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#pragma once
/** @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)
#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,
} 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);
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