1 files changed, 99 insertions, 0 deletions
diff --git a/shared/errcatch.h b/shared/errcatch.h
new file mode 100644
index 0000000..a56bc00
--- /dev/null
+++ b/shared/errcatch.h
@@ -0,0 +1,99 @@
+#pragma once
+
+/** @file errcatch.h */
+
+#include <stdint.h>
+
+#include "bool.h"
+#include "consts.h"
+
+#define W2_E_TYPE_MASK (0b11 << 6)
+
+#define W2_E_TYPE_CRIT (0b00 << 6)
+#define W2_E_TYPE_WARN (0b01 << 6)
+#define W2_E_TYPE_INFO (0b10 << 6)
+#define W2_E_TYPE_VERB (0b11 << 6)
+
+/**
+ * enum storing all error codes
+ *
+ * error codes are between 0-63 because the two most significant bits are
+ * reserved for error type checking
+ */
+typedef enum {
+	/** wireless connection lost from either robot or client-side */
+	W2_E_CRIT_CONN_LOST = 0x00 | W2_E_TYPE_CRIT,
+	/** serial COM-port unavalable. client-side only */
+	W2_E_CRIT_COM_UNAVAILABLE = 0x01 | W2_E_TYPE_CRIT,
+	/** line unable to be found automatically */
+	W2_E_CRIT_LINE_LOST = 0x02 | W2_E_TYPE_CRIT,
+	/** obstacle unavoidable, robot stuck */
+	W2_E_CRIT_OBSTACLE_STUCK = 0x03 | W2_E_TYPE_CRIT,
+	/** semver major version doesn't match */
+	W2_E_CRIT_VERSION_INCOMPATIBLE = 0x04 | W2_E_TYPE_CRIT,
+
+	/** battery low, returning to charging station */
+	W2_E_WARN_BATTERY_LOW = 0x00 | W2_E_TYPE_WARN,
+	/** obstacle detected, waiting then trying other route */
+	W2_E_WARN_OBSTACLE_DETECTED = 0x01 | W2_E_TYPE_WARN,
+	/** logic cycle took longer than `W2_MAX_MODULE_CYCLE_MS` */
+	W2_E_WARN_CYCLE_EXPIRED = 0x02 | W2_E_TYPE_WARN,
+	/** error thrown without handler, gets thrown on next cycle */
+	W2_E_WARN_UNCAUGHT_ERROR = 0x03 | W2_E_TYPE_WARN,
+	/** error buffer full, gets thrown on next cycle */
+	W2_E_WARN_ERR_BUFFER_FULL = 0x04 | W2_E_TYPE_WARN,
+	/** line lost, trying to calibrate */
+	W2_E_WARN_LINE_LOST = 0x05 | W2_E_TYPE_WARN,
+	/** serial buffer full, gets thrown on next cycle */
+	W2_E_WARN_SERCOMM_BUFFER_FULL = 0x06 | W2_E_TYPE_WARN,
+	/** semver minor version doesn't match */
+	W2_E_WARN_VERSION_INCOMPATIBLE = 0x07 | W2_E_TYPE_WARN,
+	/** unknown message encountered (noisy channel?) */
+	W2_E_WARN_SERIAL_NOISY = 0x09 | W2_E_TYPE_WARN,
+	/** mode history index out of bounds */
+	W2_E_WARN_MODE_HISTORY_BUFFER_IOB = 0x0a | W2_E_TYPE_WARN,
+	/** ping timeout reached */
+	W2_E_WARN_PING_TIMEOUT = 0x0b | W2_E_TYPE_WARN,
+} w2_e_errorcode;
+
+/**
+ * error struct
+ *
+ * holds an error with type `code`, and an optional `message` with length
+ * `message_length`
+ */
+typedef struct {
+	w2_e_errorcode code;
+	uint8_t message_length;
+	char message[];
+} w2_s_error;
+
+/** 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 buffer full flag */
+extern bool g_w2_error_buffer_full;
+/** uncaught error flag */
+extern bool g_w2_error_uncaught;
+
+/** 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);