#pragma once #include <stdint.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 */ enum w2_e_errorcodes { // critical error codes W2_E_CRIT_CONN_LOST = 0x00 | W2_E_TYPE_CRIT, W2_E_CRIT_COM_UNAVAILABLE = 0x01 | W2_E_TYPE_CRIT, // client-only W2_E_CRIT_LINE_LOST = 0x02 | W2_E_TYPE_CRIT, W2_E_CRIT_OBSTACLE_STUCK = 0x03 | W2_E_TYPE_CRIT, // warnings W2_E_WARN_BATTERY_LOW = 0x00 | W2_E_TYPE_WARN, W2_E_WARN_OBSTACLE_DETECTED = 0x01 | W2_E_TYPE_WARN, W2_E_WARN_CYCLE_EXPIRED = 0x02 | W2_E_TYPE_WARN, W2_E_WARN_UNCAUGHT_ERROR = 0x03 | W2_E_TYPE_WARN, }; /** * error struct * * holds an error with type `code`, and an optional `message` with length * `message_length` */ typedef struct { enum w2_e_errorcodes code; uint8_t message_length; char message[]; } w2_s_error; /** error ring buffer */ extern w2_s_error *g_w2_error_buffer[W2_E_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(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);