robot/hypervisor.c


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#include "consts.h"
#include "errcatch.h"
#include "hypervisor.h"
#include "io.h"
#include "modes.h"
#include "sercomm.h"
#include "orangutan_shim.h"

void w2_hypervisor_main() {
	w2_sercomm_main();
	w2_errcatch_main();
	w2_io_main();

	time_reset();
	w2_modes_main();
	unsigned long elapsed_ms = get_ms();
	if (elapsed_ms > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED);
}