1 files changed, 13 insertions, 52 deletions

diff --git a/robot/errcatch.c b/robot/errcatch.c
index 8df90b8..17c96fa 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;
 
@@ -59,23 +17,26 @@ 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);
+			simwarn("Uncaught/unhandled error found with code 0x%02x", error->code);
+			if (error->message_length > 0)
+				fprintf(stderr, " and message \"%.*s\"", error->message_length, error->message);
+			fprintf(stderr, "\n");
 #endif
 		}
 	}
 
 	// forward error to sercomm
-	size_t msg_size		  = sizeof(w2_s_cmd_expt_tx) + sizeof(uint8_t) * error->message_length;
-	w2_s_cmd_expt_tx *msg = malloc(msg_size);
-	msg->opcode			  = W2_CMD_EXPT | W2_CMDDIR_TX;
-	msg->error			  = error->code;
-	msg->length			  = error->message_length;
+	W2_CREATE_MSG_SIZE_BIN(w2_s_cmd_expt_tx,
+						   sizeof(w2_s_cmd_expt_tx) + sizeof(uint8_t) * error->message_length, msg,
+						   msg_bin);
+	msg->opcode = W2_CMD_EXPT | W2_CMDDIR_TX;
+	msg->error	= error->code;
+	msg->length = error->message_length;
 	memcpy(msg->message, error->message, error->message_length);
-	w2_s_bin *msg_bin = w2_bin_s_alloc(msg_size, (uint8_t *)msg);
+
 	w2_sercomm_append_msg(msg_bin);
-	free(msg);
 	free(msg_bin);
 
 	return;