diff options
| -rw-r--r-- | robot/consts.h | 1 | ||||
| -rw-r--r-- | robot/errcatch.c | 31 | ||||
| -rw-r--r-- | robot/errcatch.h | 3 | ||||
| -rw-r--r-- | robot/hypervisor.c | 25 | ||||
| -rw-r--r-- | robot/makefile | 18 | ||||
| -rw-r--r-- | robot/readme.md | 2 | ||||
| -rw-r--r-- | robot/setup.c | 2 | ||||
| -rw-r--r-- | robot/sim.c | 31 | ||||
| -rw-r--r-- | robot/sim.h | 28 |
9 files changed, 92 insertions, 49 deletions
diff --git a/robot/consts.h b/robot/consts.h index 93cafa5..c7bbc3f 100644 --- a/robot/consts.h +++ b/robot/consts.h @@ -32,4 +32,5 @@ enum w2_e_errorcodes { W2_ERR_BATTERY_LOW = 0x00 | W2_ERR_TYPE_WARN, W2_ERR_OBSTACLE_DETECTED = 0x01 | W2_ERR_TYPE_WARN, W2_ERR_CYCLE_EXPIRED = 0x02 | W2_ERR_TYPE_WARN, + W2_ERR_UNCAUGHT_ERROR = 0x03 | W2_ERR_TYPE_WARN, }; diff --git a/robot/errcatch.c b/robot/errcatch.c index b50ee4a..945aa96 100644 --- a/robot/errcatch.c +++ b/robot/errcatch.c @@ -1,12 +1,12 @@ +#include <stdio.h> #include <stdlib.h> #include <string.h> -#include <stdio.h> +#include "consts.h" #include "errcatch.h" +#include "halt.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; @@ -14,7 +14,9 @@ uint8_t g_w2_error_offset = 0; void w2_errcatch_main() { while (g_w2_error_index != g_w2_error_offset) { - w2_errcatch_handle_error(g_w2_error_buffer[g_w2_error_offset]); + w2_s_error* error = &g_w2_error_buffer[g_w2_error_offset]; + w2_errcatch_handle_error(error); + free(error); g_w2_error_offset = (g_w2_error_offset + 1) % W2_ERROR_BUFFER_SIZE; } } @@ -34,13 +36,26 @@ void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const cha g_w2_error_index = (g_w2_error_index + 1) % W2_ERROR_BUFFER_SIZE; } -void w2_errcatch_handle_error(w2_s_error error) { - uint8_t severity = error.code & W2_ERR_TYPE_MASK; +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 + // trigger emergency mode for critical errors if ((severity ^ W2_ERR_TYPE_CRIT) == 0) g_w2_current_mode = &w2_mode_halt; - //TODO: forward error to sercomm + // TODO: handle more error types + switch (error->code) { + case W2_ERR_UNCAUGHT_ERROR: { + break; + } + default: { + w2_errcatch_throw(W2_ERR_UNCAUGHT_ERROR); + #ifdef W2_SIM + simwarn("Uncaught/unhandled error found with code 0x%02x", error->code); + #endif + } + } + + // TODO: forward error to sercomm return; } diff --git a/robot/errcatch.h b/robot/errcatch.h index 7ced980..5afe5b3 100644 --- a/robot/errcatch.h +++ b/robot/errcatch.h @@ -27,7 +27,7 @@ extern uint8_t g_w2_error_offset; void w2_errcatch_main(); /** handle error */ -void w2_errcatch_handle_error(w2_s_error error); +void w2_errcatch_handle_error(w2_s_error* error); /** append error to error buffer */ void w2_errcatch_throw(enum w2_e_errorcodes code); @@ -41,4 +41,3 @@ void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const cha * 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 0350163..2e263ce 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -1,15 +1,10 @@ -#include <stdlib.h> -#include <time.h> -#include <stdio.h> -#include <unistd.h> - #include "consts.h" #include "errcatch.h" #include "hypervisor.h" #include "io.h" #include "modes.h" -#include "sercomm.h" #include "orangutan_shim.h" +#include "sercomm.h" void w2_hypervisor_main() { time_reset(); @@ -23,20 +18,14 @@ void w2_hypervisor_main() { w2_modes_main(); 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); + #ifdef W2_SIM + siminfo("sercomm: %lums\n", sercomm_time); + siminfo("errcatch: %lums\n", errcatch_time); + siminfo("io: %lums\n", io_time); + siminfo("mode: %lums\n", mode_time); usleep(100e3); + #endif if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED); } diff --git a/robot/makefile b/robot/makefile index 1036a26..6f50519 100644 --- a/robot/makefile +++ b/robot/makefile @@ -4,26 +4,30 @@ AVRDUDE_DEVICE = m328p DEVICE ?= atmega168 MCU ?= atmega168 AVRDUDE_DEVICE ?= m168 -SIM = true PORT ?= /dev/ttyACM0 CFLAGS=-g -Wall $(DEVICE_SPECIFIC_CFLAGS) -Os LDFLAGS=-Wl,-gc-sections -Wl,-relax +SOURCES := $(filter-out sim.c, $(wildcard *.c)) +HEADERS := $(filter-out sim.h, $(wildcard *.h)) + +# simulation +# SIM = true CFLAGS += $(if $(SIM), -DW2_SIM, -mcall-prologues -mmcu=$(MCU)) LDFLAGS += $(if $(SIM), , -lpololu_$(DEVICE)) +PREFIX := $(if $(SIM), , avr-) +SOURCES += $(if $(SIM), sim.c, ) +HEADERS += $(if $(SIM), sim.h, ) -SOURCES := $(wildcard *.c) -HEADERS := $(wildcard *.h) OBJECTS := $(patsubst %.c,%.o, $(SOURCES)) -PREFIX := $(if $(SIM), , avr-) - AVRDUDE=avrdude CC=$(PREFIX)gcc OBJ2HEX=$(PREFIX)objcopy +# debug build info string BUILD_STR=$(shell git update-index -q --refresh; git describe --tags --dirty='*' --broken='x' | cut -c1-20) CFLAGS += -DW2_BUILD_STR="$(BUILD_STR)" @@ -46,8 +50,8 @@ flash: out.hex $(AVRDUDE) -p $(AVRDUDE_DEVICE) -c avrisp2 -P $(PORT) -U flash:w:out.hex format: - SOURCES := $(filter-out sim.c, $(SOURCES)) - HEADERS := $(filter-out sim.h, $(HEADERS)) + $(eval SOURCES := $(filter-out sim.c, $(SOURCES))) + $(eval HEADERS := $(filter-out sim.h, $(HEADERS))) clang-format -i $(SOURCES) $(HEADERS) clang-tidy --fix-errors $(SOURCES) $(HEADERS) diff --git a/robot/readme.md b/robot/readme.md index 1ffdb65..5e9990e 100644 --- a/robot/readme.md +++ b/robot/readme.md @@ -124,7 +124,7 @@ errors, and (b) handles errors accordingly. - [x] error code - [x] message length - [x] message contents -- [ ] create a global error ring buffer with an appropriate size that holds +- [x] create a global error ring buffer with an appropriate size that holds error messages - [ ] handle errors in the error buffer, referencing the functional specification for details on what the robot should do to resolve each kind of diff --git a/robot/setup.c b/robot/setup.c index 1174570..c74cca9 100644 --- a/robot/setup.c +++ b/robot/setup.c @@ -1,9 +1,9 @@ #include <stdlib.h> -#include "orangutan_shim.h" #include "consts.h" #include "halt.h" #include "modes.h" +#include "orangutan_shim.h" #include "setup.h" void w2_setup_main() { diff --git a/robot/sim.c b/robot/sim.c index 3f7f686..6bd5838 100644 --- a/robot/sim.c +++ b/robot/sim.c @@ -7,13 +7,13 @@ struct timespec reference_time; // NOLINT void time_reset() { - // printf("SIM: time_reset()\n"); + simprintfunc("time_reset", ""); clock_gettime(CLOCK_MONOTONIC, &reference_time); return; } unsigned long get_ms() { - // printf("SIM: get_ms()\n"); + simprintfunc("get_ms", ""); struct timespec elapsed; clock_gettime(CLOCK_MONOTONIC, &elapsed); return ((elapsed.tv_sec * 1000) + (elapsed.tv_nsec / 1000000)) - @@ -21,35 +21,44 @@ unsigned long get_ms() { } void red_led(unsigned char on) { - printf("SIM: red_led(%i)\n", on); + simprintfunc("red_led", "%i", on); return; } void green_led(unsigned char on) { - printf("SIM: green_led(%i)\n", on); + simprintfunc("green_led", "%i", on); return; } void clear() { - printf("SIM: clear()\n"); + simprintfunc("clear", ""); return; } void play(const char* melody) { - printf("SIM: play(\"%s\")\n", melody); + simprintfunc("play", "\"%s\"", melody); return; } void serial_set_baud_rate(unsigned int rate) { - printf("SIM: serial_set_baud_rate(%u)\n", rate); + simprintfunc("serial_set_baud_rate", "%u", 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); + simprintfunc("serial_send", "<see below>, %u", length); + unsigned int bytes = 0; + simprintf(""); + for (unsigned int byte = 0; byte < length; byte++) { + if (bytes > DBG_BYTES_PER_LINE) { + bytes = 0; + printf("\n"); + simprintf(""); + } + printf("%02x ", message[byte]); + bytes++; + } + printf("\n"); return; } diff --git a/robot/sim.h b/robot/sim.h index 08faee5..15a1b4b 100644 --- a/robot/sim.h +++ b/robot/sim.h @@ -1,9 +1,35 @@ #pragma once +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> + +// debug print options +#define DBG_BYTES_PER_LINE 16 + +// debug colors +#define COL_BLK "\e[0;30m" +#define COL_RED "\e[0;31m" +#define COL_GRN "\e[0;32m" +#define COL_YEL "\e[0;33m" +#define COL_BLU "\e[0;34m" +#define COL_MAG "\e[0;35m" +#define COL_CYN "\e[0;36m" +#define COL_WHT "\e[0;37m" +#define COL_RST "\e[0m" + +// debug stdout print macros +#define simprintf(message, ...) printf(COL_RED "[SIM] " COL_RST message, ##__VA_ARGS__) +#define simprint(message) simprintf(message "\n") +#define simprintfunc(name, fmt, ...) simprintf(COL_BLU "[FUNC] " \ + COL_CYN name COL_RST "(" COL_YEL fmt COL_RST ")\n", ##__VA_ARGS__) +#define simwarn(message, ...) simprintf(COL_YEL "[WARN] " COL_RST message, ##__VA_ARGS__) +#define siminfo(message, ...) simprintf(COL_MAG "[INFO] " COL_RST message, ##__VA_ARGS__) + /** * simulates pololu library functions for local testing + * NOLINT is so clang-tidy doesn't correct function names */ - void time_reset(); // NOLINT unsigned long get_ms(); // NOLINT void red_led(unsigned char on); // NOLINT |