diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/consts.h | 1 | ||||
| -rw-r--r-- | robot/errcatch.c | 22 | ||||
| -rw-r--r-- | robot/errcatch.h | 22 | ||||
| -rw-r--r-- | robot/hypervisor.c | 32 | ||||
| -rw-r--r-- | robot/makefile | 2 | ||||
| -rw-r--r-- | robot/sim.c | 23 | ||||
| -rw-r--r-- | robot/sim.h | 1 |
7 files changed, 82 insertions, 21 deletions
diff --git a/robot/consts.h b/robot/consts.h index fb67f26..93cafa5 100644 --- a/robot/consts.h +++ b/robot/consts.h @@ -13,6 +13,7 @@ #define W2_ERR_TYPE_WARN (0b01 << 6) #define W2_ERR_TYPE_INFO (0b10 << 6) #define W2_ERR_TYPE_VERB (0b11 << 6) +#define W2_ERR_TYPE_MASK (0b11 << 6) /** * enum storing all error codes 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; +} diff --git a/robot/errcatch.h b/robot/errcatch.h index 3bdc330..7ced980 100644 --- a/robot/errcatch.h +++ b/robot/errcatch.h @@ -4,15 +4,6 @@ #include "consts.h" -/** error-handler module main */ -void w2_errcatch_main(); - -/** append error to error buffer */ -void w2_errcatch_throw(enum w2_e_errorcodes code); - -/** append error to error buffer (with debug message) */ -void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const char *message); - /** * error struct * @@ -32,9 +23,22 @@ 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(enum w2_e_errorcodes code); + +/** append error to error buffer (with debug message) */ +void w2_errcatch_throw_msg(enum w2_e_errorcodes code, uint16_t length, const char *message); + /** * allocate and initialize error struct * * 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 8c22316..0350163 100644 --- a/robot/hypervisor.c +++ b/robot/hypervisor.c @@ -1,3 +1,8 @@ +#include <stdlib.h> +#include <time.h> +#include <stdio.h> +#include <unistd.h> + #include "consts.h" #include "errcatch.h" #include "hypervisor.h" @@ -7,12 +12,31 @@ #include "orangutan_shim.h" void w2_hypervisor_main() { + time_reset(); + w2_sercomm_main(); + unsigned long sercomm_time = get_ms(); w2_errcatch_main(); + unsigned long errcatch_time = get_ms() - sercomm_time; w2_io_main(); - - time_reset(); + unsigned long io_time = get_ms() - errcatch_time; w2_modes_main(); - unsigned long elapsed_ms = get_ms(); - if (elapsed_ms > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED); + 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); + + usleep(100e3); + + if (mode_time > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED); } diff --git a/robot/makefile b/robot/makefile index fb30b7e..1036a26 100644 --- a/robot/makefile +++ b/robot/makefile @@ -4,7 +4,7 @@ AVRDUDE_DEVICE = m328p DEVICE ?= atmega168 MCU ?= atmega168 AVRDUDE_DEVICE ?= m168 -SIM = +SIM = true PORT ?= /dev/ttyACM0 diff --git a/robot/sim.c b/robot/sim.c index 8fc8d00..3f7f686 100644 --- a/robot/sim.c +++ b/robot/sim.c @@ -1,15 +1,23 @@ #include <stdio.h> +#include <time.h> +#include <string.h> #include "sim.h" +struct timespec reference_time; // NOLINT + void time_reset() { + // printf("SIM: time_reset()\n"); + clock_gettime(CLOCK_MONOTONIC, &reference_time); return; - printf("SIM: time_reset()\n"); } unsigned long get_ms() { - printf("SIM: get_ms()\n"); - return 0; + // printf("SIM: get_ms()\n"); + struct timespec elapsed; + clock_gettime(CLOCK_MONOTONIC, &elapsed); + return ((elapsed.tv_sec * 1000) + (elapsed.tv_nsec / 1000000)) - + ((reference_time.tv_sec * 1000) + (reference_time.tv_nsec / 1000000)); } void red_led(unsigned char on) { @@ -36,3 +44,12 @@ void serial_set_baud_rate(unsigned int rate) { printf("SIM: serial_set_baud_rate(%u)\n", 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); + return; +} + diff --git a/robot/sim.h b/robot/sim.h index a408bc6..08faee5 100644 --- a/robot/sim.h +++ b/robot/sim.h @@ -11,3 +11,4 @@ void green_led(unsigned char on); // NOLINT void clear(); // NOLINT void play(const char* melody); // NOLINT void serial_set_baud_rate(unsigned int rate); // NOLINT +void serial_send(char* message, unsigned int length); // NOLINT |