int leader(){
int i=0;
int found = 0;
while(!found){
if(go_to_position(positions[i], 10, NORMAL_SPEED)){
//predefined posiion reached
found = get_ball();
//if(found){ //decide if and when reset positions to prefdefined one
robot.x = positions[i].x;
robot.y = positions[i].y;
i++;
//}
} else {
//obstacle or ball found... must chose if it is to avoid or to grab
//for now assume it is a ball
int a = robot.t;
found = get_ball();
robot.x+=sin(a*M_PI/180)*STOP_DIST;
robot.y+=cos(a*M_PI/180)*STOP_DIST;
}
if(i==n_points) i = 0;
}
}
//this function tris to reach a position avoiding an obstacle and restarting every time an obstacle is found
//may deadlock... even if care is taken to properly avoid obsatcles
void go_to_position_interruptible(pos_t target_pos, int margin, int speed, int avoid_obstacle) {
int result;
while(1) {
result = go_to_position(target_pos, margin, speed);
if(result == REACHED || result == CUSTOM_STOP_MESSAGE) break;
if(result == OBSTACLE){
if(avoid_obstacle){
obstacle_avoid();
}else{
break;
}
}
}
}
static void move_cursor_word_left(t_env *e, char *str)
{
int j;
int blank;
j = 0;
blank = ft_iswhitespace(str[e->curs_pos]);
while (e->curs_pos >= 0)
{
if (ft_iswhitespace(str[e->curs_pos]) != blank || e->curs_pos == 0)
{
e->curs_pos++;
go_to_position(e, str, e->curs_pos);
break ;
}
e->curs_pos--;
j++;
}
}
static void move_cursor_word_right(t_env *e, char *str)
{
int j;
int blank;
j = 0;
blank = ft_iswhitespace(str[e->curs_pos]);
while (e->curs_pos <= e->curs_max)
{
if (ft_iswhitespace(str[e->curs_pos]) != blank ||
e->curs_pos == e->curs_max)
{
go_to_position(e, str, e->curs_pos);
break ;
}
e->curs_pos++;
j++;
}
}
