error.c

#include "error.h"
#include "serialize.h"
#include "can_common.h"
#include "can_tx_buffer.h"
#include "pic18_time.h"

static char
err_msg_ring_buf[ERROR_MESSAGE_RING_BUFFER_SIZE][ERROR_COMMAND_LENGTH];

static uint8_t err_msg_buf_size = 0;
static uint8_t err_msg_buf_write = 0;
static uint8_t err_msg_buf_read = 0;

void report_error(uint8_t board_id,
                  enum BOARD_STATUS error_type,
                  uint8_t byte4, uint8_t byte5,
                  uint8_t byte6, uint8_t byte7)
{
    // Check if the buffer is full
    if (err_msg_buf_size == ERROR_MESSAGE_RING_BUFFER_SIZE)
        return;
    error_t err;
    err.board_id = board_id;
    err.err_type = error_type;
    err.byte4 = byte4;
    err.byte5 = byte5;
    err.byte6 = byte6;
    err.byte7 = byte7;

    char *serialized_error = err_msg_ring_buf[err_msg_buf_write];
    serialize_error(&err, serialized_error);
    ++err_msg_buf_size;
    ++err_msg_buf_write;
    err_msg_buf_write %= ERROR_MESSAGE_RING_BUFFER_SIZE;

    //if this error was generated by the radio board, we should send the
    //error out over CAN so that logger has a chance to record it
    if (board_id == BOARD_UNIQUE_ID) {
        can_msg_t to_send;
        uint8_t error_data[4];
        error_data[0] = byte4;
        error_data[1] = byte5;
        error_data[2] = byte6;
        error_data[3] = byte7;
        build_board_stat_msg(millis(), error_type, error_data, 4, &to_send);
        txb_enqueue(&to_send);
    }
}

bool get_next_serialized_error(char *output)
{
    if (err_msg_buf_size == 0)
        return false;

    char *serialized_error = err_msg_ring_buf[err_msg_buf_read];
    memcpy(output, serialized_error, ERROR_COMMAND_LENGTH);

    ++err_msg_buf_read;
    err_msg_buf_read %= ERROR_MESSAGE_RING_BUFFER_SIZE;
    --err_msg_buf_size;

    return true;
}