22 files changed, 309 insertions, 128 deletions

diff --git a/client/errcatch.c b/client/errcatch.c
new file mode 100644
index 0000000..e8d696a
--- /dev/null
+++ b/client/errcatch.c
@@ -0,0 +1,19 @@
+#include "../shared/errcatch.h"
+
+void w2_errcatch_handle_error(w2_s_error *error) {
+	// TODO: handle more error types
+	switch (error->code) {
+		case W2_E_WARN_UNCAUGHT_ERROR: {
+			break;
+		}
+		default: {
+			g_w2_error_uncaught = true;
+#ifdef W2_SIM
+			simwarn("Uncaught/unhandled error found with code 0x%02x\n", error->code);
+#endif
+		}
+	}
+
+	return;
+}
+
diff --git a/client/main.c b/client/main.c
index d51f30b..1060f7d 100644
--- a/client/main.c
+++ b/client/main.c
@@ -1,29 +1,15 @@
+#include "setup.h"
+#include "../shared/errcatch.h"
+#include "main.h"
 #include "serial.h"
-
-#include <stdio.h>
-#include <unistd.h>
+#include "ui.h"
 
 int main(int argc, char **argv) {
-	if (argc < 2) {
-		printf("usage: %s <serial port>\n", argv[0]);
-		return 1;
-	}
-
-	if (w2_serial_open(argv[1]) == 0) {
-		printf("serial port open fout");
-		return 1;
-	}
-
-	printf("writing...\n");
-	bool success = w2_serial_write("\xff\x14", 2);
-	printf("writing %s\n", success ? "succeeded" : "failed");
+	w2_client_setup(argc, argv);
 
-	printf("reading...\n");
 	while (1) {
-		int res = w2_serial_read();
-		if (res == -1) continue;
-
-		printf("%02x ", (uint8_t)res);
-		fflush(stdout);
+		w2_serial_main();
+		w2_errcatch_main();
+		w2_ui_main();
 	}
 }
diff --git a/client/main.h b/client/main.h
new file mode 100644
index 0000000..7bb2173
--- /dev/null
+++ b/client/main.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include "../shared/protocol.h"
+
+typedef struct {
+	unsigned int ping;
+	w2_s_cmd_info_tx info;
+	w2_s_cmd_sens_tx io;
+} w2_s_client_state;
+
+extern w2_s_client_state g_w2_state;
+
diff --git a/client/makefile b/client/makefile
index 87d06a9..f70f70f 100644
--- a/client/makefile
+++ b/client/makefile
@@ -10,7 +10,7 @@ all: $(EXECNAME)
 
 SOURCES := $(wildcard *.c)
 HEADERS := $(wildcard *.h)
-# include ../shared/makefile
+include ../shared/makefile
 
 OBJECTS := $(patsubst %.c,%.o, $(SOURCES))
 
diff --git a/client/readme.md b/client/readme.md
index 2a8c19f..1fbd49c 100644
--- a/client/readme.md
+++ b/client/readme.md
@@ -27,7 +27,8 @@ the robot in various ways. it primarily works in a bios-like way, with the user
 having access to multiple tabs containing options or custom interface elements.
 
 to start the interface, the user should run `./main <com-port>`. the interface
-could look something like this (with colored text for element seperation):
+could look something like this (with colored text for element seperation, [see
+on figma](https://www.figma.com/file/vZ6rQp2G1HBAmbdrkxIZJ3/terminal-app)):
 
 ```
 verbonden, 2ms ping           (0.0.2-11-g92c394b)                  batterij 100%
diff --git a/client/serial.c b/client/serial.c
new file mode 100644
index 0000000..6f667a8
--- /dev/null
+++ b/client/serial.c
@@ -0,0 +1,46 @@
+#include "serial.h"
+#include "../shared/protocol.h"
+#include "../shared/serial_parse.h"
+
+void w2_serial_main() {
+	int temp;
+	while ((temp = w2_serial_read()) != -1) w2_serial_parse(temp);
+	w2_serial_write("\xff\x14", 2);
+}
+
+void w2_cmd_ping_tx(w2_s_bin *data) {
+	printf("w2_cmd_ping_tx()\n");
+}
+void w2_cmd_expt_tx(w2_s_bin *data) {
+	printf("w2_cmd_expt_tx()\n");
+}
+void w2_cmd_mode_tx(w2_s_bin *data) {
+	printf("w2_cmd_mode_tx()\n");
+}
+void w2_cmd_cord_tx(w2_s_bin *data) {
+	printf("w2_cmd_cord_tx()\n");
+}
+void w2_cmd_bomd_tx(w2_s_bin *data) {
+	printf("w2_cmd_bomd_tx()\n");
+}
+void w2_cmd_sens_tx(w2_s_bin *data) {
+	printf("w2_cmd_sens_tx()\n");
+}
+void w2_cmd_info_tx(w2_s_bin *data) {
+	printf("w2_cmd_info_tx()\n");
+}
+
+void w2_cmd_ping_rx(w2_s_bin *data) { return; }
+void w2_cmd_mode_rx(w2_s_bin *data) { return; }
+void w2_cmd_sped_rx(w2_s_bin *data) { return; }
+void w2_cmd_dirc_rx(w2_s_bin *data) { return; }
+void w2_cmd_cord_rx(w2_s_bin *data) { return; }
+void w2_cmd_bomd_rx(w2_s_bin *data) { return; }
+void w2_cmd_sres_rx(w2_s_bin *data) { return; }
+void w2_cmd_mcfg_rx(w2_s_bin *data) { return; }
+void w2_cmd_sens_rx(w2_s_bin *data) { return; }
+void w2_cmd_info_rx(w2_s_bin *data) { return; }
+void w2_cmd_disp_rx(w2_s_bin *data) { return; }
+void w2_cmd_play_rx(w2_s_bin *data) { return; }
+void w2_cmd_cled_rx(w2_s_bin *data) { return; }
+
diff --git a/client/serial.h b/client/serial.h
index caa3cda..b29dfb5 100644
--- a/client/serial.h
+++ b/client/serial.h
@@ -16,3 +16,5 @@ bool w2_serial_write(char *data, uint8_t length);
 bool w2_serial_open(const char *port_name);
 /** close serial port */
 void w2_serial_close();
+
+void w2_serial_main();
diff --git a/client/serial_linux.c b/client/serial_linux.c
index 080dca1..2497fac 100644
--- a/client/serial_linux.c
+++ b/client/serial_linux.c
@@ -63,7 +63,7 @@ speed_t w2_baud_map(int baud) {
 int w2_serial_read() {
 	int return_val;
 	int bytes = read(g_w2_serial_handle, &return_val, 1);
-	return return_val == -1 || bytes != 1 ? -1 : (uint8_t)return_val;
+	return bytes != 1 ? -1 : (uint8_t)return_val;
 }
 
 bool w2_serial_write(char *data, uint8_t length) {
diff --git a/client/setup.c b/client/setup.c
new file mode 100644
index 0000000..d7314e8
--- /dev/null
+++ b/client/setup.c
@@ -0,0 +1,29 @@
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "serial.h"
+#include "setup.h"
+#include "../shared/bin.h"
+#include "../shared/protocol.h"
+
+// pointers for endianness check
+static const uint16_t _test	 = 1;
+static const uint8_t *_ptest = (uint8_t *)&_test;
+uint8_t g_w2_endianness;
+
+void w2_client_setup(int argc, char** argv) {
+	if (argc < 2) {
+		printf("usage: %s <serial port>\n", argv[0]);
+		exit(1);
+	}
+
+	if (w2_serial_open(argv[1]) == 0) {
+		printf("serial port open fout\n");
+		exit(1);
+	}
+
+	w2_cmd_setup_handlers();
+
+	// check endianness
+	g_w2_endianness = *_ptest;
+}
diff --git a/client/setup.h b/client/setup.h
new file mode 100644
index 0000000..4b4a040
--- /dev/null
+++ b/client/setup.h
@@ -0,0 +1,3 @@
+#pragma once
+
+void w2_client_setup(int argc, char** argv);
diff --git a/client/ui.c b/client/ui.c
new file mode 100644
index 0000000..4a8e64d
--- /dev/null
+++ b/client/ui.c
@@ -0,0 +1,19 @@
+#include "ui.h"
+
+void w2_ui_main() {
+	w2_ui_update();
+	w2_ui_paint();
+}
+
+void w2_ui_update() {
+	// measure terminal width and height
+}
+
+void w2_ui_paint() {
+
+	w2_ui_paint_statusbar();
+}
+
+void w2_ui_paint_statusbar() {
+
+}
diff --git a/client/ui.h b/client/ui.h
new file mode 100644
index 0000000..433d610
--- /dev/null
+++ b/client/ui.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <stdint.h>
+
+#include "../shared/bool.h"
+
+typedef struct {
+	unsigned int width;
+	unsigned int height;
+	unsigned int cursor_pos;
+} w2_s_ui_tty_canvas;
+
+typedef enum {
+	W2_UI_COL_BLK,
+	W2_UI_COL_RED,
+	W2_UI_COL_GRN,
+	W2_UI_COL_YEL,
+	W2_UI_COL_BLU,
+	W2_UI_COL_MAG,
+	W2_UI_COL_CYN,
+	W2_UI_COL_WHT,
+	W2_UI_COL_RST,
+} w2_e_colors;
+
+typedef enum {
+	W2_UI_ALIGN_LEFT,
+	W2_UI_ALIGN_CENTER,
+	W2_UI_ALIGN_RIGHT,
+} w2_e_alignment;
+
+extern bool g_w2_ui_enable_color;
+extern w2_s_ui_tty_canvas g_w2_ui_canvas;
+
+/** update terminal props */
+void w2_ui_update();
+/** clear screen */
+void w2_ui_clear();
+/** draw complete ui */
+void w2_ui_paint();
+/** draw status bar */
+void w2_ui_paint_statusbar();
+/** update and paint */
+void w2_ui_main();
+
+/** echo ansi color code for foreground color */
+void w2_ui_set_fg(w2_e_colors color);
+/** echo ansi color code for background color */
+void w2_ui_set_bg(w2_e_colors color);
+
+/** align `text` `align` with `text` buffer length `length` */
+void w2_ui_align(char* text, w2_e_alignment align, unsigned int length);
+
+/**
+ * trim spaces from `top` and overlay on top of `bottom`
+ * both strings should be at least `length` long
+ */
+void w2_ui_overlay(char* bottom, char* top, unsigned int length);
+
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;
diff --git a/shared/errcatch.c b/shared/errcatch.c
new file mode 100644
index 0000000..ff7fc93
--- /dev/null
+++ b/shared/errcatch.c
@@ -0,0 +1,46 @@
+#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;
+bool g_w2_error_buffer_full						= 0;
+bool 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;
+}
+
diff --git a/shared/errors.h b/shared/errcatch.h
index 344a506..9b14cc2 100644
--- a/shared/errors.h
+++ b/shared/errcatch.h
@@ -1,9 +1,12 @@
 #pragma once
 
-/** @file errors.h */
+/** @file errcatch.h */
 
 #include <stdint.h>
 
+#include "consts.h"
+#include "bool.h"
+
 #define W2_E_TYPE_MASK (0b11 << 6)
 
 #define W2_E_TYPE_CRIT (0b00 << 6)
@@ -62,3 +65,34 @@ typedef struct {
 	uint8_t message_length;
 	char 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;
+/** error buffer full flag */
+extern bool g_w2_error_buffer_full;
+/** uncaught error flag */
+extern bool g_w2_error_uncaught;
+
+/** 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/shared/serial_parse.c b/shared/serial_parse.c
index b1b4f50..49f4cbf 100644
--- a/shared/serial_parse.c
+++ b/shared/serial_parse.c
@@ -2,6 +2,10 @@
 
 #include "consts.h"
 #include "serial_parse.h"
+#include "errcatch.h"
+#ifdef W2_SIM
+#include "../robot/orangutan_shim.h"
+#endif
 
 bool w2_serial_parse(uint8_t byte) {
 	static uint8_t current_message[W2_SERIAL_READ_BUFFER_SIZE] = {0};
@@ -38,3 +42,20 @@ bool w2_serial_parse(uint8_t byte) {
 
 	return W2_SERIAL_READ_SUCCESS;
 }
+
+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) {
+		w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY);
+	} else {
+#ifdef W2_SIM
+		w2_sim_print_serial(copy);
+#endif
+		handler(copy);
+	}
+
+	free(copy);
+}
+