feat: merge wasm/vexos panic impls

pros/src/lib.rs

@@ -67,6 +67,7 @@ pub mod sensors;
 pub mod sync;
 #[macro_use]
 pub mod task;
+
 #[doc(hidden)]
 pub use pros_sys as __pros_sys;
 #[cfg(target_os = "vexos")]
@@ -86,7 +87,10 @@ pub use async_trait::async_trait;
 
 pub type Result<T = ()> = core::result::Result<T, alloc::boxed::Box<dyn core::error::Error>>;
 
-use alloc::boxed::Box;
+use alloc::{boxed::Box, ffi::CString, format};
+
+use crate::task::{suspend_all, PanicBehavior, PANIC_BEHAVIOR};
+
 #[async_trait::async_trait]
 pub trait AsyncRobot {
     async fn opcontrol(&mut self) -> Result {
@@ -354,6 +358,40 @@ macro_rules! sync_robot {
     };
 }
 
+#[panic_handler]
+pub fn panic(info: &core::panic::PanicInfo) -> ! {
+    let suspend = unsafe { suspend_all() };
+    let current_task = task::current();
+
+    {
+        let task_name = current_task.name().unwrap_or_else(|_| "<unknown>".into());
+        // task 'User Initialization (PROS)' panicked at src/lib.rs:22:1:
+        // panic message here
+        let panic_msg = format!("task '{task_name}' {info}");
+
+        let c_msg =
+            CString::new(&*panic_msg).unwrap_or_else(|_| CString::new("Panicked!").unwrap());
+        unsafe {
+            pros_sys::puts(c_msg.as_ptr());
+            #[cfg(target_arch = "wasm32")]
+            wasm_env::sim_log_backtrace();
+        }
+
+        if PANIC_BEHAVIOR.with(|p| *p == PanicBehavior::Exit) {
+            unsafe {
+                pros_sys::exit(1);
+            }
+        }
+
+        println!("{panic_msg}");
+    }
+
+    drop(suspend);
+
+    current_task.abort();
+    unreachable!()
+}
+
 /// Commonly used features of pros-rs.
 /// This module is meant to be glob imported.
 pub mod prelude {

pros/src/vexos_env.rs

@@ -7,39 +7,9 @@ use crate::{
 };
 use core::{
     alloc::{GlobalAlloc, Layout},
-    mem::forget,
     panic::PanicInfo,
 };
 
-#[panic_handler]
-pub fn panic(info: &PanicInfo) -> ! {
-    let suspend = unsafe { suspend_all() };
-
-    let current_task = task::current();
-    let task_name = current_task.name().unwrap_or_else(|_| "<unknown>".into());
-    // task 'User Initialization (PROS)' panicked at src/lib.rs:22:1:
-    // panic message here
-    let panic_msg = format!("task '{task_name}' {info}");
-
-    let c_msg = CString::new(&*panic_msg).unwrap_or_else(|_| CString::new("Panicked!").unwrap());
-    unsafe {
-        pros_sys::puts(c_msg.as_ptr());
-    }
-
-    if PANIC_BEHAVIOR.with(|p| *p == PanicBehavior::Exit) {
-        unsafe {
-            exit(1);
-        }
-    }
-
-    drop(suspend);
-
-    println!("{panic_msg}");
-
-    current_task.abort();
-    unreachable!()
-}
-
 struct Allocator;
 unsafe impl GlobalAlloc for Allocator {
     unsafe fn alloc(&self, layout: Layout) -> *mut u8 {

pros/src/wasm_env.rs

@@ -16,18 +16,9 @@ use dlmalloc::GlobalDlmalloc;
 // no multithreading in wasm
 static mut LAYOUTS: BTreeMap<*mut u8, Layout> = BTreeMap::new();
 
-#[panic_handler]
-fn panic(info: &PanicInfo) -> ! {
-    extern "C" {
-        fn sim_abort(msg: *const core::ffi::c_char) -> !;
-    }
-
-    let msg_str = format!("{info}");
-    let msg_c_str = CString::new(msg_str).unwrap();
-
-    unsafe {
-        sim_abort(msg_c_str.as_ptr());
-    }
+extern "C" {
+    /// Prints a backtrace to the debug console
+    pub fn sim_log_backtrace();
 }
 
 #[no_mangle]