diff options
Diffstat (limited to 'shared')
| -rw-r--r-- | shared/errcatch.c | 46 | ||||
| -rw-r--r-- | shared/errcatch.h (renamed from shared/errors.h) | 36 | ||||
| -rw-r--r-- | shared/serial_parse.c | 21 |
3 files changed, 102 insertions, 1 deletions
diff --git a/shared/errcatch.c b/shared/errcatch.c new file mode 100644 index 0000000..ff7fc93 --- /dev/null +++ b/shared/errcatch.c @@ -0,0 +1,46 @@ +#include <stdlib.h> +#include <string.h> + +#include "errcatch.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; +bool g_w2_error_buffer_full = 0; +bool 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; +} + diff --git a/shared/errors.h b/shared/errcatch.h index 344a506..9b14cc2 100644 --- a/shared/errors.h +++ b/shared/errcatch.h @@ -1,9 +1,12 @@ #pragma once -/** @file errors.h */ +/** @file errcatch.h */ #include <stdint.h> +#include "consts.h" +#include "bool.h" + #define W2_E_TYPE_MASK (0b11 << 6) #define W2_E_TYPE_CRIT (0b00 << 6) @@ -62,3 +65,34 @@ typedef struct { 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); + diff --git a/shared/serial_parse.c b/shared/serial_parse.c index b1b4f50..49f4cbf 100644 --- a/shared/serial_parse.c +++ b/shared/serial_parse.c @@ -2,6 +2,10 @@ #include "consts.h" #include "serial_parse.h" +#include "errcatch.h" +#ifdef W2_SIM +#include "../robot/orangutan_shim.h" +#endif bool w2_serial_parse(uint8_t byte) { static uint8_t current_message[W2_SERIAL_READ_BUFFER_SIZE] = {0}; @@ -38,3 +42,20 @@ bool w2_serial_parse(uint8_t byte) { return W2_SERIAL_READ_SUCCESS; } + +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) { + w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY); + } else { +#ifdef W2_SIM + w2_sim_print_serial(copy); +#endif + handler(copy); + } + + free(copy); +} + |