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// Run the turtle for the specified duration // Returns one of the TurtleError values if a failure // occurs, or TurtleError.OK if it succeeds public TurtleError RunFor(double duration) { if (LeftMotorState == MotorState.Stopped && RightMotorState == MotorState.Stopped) { // If we are at a full stop, nothing will happen return TurtleError.OK; } // The motors are both running in the same direction // then we just drive if ((LeftMotorState == MotorState.Running && RightMotorState == MotorState.Running) || (LeftMotorState == MotorState.Reversed && RightMotorState == MotorState.Reversed)) { Drive(duration); return TurtleError.OK; } // // // if The motors are running in opposite directions, so we don't move, we just rotate about the center of the rig ((LeftMotorState == MotorState.Running && RightMotorState == MotorState.Reversed) || (LeftMotorState == MotorState.Reversed && RightMotorState == MotorState.Running)) if (!Rotate(duration)) {

{

Figure 15-3. Server authentication in SSL If, for instance, RSA is to be used for key agreement, then the client generates a random value to be used as a pre-master secret, and encrypts the pre-master secret with the server s public key. The encrypted pre-master secret is sent to the server in the ClientKeyExchange message. The server decrypts the pre-master secret with its private key, and the pre-master secret is now known to both parties.

}

} return TurtleError.MotorStateError;

Listing 9-1. TechnoratiBlock.js componentManager.add("t", "TechnoratiClass", "/content/components/icons/logo.png", "/content/components/icons/logo.png");

}

return TurtleError.RotateError;

OK so far, although it is starting to get a bit tortuous, and we re going up only one call in the stack. But let s build and run anyway:

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Once the pre-master secret has been determined, the client and server compute some hashes of it that include the random bytes exchanged in the hello messages to arrive at the master secret. DH can also be used for key agreement, but the contents of the ClientKeyExchange will then instead contain parameters similar to those described in Section 14.4.2. Once the master secret is determined, both a symmetric session key and an integrity key are derived from the master secret using a key derivation function specified in the SSL protocol specification. If the server did not possess the appropriate private key, it would not be able to decrypt the pre-master secret, and would not be able to continue communication with the client as all messages including and after the Finished message, are encrypted with a key derived from the pre-master secret. Once the server has been authenticated, the browser typically displays a lock, and the user can be sure he is communicating with the domain name specified in the address bar of the browser.

Arthur Arthur Arthur Arthur Arthur Arthur is is is is is is at at at at at at (0,0) and is pointing at angle 0.00 radians. (0,10) and is pointing at angle 0.00 radians. (0,10) and is pointing at angle 0.00 radians. (0,-15) and is pointing at angle 0.00 radians. (0,-15) and is pointing at angle 0.00 radians. (0,-18.5355339059327) and is pointing at angle 0.00 radians.

Yup; we re no better off than before, because all we ve done is to pass the responsibility up to the client, and they are still free to ignore our pleadings. Given that the problem is a result of our oversight in the first place, what is the likelihood that we ll remember to check the error message Things would be even worse if this was in a library; we could recompile against this new version, and everything would seem fine, while in the background everything would quietly be going horribly wrong. It is probably about time we did something with the error message, so let s see what happens in our client code (see Example 6-10).

static void Main(string[] args) { Turtle arthurTheTurtle = new Turtle { PlatformWidth = 0.0, PlatformHeight = 10.0, MotorSpeed = 5.0 }; ShowPosition(arthurTheTurtle); // We want to proceed forwards arthurTheTurtle.LeftMotorState = MotorState.Running; arthurTheTurtle.RightMotorState = MotorState.Running; // For two seconds TurtleError result = arthurTheTurtle.RunFor(2.0); if (result != TurtleError.OK) { HandleError(result); return; } ShowPosition(arthurTheTurtle);

// Now, let's rotate clockwise for a bit arthurTheTurtle.RightMotorState = MotorState.Reversed; // PI / 2 seconds should do the trick result = arthurTheTurtle.RunFor(Math.PI / 2.0); if (result != TurtleError.OK) { HandleError(result); return; } ShowPosition(arthurTheTurtle); // And let's go into reverse arthurTheTurtle.RightMotorState = MotorState.Reversed; arthurTheTurtle.LeftMotorState = MotorState.Reversed; // And run for 5 seconds result = arthurTheTurtle.RunFor(5); if (result != TurtleError.OK) { HandleError(result); return; } ShowPosition(arthurTheTurtle); // Then rotate back the other way arthurTheTurtle.RightMotorState = MotorState.Running; // And run for PI/4 seconds to give us 45 degrees result = arthurTheTurtle.RunFor(Math.PI / 4.0); if (result != TurtleError.OK) { HandleError(result); return; } ShowPosition(arthurTheTurtle); // And finally drive backwards for a bit arthurTheTurtle.RightMotorState = MotorState.Reversed; arthurTheTurtle.LeftMotorState = MotorState.Reversed; result = arthurTheTurtle.RunFor(Math.Cos(Math.PI / 4.0)); if (result != TurtleError.OK) { HandleError(result); return; } ShowPosition(arthurTheTurtle); } Console.ReadKey();

private static void HandleError(TurtleError result)

The messages exchanged in the mutual authentication case are shown in Figure 15-4. After the ServerHelloDone message is received, the client sends its certificate to the server.

{ }

Console.WriteLine("We hit turtle error {0}", result); Console.ReadKey();

function TechnoratiClass() { }

Every time we call the RunFor method, we have to stash away the error message that is returned, check it for problems, and then decide what we re going to do. In this instance, we decided to quit the application, after showing an error message to the user, because it isn t safe to continue. If we compile and run, here s the output:

Arthur is at (0,0) and is pointing at angle 0.00 radians. Arthur is at (0,10) and is pointing at angle 0.00 radians. We hit turtle error RotateError

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