move more shared code

2 files changed, 89 insertions, 0 deletions

diff --git a/shared/errors.h b/shared/errors.h
new file mode 100644
index 0000000..280c5ef
--- /dev/null
+++ b/shared/errors.h
@@ -0,0 +1,54 @@
+#pragma once
+
+#include <stdint.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;
diff --git a/shared/protocol.h b/shared/protocol.h
new file mode 100644
index 0000000..b400252
--- /dev/null
+++ b/shared/protocol.h
@@ -0,0 +1,35 @@
+#pragma once
+
+#define W2_CMDDIR_RX (0)
+#define W2_CMDDIR_TX (1)
+
+enum w2_e_serial_commands {
+	/** ping command */
+	W2_CMD_PING = 0x00,
+	/** exception command */
+	W2_CMD_EXPT = 0x02,
+	/** mode command */
+	W2_CMD_MODE = 0x04,
+	/** speed command */
+	W2_CMD_SPED = 0x06,
+	/** direct control command */
+	W2_CMD_DIRC = 0x08,
+	/** coordinate command */
+	W2_CMD_CORD = 0x0a,
+	/** backorder modify command */
+	W2_CMD_BOMD = 0x0c,
+	/** soft reset command */
+	W2_CMD_SRES = 0x0e,
+	/** map config command */
+	W2_CMD_MCFG = 0x10,
+	/** sensor data command */
+	W2_CMD_SENS = 0x12,
+	/** info command */
+	W2_CMD_INFO = 0x14,
+	/** display control command */
+	W2_CMD_DISP = 0x16,
+	/** play midi command */
+	W2_CMD_PLAY = 0x18,
+	/** control leds command */
+	W2_CMD_CLED = 0x1a,
+};