void Grader::catchObj(Obj obj)

{float dist,ang;

   do

     {

      execute

       {

         if(exist(obj)&&obj->_free)

           {

            cartToPol(dist,ang,obj->getX()-getX(),obj->getY()-getY());

            if(dist<=_step)

          {

        _obj=obj;

        _obj->_free=false;

        Ghost ghost = new Ghost(_obj,_ground);

        ghost->setLocation(_obj->getX(),_obj->getY(),0);

        ghost->attachTo(_ground);

        _obj->location=location;

        _obj->attachTo(this);

        _obj->_ghost=ghost;

        _monAutomat->_m1->_memory=1;

        if(_sonde)

          {

            _god->_output2->writeString(format("\t","P"));

            print("P");

            _god->_output2->writeString(format("\t","(",

                _monAutomat->_m1->_memory,_monAutomat->_m2->_memory,")","\n"));

            print("(",_monAutomat->_m1->_memory,_monAutomat->_m2->_memory,")");

          }

        return;   

          }

            }

         else  return;

       }

     setTheta(ang);

     yield();

     } while(true);

}

void Grader::dropObjNear(Obj obj)

{

float dist,ang;

do

  {

  execute

    {

    if(exist(obj)&&obj->_free)

      {

      cartToPol(dist,ang,obj->getX()-getX(),obj->getY()-getY());

      if(dist<=_step/2)

        {

        _obj->setLocation(obj->getX(),obj->getY(),obj->getTheta());

        _obj->attachTo(_ground);

        _obj->_free=true;

        delete(_obj->_ghost);

        _obj->_ghost=(Ghost)NONE;

        _obj=(Obj)NONE;

    _monAutomat->_m1->_memory=0;

    if(_sonde)

          {

            _god->_output2->writeString(format("\t","O"));

            print("O");

            _god->_output2->writeString(format("\t","(",

            _monAutomat->_m1->_memory,_monAutomat->_m2->_memory,")","\n"));

            print("(",_monAutomat->_m1->_memory,_monAutomat->_m2->_memory,")");

          }

        return;   

        }

      }

    else return;}

  setTheta(ang);

  yield();

  } while(true);

}

void Grader::main(void)

{

while(!_obj) catchObj(lookForObj("Obj"));

while(_obj) dropObjNear(lookForObj(_obj->className()));

}