// (TL, B, TR, A)
public bool execStrategy(OpMap m, IMotionControl mc)
{
try
{
m.turnLeft();
mc.turnLeft();
m.back();
mc.back();
m.turnRight();
mc.turnRight();
m.advance();
mc.advance();
}
catch (CannotComplyException)
{
return(false);
}
catch (NotEnoughBatteryException)
{
return(false);
}
catch (OutOfBatteryException)
{
return(false);
}
catch (Exception)
{
return(false);
}
return(true);
}
public void execProgram(Command[] cmds)
{
for (int i = 0; i < cmds.Length; i += 1)
{
try
{
switch (cmds[i])
{
case Command.TL:
map.turnLeft();
motCtrl.turnLeft();
break;
case Command.TR:
map.turnRight();
motCtrl.turnRight();
break;
case Command.A:
map.advance();
motCtrl.advance();
break;
case Command.B:
map.back();
motCtrl.back();
break;
case Command.C:
map.clean();
motCtrl.clean();
break;
}
}
catch (CannotComplyException)
{
execBackoff();
if (error)
{
// All backoff strategies had failed. Execution finished
return;
}
i -= 1;
}
catch (NotEnoughBatteryException)
{
return;
}
catch (OutOfBatteryException)
{
return;
}
catch (Exception)
{
error = true;
}
}
}
public void back_batteryDecrease2_return2()
{
proc.back();
Assert.AreEqual(2, proc.Battery);
}