IOxfReactive::TakeEventStatus Karussell::rootState_processEvent() {
IOxfReactive::TakeEventStatus res = eventNotConsumed;
// State idle
if(rootState_active == idle)
{
if(IS_EVENT_TYPE_OF(OMTimeoutEventId))
{
if(getCurrentEvent() == rootState_timeout)
{
NOTIFY_TRANSITION_STARTED("1");
cancel(rootState_timeout);
//#[ state idle.(Exit)
dreht = true;
//#]
NOTIFY_STATE_EXITED("ROOT.idle");
//#[ transition 1
drehen();
//#]
NOTIFY_STATE_ENTERED("ROOT.idle");
rootState_subState = idle;
rootState_active = idle;
//#[ state idle.(Entry)
dreht = false;
//#]
rootState_timeout = scheduleTimeout(1000, "ROOT.idle");
NOTIFY_TRANSITION_TERMINATED("1");
res = eventConsumed;
}
}
}
return res;
}
void Karussell::drehen() {
NOTIFY_OPERATION(drehen, drehen(), 0, System_Karussell_drehen_SERIALIZE);
//#[ operation drehen()
Waage* myWaage = itsWaage[MaxStation-1];
if( !GlaeserDrauf() ) return;
for(int i=0; i < MaxStation; i++)
{
if( !itsStation[i]->isOk() ) return;
}
for( int i = MaxStation-1; i > 0; i-- )
{
itsWaage[i] = itsWaage[i-1];
}
itsWaage[0] = myWaage;
updateLED();
for(int i=0; i < MaxStation; i++)
{
itsStation[i]->GEN(evRun);
}
jemalsgedreht = true;
//#]
}
void runSzenario5dotfinder(){
if(getFrontZeichen()=='.'||getFrontZeichen()=='Z'){
geheNachVorn(1);
setZeichenAnPosition(' ', getRoboterPosition());
}else{
drehen(45,1);
}
}