Refactores Error Translation, resolves #9

See
- #33 (comment)
- #48

libsweep/include/error.hpp

@@ -0,0 +1,22 @@
+#ifndef SWEEP_ERROR_1E0FA029CE94_HPP
+#define SWEEP_ERROR_1E0FA029CE94_HPP
+
+/*
+ * Internal base error sub-system errors inherit from.
+ * Implementation detail; not exported.
+ */
+
+#include <stdexcept>
+
+namespace sweep {
+namespace error {
+
+struct error : std::runtime_error {
+  using base = std::runtime_error;
+  using base::base;
+};
+
+} // ns errors
+} // ns sweep
+
+#endif

libsweep/include/protocol.h → libsweep/include/protocol.hpp

@@ -1,23 +1,25 @@
-#ifndef SWEEP_PROTOCOL_2EADE195E243_H
-#define SWEEP_PROTOCOL_2EADE195E243_H
+#ifndef SWEEP_PROTOCOL_2EADE195E243_HPP
+#define SWEEP_PROTOCOL_2EADE195E243_HPP
 
 /*
  * Device communication protocol specifics.
  * Implementation detail; not exported.
  */
 
-#include <stdint.h>
+#include "error.hpp"
+#include "serial.hpp"
 
-#include "serial.h"
 #include "sweep.h"
 
+#include <stdint.h>
+
 namespace sweep {
 namespace protocol {
 
-typedef struct error* error_s;
-
-const char* error_message(error_s error);
-void error_destruct(error_s error);
+struct error : sweep::error::error {
+  using base = sweep::error::error;
+  using base::base;
+};
 
 // Command Symbols
 
@@ -166,24 +168,21 @@ static_assert(sizeof(response_info_sample_rate_s) == 5, "response info sample ra
 
 // Read and write specific packets
 
-void write_command(sweep::serial::device_s serial, const uint8_t cmd[2], error_s* error);
+void write_command(sweep::serial::device_s serial, const uint8_t cmd[2]);
 
-void write_command_with_arguments(sweep::serial::device_s serial, const uint8_t cmd[2], const uint8_t arg[2], error_s* error);
+void write_command_with_arguments(sweep::serial::device_s serial, const uint8_t cmd[2], const uint8_t arg[2]);
 
-void read_response_header(sweep::serial::device_s serial, const uint8_t cmd[2], response_header_s* header, error_s* error);
+void read_response_header(sweep::serial::device_s serial, const uint8_t cmd[2], response_header_s* header);
 
-void read_response_param(sweep::serial::device_s serial, const uint8_t cmd[2], response_param_s* param, error_s* error);
+void read_response_param(sweep::serial::device_s serial, const uint8_t cmd[2], response_param_s* param);
 
-void read_response_scan(sweep::serial::device_s serial, response_scan_packet_s* scan, error_s* error);
+void read_response_scan(sweep::serial::device_s serial, response_scan_packet_s* scan);
 
-void read_response_info_motor_ready(sweep::serial::device_s serial, const uint8_t cmd[2], response_info_motor_ready_s* info,
-                                    error_s* error);
+void read_response_info_motor_ready(sweep::serial::device_s serial, const uint8_t cmd[2], response_info_motor_ready_s* info);
 
-void read_response_info_motor_speed(sweep::serial::device_s serial, const uint8_t cmd[2], response_info_motor_speed_s* info,
-                                    error_s* error);
+void read_response_info_motor_speed(sweep::serial::device_s serial, const uint8_t cmd[2], response_info_motor_speed_s* info);
 
-void read_response_info_sample_rate(sweep::serial::device_s serial, const uint8_t cmd[2], response_info_sample_rate_s* info,
-                                    error_s* error);
+void read_response_info_sample_rate(sweep::serial::device_s serial, const uint8_t cmd[2], response_info_sample_rate_s* info);
 
 // Some protocol conversion utilities
 inline float u16_to_f32(uint16_t v) { return ((float)(v >> 4u)) + (v & 15u) / 16.0f; }

libsweep/include/queue.h → libsweep/include/queue.hpp

@@ -1,5 +1,5 @@
-#ifndef SWEEP_QUEUE_62C8F42E8DD5_H
-#define SWEEP_QUEUE_62C8F42E8DD5_H
+#ifndef SWEEP_QUEUE_62C8F42E8DD5_HPP
+#define SWEEP_QUEUE_62C8F42E8DD5_HPP
 
 /*
  * Thread-safe queue.

libsweep/include/serial.hpp

@@ -0,0 +1,35 @@
+#ifndef SWEEP_SERIAL_575F0FB571D1_HPP
+#define SWEEP_SERIAL_575F0FB571D1_HPP
+
+/*
+ * Communication with serial devices.
+ * Implementation detail; not exported.
+ */
+
+#include "error.hpp"
+
+#include "sweep.h"
+
+#include <stdint.h>
+
+namespace sweep {
+namespace serial {
+
+struct error : sweep::error::error {
+  using base = sweep::error::error;
+  using base::base;
+};
+
+typedef struct device* device_s;
+
+device_s device_construct(const char* port, int32_t bitrate);
+void device_destruct(device_s serial);
+
+void device_read(device_s serial, void* to, int32_t len);
+void device_write(device_s serial, const void* from, int32_t len);
+void device_flush(device_s serial);
+
+} // ns serial
+} // ns sweep
+
+#endif

libsweep/src/dummy.cc

@@ -1,14 +1,13 @@
 #include "sweep.h"
 
 #include <chrono>
+#include <string>
 #include <thread>
 
 int32_t sweep_get_version(void) { return SWEEP_VERSION; }
 bool sweep_is_abi_compatible(void) { return sweep_get_version() >> 16u == SWEEP_VERSION_MAJOR; }
 
-typedef struct sweep_error {
-  const char* what; // always literal, do not deallocate
-} sweep_error;
+typedef struct sweep_error { std::string what; } sweep_error;
 
 typedef struct sweep_device {
   bool is_scanning;
@@ -25,7 +24,7 @@ typedef struct sweep_scan {
 const char* sweep_error_message(sweep_error_s error) {
   SWEEP_ASSERT(error);
 
-  return error->what;
+  return error->what.c_str();
 }
 
 void sweep_error_destruct(sweep_error_s error) {
@@ -251,4 +250,4 @@ void sweep_device_attempt_set_motor_speed(sweep_device_s device, int32_t hz, swe
   (void)error;
 
   device->motor_speed = hz;
-}
+}