diff options
| -rw-r--r-- | robot/errcatch.c | 3 | ||||
| -rw-r--r-- | robot/mode_grid.c | 9 | ||||
| -rw-r--r-- | robot/sercomm.c | 6 | ||||
| -rw-r--r-- | shared/bin.c | 8 | ||||
| -rw-r--r-- | shared/errcatch.h | 3 |
5 files changed, 19 insertions, 10 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++; diff --git a/shared/bin.c b/shared/bin.c index a0937e8..9d67bec 100644 --- a/shared/bin.c +++ b/shared/bin.c @@ -10,10 +10,10 @@ #define _SHIFT_1B (8 * 1) #define _SHIFT_2B (8 * 2) #define _SHIFT_3B (8 * 3) -#define _BYTE_0 ((uint32_t)(0xff << (_SHIFT_0B))) -#define _BYTE_1 ((uint32_t)(0xff << (_SHIFT_1B))) -#define _BYTE_2 ((uint32_t)(0xff << (_SHIFT_2B))) -#define _BYTE_3 ((uint32_t)(0xff << (_SHIFT_3B))) +#define _BYTE_0 ((uint32_t) 0xff << (_SHIFT_0B)) +#define _BYTE_1 ((uint32_t) 0xff << (_SHIFT_1B)) +#define _BYTE_2 ((uint32_t) 0xff << (_SHIFT_2B)) +#define _BYTE_3 ((uint32_t) 0xff << (_SHIFT_3B)) #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wshift-count-overflow" diff --git a/shared/errcatch.h b/shared/errcatch.h index a56bc00..b14379d 100644 --- a/shared/errcatch.h +++ b/shared/errcatch.h @@ -54,6 +54,9 @@ typedef enum { W2_E_WARN_MODE_HISTORY_BUFFER_IOB = 0x0a | W2_E_TYPE_WARN, /** ping timeout reached */ W2_E_WARN_PING_TIMEOUT = 0x0b | W2_E_TYPE_WARN, + + /** order reached */ + W2_E_INFO_ORDER_ARRIVED = 0x00 | W2_E_TYPE_INFO, } w2_e_errorcode; /** |