/**
* crosses the bridge without right bumper.
*/
bool StrategyAttackBadBumperCL::findAndCrossBridgeNoRightBumper()
{
bridgeDetectionByCenter_ = true;
const bool TURN_ON_RIGHT_WHEEL = false;
while (true) {
bridge_ = BRIDGE_POS_CENTER;
Log->bridge(bridge_);
// try again, if failed...
if (!gotoBridgeEntry()) continue;
if (gotoBridgeEntryRotateToSeeBridge(TURN_ON_RIGHT_WHEEL)) {
// use sioux, as the bridge is in the correct position.
if (gotoBridgeEntry() &&
crossBridge())
{
skittleMiddleProcessed_ = true;
return true;
}
} else {
bridge_ = BRIDGE_POS_BORDURE;
Log->bridge(bridge_);
unsigned int retries = 0;
while (retries < 5) {
if (gotoBridgeEntry())
break;
retries ++;
}
// if we failed 5 times try the whole thing again.
if (retries == 5) continue;
if (gotoBridgeEntryRotateToSeeBridge(TURN_ON_RIGHT_WHEEL)) {
if (crossBridge()) return true;
} else {
bridge_ = BRIDGE_POS_MIDDLE_BORDURE;
Log->bridge(bridge_);
retries = 0;
while (retries < 5) {
if (gotoBridgeEntry() &&
crossBridge()) return true;
retries++;
}
}
}
if (checkEndEvents()) return false;
}
return false;
}
// ---------------------------------------------------------------------------
// fonction qui boucle jusqu'a ce que le robot ait traverse le pont ou
// que ce soit la fin du match
// --------------------------------------------------------------------------
bool StrategyAttackCL::findAndCrossBridge()
{
while (true) {
if (gotoBridgeEntry()) {
if (crossBridge()) {
if (bridgeDetectionByCenter_ &&
(bridge_ == BRIDGE_POS_CENTER ||
bridge_ == BRIDGE_POS_MIDDLE_CENTER) ) {
// on est passe par le pont du milieu, on fait tomber les
// quilles qui y etaient
skittleMiddleProcessed_=true;
}
return true;
}
}
if (checkEndEvents()) return false;
getNearestBridgeEntry(); // met a jour bridge avec une autre
// position de pont a explorer
}
}
/*******************************************************************************
* function driveBicycle() - used by a Bicycle thread, simply calls crossBridge()
* passing in the current state as a parameter.
******************************************************************************/
void *rideBicycle(void *threadarg){
crossBridge((vstate_t *)threadarg);
}
/*******************************************************************************
* function driveTruck() - used by a Truck thread, simply calls crossBridge()
* passing in the current state as a parameter.
******************************************************************************/
void *driveTruck(void *threadarg){
crossBridge((vstate_t *)threadarg);
}
/*******************************************************************************
* function driveCar() - used by a Car thread, simply calls crossBridge()
* passing in the current state as a parameter.
******************************************************************************/
void *driveCar(void *threadarg){
crossBridge((vstate_t *)threadarg);
}
