Evaulate Secure

gistfile1.txt

	private void createQueue() {
		queue = new ArrayDeque<When<Predicate<RobotState>,Fn>>();
		
		
		queue.push(when(isOnWhiteLine,driveLongBackward)); //if already on white line move backward
		
		queue.push(when( and(isIdle, not(isOnWhiteLine)), driveForward)); //start driving forward
		
		queue.push(when( and(isMoving, isOnWhiteLine), stopRobot)); //stop when white line is detected
		
		queue.push(when( and(isIdle, isOnWhiteLine), driveLongForward)); // drive long forward
		
		queue.push(when( isIdle, rotateClockWise)); //start rotating clockwise
		
		queue.push(when( and(isMoving, isOnWhiteLine), stopRobot)); //stop rotating when white line detected
		
		queue.push(when(isIdle, rotateLeft90)); //put perpendicular

		
	}



	protected IProcedure evaluateSecure(InputData inputData,
			RobotState robotState) {

		if (not(queue.isEmpty())) {

			if (queue.peek().pred.apply(robotState)) {
				queue.pop().fn.apply();
			}
		} else {
			terminate();

		}

		return null;

	}