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#include <string.h>
#include "../shared/errcatch.h"
#include "modes.h"
#include "orangutan_shim.h"
#include "sercomm.h"
// #include <stdio.h>
// unsigned int g_w2_err_index = 0;
// unsigned int g_w2_err_disp[4] = {0};
void w2_errcatch_handle_error(w2_s_error *error) {
uint8_t severity = error->code & W2_E_TYPE_MASK;
// clear();
// g_w2_err_disp[g_w2_err_index++] = error->code;
// char disp[32];
// sprintf(disp, "%02x %02x", g_w2_err_disp[0], g_w2_err_disp[1]);
// print(disp);
// lcd_goto_xy(0, 1);
// sprintf(disp, "%02x %02x", g_w2_err_disp[2], g_w2_err_disp[3]);
// print(disp);
// trigger emergency mode for critical errors
if ((severity ^ W2_E_TYPE_CRIT) == 0) w2_modes_call(W2_M_HALT);
// TODO: handle more error types
switch (error->code) {
case W2_E_WARN_UNCAUGHT_ERROR:
break;
case W2_E_WARN_OBSTACLE_DETECTED:
break;
case W2_E_CRIT_OBSTACLE_STUCK:
break;
case W2_E_WARN_MODE_HISTORY_BUFFER_IOB:
break;
default: {
g_w2_error_uncaught = true;
#ifdef W2_SIM
simwarn("Uncaught/unhandled error found with code 0x%02x", error->code);
if (error->message_length > 0)
fprintf(stderr, " and message \"%.*s\"", error->message_length, error->message);
fprintf(stderr, "\n");
#endif
}
}
// forward error to sercomm
W2_CREATE_MSG_SIZE_BIN(w2_s_cmd_expt_tx,
sizeof(w2_s_cmd_expt_tx) + sizeof(uint8_t) * error->message_length, msg,
msg_bin);
msg->opcode = W2_CMD_EXPT | W2_CMDDIR_TX;
msg->error = error->code;
msg->length = error->message_length;
memcpy(msg->message, error->message, error->message_length);
w2_sercomm_append_msg(msg_bin);
free(msg_bin);
return;
}
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