diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/errcatch.c | 46 | ||||
| -rw-r--r-- | robot/errcatch.h | 34 | ||||
| -rw-r--r-- | robot/hypervisor.c | 2 | ||||
| -rw-r--r-- | robot/main.c | 1 | ||||
| -rw-r--r-- | robot/modes.c | 2 | ||||
| -rw-r--r-- | robot/sercomm.c | 22 | ||||
| -rw-r--r-- | robot/sim.c | 2 |
7 files changed, 7 insertions, 102 deletions
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; |