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Note that as per the preceding definition, anyone can verify a signature given the message (M), a signature (s), and the public key of the signer (kp). However, as mentioned in Section 13.4, a public key on its own really doesn t mean very much. Anyone can generate a public/private key pair, give you their public key, and claim to be Michael Jackson. In order for the verification to mean something, a public key needs to be tied to a person s identity and a certificate authority (CA) can be used to help bind people s identities to their public keys.

Table 6-1. A far-from-exhaustive list of some common errors Error Bug Unexpected behavior Unexpected input Unexpected data type Unexpected data format Unexpected result Unexpected method call Unavailable resource Description/example A failure to implement a contract according to its documentation. A failure to document a contract properly for all expected input. A client passes data to a method that is outside some expected range. A client passes data to a method that is not of the expected type. A client passes data to a method in a format that is not recognized. A client receives information from a method that it did not expect for the given input. The class wasn t expecting you to call a particular method at that time you hadn t performed some required initialization, for example. A method tried to access a resource of some kind and it was not present a hardware device was not plugged in, for instance.

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Description/example A method tried to access a scarce resource of some kind (memory or a hardware device that cannot be shared), and it was not available because someone else was using it.

Although bugs are probably the most obvious type of error, we won t actually be dealing with them directly in this chapter. We will, however, look at how our error-handling techniques can make it easier (or harder!) to find the bugs that are often the cause of the other, better defined issues. Let s get started with an example we can use to look at error-handling techniques. We re going to branch out into the world of robotics for this one, and build a turtle-controlling application. The real-world turtle is a rectangular piece of board on which are mounted two motors that can drive two wheels. The wheels are located in the middle of the left and right edges of the board, and there are nondriven castor wheels at the front and back to give it a bit of stability. We can drive the two motors independently: we can move forward, move backward, or stop. And by moving the wheels in different directions, or moving one wheel at time, we can steer it about a bit like a tank. Let s create a class to model our turtle (see Example 6-1).

class Turtle { // The width of the platform public double PlatformWidth { get; set; } // The height of the platform public double PlatformHeight { get; set; } // The speed at which the motors drive the wheels, // in meters per second. For ease, we assume that takes account // of the distance traveled by the tires in contact // with the ground, and any slipping public double MotorSpeed { get; set; } // The state of the left motor public MotorState LeftMotorState { get; set; }

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// The state of the right motor public MotorState RightMotorState { get; set; } // The current position of the turtle public Point CurrentPosition { get; private set; } // The current orientation of the turtle public double CurrentOrientation { get; private set; }

}

// The current state of a motor enum MotorState { Stopped, Running, Reversed }

of the RSS block (you may have to clear the block search box for News Reader to appear); see Figure 3-6.

In addition to the motor control, we can define the size of the platform and the speed at which the motors rotate the wheels. We also have a couple of properties that tell us where the turtle is right now, relative to its point of origin, and the direction in which it is currently pointing. To make our turtle simulator actually do something, we can add a method which makes time pass. This looks at the state of the different motors and applies an appropriate algorithm to calculate the new position of the turtle. Example 6-2 shows our first, somewhat naive, go at it.

// Run the turtle for the specified duration public void RunFor(double duration) { if (LeftMotorState == MotorState.Stopped && RightMotorState == MotorState.Stopped) { // If we are at a full stop, nothing will happen return; } // The motors are both // then we just drive if ((LeftMotorState == RightMotorState == (LeftMotorState == running in the same direction MotorState.Running && MotorState.Running) || MotorState.Reversed &&

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