serial_set_baud_rate(unsigned int rate); // NOLINT
+void serial_send(char* message, unsigned int length); // NOLINT