ActionDemo

ActionDemo.cpp

Object searchForBuoy()
{
  double originalOrientation = currentPosition.orientation();

  // Look for the buoy to the right
  ActionToken rotationRight = rotateTo(originalOrientation - pi/2);
  while(!rotationRight.complete())
  {
     ObjectVector objects = detectedObjects();
     if(objects.contains("buoy")) 
     {
       rotationRight.cancel();
       return objects["buoy"];
     }
  }
  
  // Look for the buoy to the left
  ActionToken rotationLeft = rotateTo(originalOrientation + pi/2);
  while(!rotationLeft.complete())
  {
     ObjectVector objects = detectedObjects();
     if(objects.contains("buoy")) 
     {
       rotationLeft.cancel();
       return objects["buoy"];
     }
  }

  // Rotate to the original orientation. This returns an ActionToken, which is immediately destructed, causing it to block
  // until the action is complete.
  rotateTo(originalOrientation);
  return NoObject;
}


int main()
{
  Object buoy = searchForBuoy();
  if(buoy != NoObject)
  {
    moveTo(buoy);
  }
  else
  {
    // Oh crap... Let's move somewhere else and try again...
  }

}