void turn(int angle) {
int originAngle = readRobotAngle();
int expectedAngle = makeAngle(originAngle + angle);
int turnTime = abs(angle) * 6;
while(turnTime > 10) {
int diff = makeAngle(readRobotAngle() - expectedAngle);
turnWithDelay(turnTime, diff > 0 ? -1 : 1);
turnTime = (turnTime*3) / 4;
}
}
SkPath makePath() {
SkPath path;
for (uint32_t cIndex = 0; cIndex < fPathContourCount; ++cIndex) {
uint32_t segments = makeSegmentCount();
for (uint32_t sIndex = 0; sIndex < segments; ++sIndex) {
RandomAddPath addPathType = makeAddPathType();
++fAddCount;
if (fPrintName) {
SkDebugf("%.*s%s\n", fPathDepth * 3, fTab,
gRandomAddPathNames[addPathType]);
}
switch (addPathType) {
case kAddArc: {
SkRect oval = makeRect();
SkScalar startAngle = makeAngle();
SkScalar sweepAngle = makeAngle();
path.addArc(oval, startAngle, sweepAngle);
validate(path);
} break;
case kAddRoundRect1: {
SkRect rect = makeRect();
SkScalar rx = makeScalar(), ry = makeScalar();
SkPath::Direction dir = makeDirection();
path.addRoundRect(rect, rx, ry, dir);
validate(path);
} break;
case kAddRoundRect2: {
SkRect rect = makeRect();
SkScalar radii[8];
makeScalarArray(SK_ARRAY_COUNT(radii), radii);
SkPath::Direction dir = makeDirection();
path.addRoundRect(rect, radii, dir);
validate(path);
} break;
case kAddRRect: {
SkRRect rrect = makeRRect();
SkPath::Direction dir = makeDirection();
path.addRRect(rrect, dir);
validate(path);
} break;
case kAddPoly: {
SkTDArray<SkPoint> points;
makePointArray(&points);
bool close = makeBool();
path.addPoly(&points[0], points.count(), close);
validate(path);
} break;
case kAddPath1:
if (fPathDepth < fPathDepthLimit) {
++fPathDepth;
SkPath src = makePath();
validate(src);
SkScalar dx = makeScalar();
SkScalar dy = makeScalar();
SkPath::AddPathMode mode = makeAddPathMode();
path.addPath(src, dx, dy, mode);
--fPathDepth;
validate(path);
}
break;
case kAddPath2:
if (fPathDepth < fPathDepthLimit) {
++fPathDepth;
SkPath src = makePath();
validate(src);
SkPath::AddPathMode mode = makeAddPathMode();
path.addPath(src, mode);
--fPathDepth;
validate(path);
}
break;
case kAddPath3:
if (fPathDepth < fPathDepthLimit) {
++fPathDepth;
SkPath src = makePath();
validate(src);
SkMatrix matrix = makeMatrix();
SkPath::AddPathMode mode = makeAddPathMode();
path.addPath(src, matrix, mode);
--fPathDepth;
validate(path);
}
break;
case kReverseAddPath:
if (fPathDepth < fPathDepthLimit) {
++fPathDepth;
SkPath src = makePath();
validate(src);
path.reverseAddPath(src);
--fPathDepth;
validate(path);
}
break;
case kMoveToPath: {
SkScalar x = makeScalar();
SkScalar y = makeScalar();
path.moveTo(x, y);
validate(path);
} break;
case kRMoveToPath: {
SkScalar x = makeScalar();
SkScalar y = makeScalar();
path.rMoveTo(x, y);
validate(path);
} break;
case kLineToPath: {
SkScalar x = makeScalar();
SkScalar y = makeScalar();
path.lineTo(x, y);
validate(path);
} break;
case kRLineToPath: {
SkScalar x = makeScalar();
SkScalar y = makeScalar();
path.rLineTo(x, y);
validate(path);
} break;
case kQuadToPath: {
SkPoint pt[2];
makePointArray(SK_ARRAY_COUNT(pt), pt);
path.quadTo(pt[0], pt[1]);
validate(path);
} break;
case kRQuadToPath: {
SkPoint pt[2];
makePointArray(SK_ARRAY_COUNT(pt), pt);
path.rQuadTo(pt[0].fX, pt[0].fY, pt[1].fX, pt[1].fY);
validate(path);
} break;
case kConicToPath: {
SkPoint pt[2];
makePointArray(SK_ARRAY_COUNT(pt), pt);
SkScalar weight = makeScalar();
path.conicTo(pt[0], pt[1], weight);
validate(path);
} break;
case kRConicToPath: {
SkPoint pt[2];
makePointArray(SK_ARRAY_COUNT(pt), pt);
SkScalar weight = makeScalar();
path.rConicTo(pt[0].fX, pt[0].fY, pt[1].fX, pt[1].fY, weight);
validate(path);
} break;
case kCubicToPath: {
SkPoint pt[3];
makePointArray(SK_ARRAY_COUNT(pt), pt);
path.cubicTo(pt[0], pt[1], pt[2]);
validate(path);
} break;
case kRCubicToPath: {
SkPoint pt[3];
makePointArray(SK_ARRAY_COUNT(pt), pt);
path.rCubicTo(pt[0].fX, pt[0].fY, pt[1].fX, pt[1].fY, pt[2].fX, pt[2].fY);
validate(path);
} break;
case kArcToPath: {
SkPoint pt[2];
makePointArray(SK_ARRAY_COUNT(pt), pt);
SkScalar radius = makeScalar();
path.arcTo(pt[0], pt[1], radius);
validate(path);
} break;
case kArcTo2Path: {
SkRect oval = makeRect();
SkScalar startAngle = makeAngle();
SkScalar sweepAngle = makeAngle();
bool forceMoveTo = makeBool();
path.arcTo(oval, startAngle, sweepAngle, forceMoveTo);
validate(path);
} break;
case kClosePath:
path.close();
validate(path);
break;
}
}
}
return path;
}