vb.net symbol.barcode.reader FIGURE 15.1 The MainProgram. All subroutines will be listed in separate gures. in Software

Painting QR Code JIS X 0510 in Software FIGURE 15.1 The MainProgram. All subroutines will be listed in separate gures.

FIGURE 15.1 The MainProgram. All subroutines will be listed in separate gures.
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WaitForCommand GetTimeInSecs DockWithCharger MoveToRoom FindPath GoToPoint CheckObstacles
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ChooseRoom
FIGURE 15.2
Subroutines hierarchy chart.
MainProgram label are parameters that affect the operations of the various subroutines and will be discussed as they become needed. They are placed here so they can be easily located for modi cation. In order for the robot to move around the of ce ef ciently and effectively a map of the of ce is needed. This is achieved by the subroutine MapOf ce, which will be discussed in its own section later. A subroutines hierarchy chart can be extremely useful for documenting programs that may have to be modi ed in the future. The chart in Fig. 15.2 resulted when the design process discussed in Sec. 15.1 was applied. Notice that the subroutine CheckObstacles is dotted. This routine is not implemented in the rst version of the program. However, the routine is required for later improvements of the system. To avoid drawing a new diagram later, it is incorporated here for completeness. The placement of the subroutines names is made to minimize crossing lines and to emphasize the hierarchy of calling. When you study Fig. 15.2 carefully, along with the program s listing, you will nd that the program s actions are easier to follow. A well documented and annotated listing shows the order of calling the subroutines, and the hierarchy chart keeps you from becoming lost in the depths of nested calls. Another thing to look for when you study a hierarchy chart is helper routines. For example, the subroutine MoveToRoom is used by two subroutines. This means that this routine is a utility routine and can be considered as part of a library of utilities. GotoPoint is not used by more than one routine but you know from previous chapters that this utility routine has been used many times in various programs. 15.2.3 THE USER INTERFACE The subroutine DisplayInstructions in Fig. 15.3 displays a screen with instructions detailing the actions of the simulation. It makes use of the MsgBox() function to display the text in a dialog box and wait for a left mouse click on the OK or Cancel buttons or pressing the Esc or Return keys. No use is made of the information returned by the function indicating which key or button was pressed. The DisplayInstructions routine could have been a simple set of Print statements as you have seen in other chapters. However, it is time, at this advanced stage, to start using
NEGOTIATING A HOME OR OFFICE
//=========================================================== //--- Subroutine DisplayInstructions //--- Inputs : none //--- Outputs : none //--- Calls To: none //--//--- displays the instructions in a window and an OK and Cancel //--- buttons and waits for mouse click on the button or the //--- Space bar or Enter or Esc //------------------------------------------------------------DisplayInstructions: data IM;"Office Messnger" data IM;"This program simulates an office messenger robot." data IM;"Pressing ""m"" or ""M"" or right-mouse-button brings" data IM;"up a command menu.","" data IM;"The menu allows you to command the robot to go to" data IM;"any room in the office. It also shows stats on the" data IM;"robot's current position and the battery level.","" data IM;"The robot will go to that room and await further" data IM;"instructions. If you do not command it with a new" data IM;"room to go to within 60 seconds, or if the battery" data IM;"charge level goes too low, the robot will go to" data IM;"the charging station and wait for more instructions" data IM;"while charging." n = MsgBox(IM) Return //============================================================= //============================================================= //--- Subroutine ChooseRoom //--- Inputs : Nodes[], RobotNode //--- Outputs : GoalNode //--- Calls To: none //--//--- this routine displays a menu of rooms to choose from //--- once the user selects a room number it sets GoalNode //--- to the number chosen. //--- The routine also displays the battery charge level and //--- the name of the room where the robot is currently //--- situated when the routine is called. It uses the Nodes[] //--- array to get the name of the node. //------------------------------------------------------------ChooseRoom: if not VType(CR_t) CR_t = true data CR_btns;"&Cancel","&BreakRoom","Office &1" data CR_btns;"Office &2","Office &3","Office &4" data CR_btns;"Office &5","&HallWay 1","Hall&Way 2" endif SaveScr Rectangle 55,55,755,555,black,black Rectangle 50,50,750,550,cyan,cyan ERectangle 52,52,750,550,2,white setcolor white,cyan xytext 160,80,"Select the Room To Go To:","",15,fs_Bold xytext 140,400,"Battery = Robot is at:","",15,fs_Bold setcolor black,white
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