fix order receiving

3 files changed, 12 insertions, 6 deletions

diff --git a/robot/errcatch.c b/robot/errcatch.c
index 27026b5..3e62270 100644
--- a/robot/errcatch.c
+++ b/robot/errcatch.c
@@ -20,6 +20,7 @@ void w2_errcatch_display_error(uint8_t code) {
 
 void w2_errcatch_error_beep(uint8_t code) {
 	if (code == W2_E_WARN_UNCAUGHT_ERROR) return;
+	if (code == W2_E_WARN_CYCLE_EXPIRED) return;
 	uint8_t severity = code & W2_E_TYPE_MASK;
 	if ((severity ^ W2_E_TYPE_CRIT) == 0) {
 		play("L70 O6 fRfRfRfRf");
@@ -48,6 +49,8 @@ void w2_errcatch_handle_error(w2_s_error *error) {
 			break;
 		case W2_E_WARN_BATTERY_LOW:
 			break;
+		case W2_E_WARN_CYCLE_EXPIRED:
+			break;
 		default: {
 			g_w2_error_uncaught = true;
 #ifdef W2_SIM
diff --git a/robot/mode_grid.c b/robot/mode_grid.c
index ff80dd2..b6ed572 100644
--- a/robot/mode_grid.c
+++ b/robot/mode_grid.c
@@ -1,9 +1,13 @@
+#include <stdio.h>
+#include <string.h>
+
 #include "mode_grid.h"
 #include "hypervisor.h"
 #include "io.h"
 #include "modes.h"
 #include "movement.h"
 #include "orangutan_shim.h"
+#include "../shared/errcatch.h"
 
 /**
  * TODO: mode_grid g_w2_target_area laten volgen
@@ -204,6 +208,11 @@ void w2_turn_east() {
 // signals when the product is picked
 void w2_arrived_message() {
 	if (g_w2_location.x == g_w2_destination.x && g_w2_location.y == g_w2_destination.y) {
+		char msg[64];
+		sprintf(msg, "reached %i, %i", g_w2_destination.x, g_w2_destination.y);
+		size_t len = strlen(msg);
+		w2_errcatch_throw_msg(W2_E_INFO_ORDER_ARRIVED, len, msg);
+
 		play_frequency(400, 500, 7);
 		delay(500);
 	}
diff --git a/robot/sercomm.c b/robot/sercomm.c
index 16134d1..8df6157 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -118,17 +118,11 @@ void w2_cmd_dirc_rx(w2_s_bin *data) {
 
 void w2_cmd_cord_rx(w2_s_bin *data) { return; }
 
-#include <stdio.h>
 void w2_cmd_bomd_rx(w2_s_bin *data) {
 	W2_CAST_BIN(w2_s_cmd_bomd_rx, data, req);
 
 	req->position = w2_bin_hton32(req->position);
 
-	char buf[32];
-	clear();
-	// sprintf(buf, "%lu, %lu", req->position % W2_MAP_DEFAULT_WIDTH, req->position / W2_MAP_DEFAULT_WIDTH);
-	sprintf(buf, "%lu", req->position);
-	print(buf);
 	g_w2_order[g_w2_order_index].x = req->position % W2_MAP_DEFAULT_WIDTH;
 	g_w2_order[g_w2_order_index].y = req->position / W2_MAP_DEFAULT_WIDTH;
 	g_w2_order_index++;