From a36caa53f1b770fd42b90be10e870722cb37bbdf Mon Sep 17 00:00:00 2001
From: Alex Mikhalev <alexmikhalevalex@gmail.com>
Date: Wed, 23 Jan 2019 19:26:27 -0800
Subject: [PATCH] fix issues with error interpretation

---
 main/e32_driver.cc | 27 ++++++++++-----------------
 main/e32_driver.hh |  8 ++++----
 main/ugv_comms.cc  |  3 ++-
 3 files changed, 16 insertions(+), 22 deletions(-)

diff --git a/main/e32_driver.cc b/main/e32_driver.cc
index 5ea5b87..d2549f4 100644
--- a/main/e32_driver.cc
+++ b/main/e32_driver.cc
@@ -251,38 +251,31 @@ esp_err_t E32_Driver::WriteParams(const Params& params) {
   return ESP_OK;
 }
 
-esp_err_t E32_Driver::Write(Address address, Channel channel,
+int E32_Driver::Write(Address address, Channel channel,
                             const uint8_t* data, size_t data_size) {
-  esp_err_t ret;
+  int written;
   if (params_.tx_mode == TxFixed) {
     uint8_t header[3];
     header[0] = address >> 8;
     header[1] = address & 0xFF;
     header[2] = channel;
 
-    ret = uart_write_bytes(config_.uart_port, (char*)header, sizeof(header));
-    if (ret != ESP_OK) {
-      goto error;
+    written = uart_write_bytes(config_.uart_port, (char*)header, sizeof(header));
+    if (written < 0) {
+      return written;
     }
   }
-  ret = uart_write_bytes(config_.uart_port, (char*)data, data_size);
-  if (ret != ESP_OK) {
-    goto error;
-  }
-  return ESP_OK;
-
-error:
-  ESP_LOGE(TAG, "Write error %d", ret);
-  return ret;
+  written = uart_write_bytes(config_.uart_port, (char*)data, data_size);
+  return written;
 }
-esp_err_t E32_Driver::Write(const uint8_t* data, size_t data_size) {
+int E32_Driver::Write(const uint8_t* data, size_t data_size) {
   return Write(params_.address, params_.comm_channel, data, data_size);
 }
-esp_err_t E32_Driver::Write(Address address, Channel channel,
+int E32_Driver::Write(Address address, Channel channel,
                             const std::string& data) {
   return Write(address, channel, (uint8_t*)data.c_str(), data.size());
 }
-esp_err_t E32_Driver::Write(const std::string& data) {
+int E32_Driver::Write(const std::string& data) {
   return Write((uint8_t*)data.c_str(), data.size());
 }
 
diff --git a/main/e32_driver.hh b/main/e32_driver.hh
index b7ca363..29f5d9a 100644
--- a/main/e32_driver.hh
+++ b/main/e32_driver.hh
@@ -61,11 +61,11 @@ class E32_Driver {
   esp_err_t ReadParams(Params& params);
   esp_err_t WriteParams(const Params& params);
 
-  esp_err_t Write(Address address, Channel channel, const uint8_t* data,
+  int Write(Address address, Channel channel, const uint8_t* data,
                   size_t data_size);
-  esp_err_t Write(const uint8_t* data, size_t data_size);
-  esp_err_t Write(Address address, Channel channel, const std::string& data);
-  esp_err_t Write(const std::string& data);
+  int Write(const uint8_t* data, size_t data_size);
+  int Write(Address address, Channel channel, const std::string& data);
+  int Write(const std::string& data);
 
   int Read(uint8_t* data, int max_len,
            TickType_t ticks_to_wait = portMAX_DELAY);
diff --git a/main/ugv_comms.cc b/main/ugv_comms.cc
index eef3f61..368c0be 100644
--- a/main/ugv_comms.cc
+++ b/main/ugv_comms.cc
@@ -260,7 +260,8 @@ esp_err_t CommsClass::SendPacket(const char *data, size_t size) {
   }
   uint8_t sz = size;
   lora.Write(&sz, sizeof(sz));
-  return lora.Write((uint8_t *)data, size);
+  lora.Write((uint8_t *)data, size);
+  return ESP_OK;
 #endif
 }