1 files changed, 18 insertions, 4 deletions

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;
+}