MABodyLyingBored.cpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#include "MABodyLyingBored.hpp"

#include "core/MARandomness.hpp"
#include "types/MABodyMotion.hpp"
#include "types/MAComplexIndicators.hpp"
#include "types/MAGoals.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MALegController.hpp"
#include "MABodyLying.hpp"
#include "MABodySitFromLying.hpp"
#include "MABodyStandUpFromLying.hpp"
#include "MABodyStroked.hpp"
#include "MAHeadLookAround.hpp"
#include "MAHeadTurnAhead.hpp"
#include "MAHeavyCalculations.hpp"
#include "MALyingExerciseMaster.hpp"
#include "MALookForAbyss.hpp"
#include "MANumberGameMaster.hpp"

MABodyLyingBored::MABodyLyingBored() : MABehavior(MCGetClassName(this))
{
  MA_RANDOM_POINT_1(BoredTime, 10000, 60000);

  SetSelfActivationDuration(BoredTime);
  MA::RobotState->Goals->LiePostureDesire = 0;
}


MABehavior::StimulusLevelType MABodyLyingBored::GetCurrentStimulus()
{
  // Wait until the ongoing heavy calculations are done.
  if (MABEHAVIOR_IS_ACTIVATED(MAHeavyCalculations))
    return MABehavior::NoStimulus;
  // Ignore the number game time
  if (MABEHAVIOR_IS_ACTIVATED(MANumberGameMaster))
    return MABehavior::NoStimulus;

  if (!MA::RobotState->BodyMotion->OnStation &&
      // Make sure that the abyss detection has been done.
      MA::RobotState->ComplexIndicators->AbyssWhileLying > -1 && !MABEHAVIOR_EXISTS(MALookForAbyss) &&
      MA::RobotState->ComplexIndicators->IsLyingPosture &&
      !MA::LegLF->IsAnyActiveTransition() && !MA::LegLH->IsAnyActiveTransition() &&
      !MA::LegRF->IsAnyActiveTransition() && !MA::LegRH->IsAnyActiveTransition() &&
      MABEHAVIOR_IS_NORMAL(MABodyStroked))
  {
    // Leave the lying pose immediately if any other pose or locomotion is desired
    if (MA::RobotState->Goals->SitPostureDesire != 0 ||
        MA::RobotState->Goals->StandPostureDesire != 0 ||
        MA::RobotState->Goals->DesiredLeftTurnDuration != 0 ||
        MA::RobotState->Goals->DesiredRightTurnDuration != 0 ||
        MA::RobotState->Goals->DesiredBackwardWalkDuration != 0 ||
        MA::RobotState->Goals->DesiredForwardWalkDuration != 0)
    {
      return MABehavior::OverStimulated;
    }
    return MABehavior::Stimulated;
  }
  return MABehavior::NoStimulus;
}


void MABodyLyingBored::ActivatingActions()
{
  MABEHAVIOR_DELETE(MABodyLying);
  MABEHAVIOR_DELETE(MAHeadLookAround);
  // Don't do anything if there is an abyss before the dog
  if (MA::RobotState->ComplexIndicators->AbyssWhileLying == 1)
    return;

  MA_RANDOM_POINT_1(DoExercise, 0, 5);

  // Do an exercise if the self activation was so long and the activation is not indicated by a desire.
  if (GetSelfActivationDuration() > 50000 && GetCurrentStimulus() == MABehavior::Stimulated &&
      DoExercise == 0)
  {
    MABEHAVIOR_CREATE(MALyingExerciseMaster, nullptr);
    return;
  }
  MABEHAVIOR_CREATE(MAHeadTurnAhead, nullptr);
  // Go to desired posture if needs be...
  if (MA::RobotState->Goals->SitPostureDesire != 0)
  {
    MABEHAVIOR_CREATE(MABodySitFromLying, nullptr);
    return;
  }
  if (MA::RobotState->Goals->StandPostureDesire != 0 ||
      MA::RobotState->Goals->DesiredLeftTurnDuration != 0 ||
      MA::RobotState->Goals->DesiredRightTurnDuration != 0 ||
      MA::RobotState->Goals->DesiredBackwardWalkDuration != 0 ||
      MA::RobotState->Goals->DesiredForwardWalkDuration != 0)
  {
    MABEHAVIOR_CREATE(MABodyStandUpFromLying, nullptr);
    return;
  }
  // ...otherwise go to random posture.
  MA_RANDOM_POINT_1(NewAction, 1, 2);

  if (NewAction == 1)
  {
    MABEHAVIOR_CREATE(MABodySitFromLying, nullptr);
    return;
  }
  if (NewAction == 2)
  {
    MA_RANDOM_POINT_1(ForwardWalkDuration, 8000, 60000);

    MA::RobotState->Goals->DesiredForwardWalkDuration = ForwardWalkDuration;
    MABEHAVIOR_CREATE(MABodyStandUpFromLying, nullptr);
    return;
  }
}