MABodyLying.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 "MABodyLying.hpp"

#include "types/MABodyMotion.hpp"
#include "types/MAComplexIndicators.hpp"
#include "types/MAGoals.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MALegController.hpp"
#include "MABodyLyingBored.hpp"
#include "MABodyLyingHappyTalk.hpp"
#include "MALegLyingPosition.hpp"
#include "MALegMoved.hpp"
#include "MALookForAbyss.hpp"
#include "MATailToBack.hpp"

MABodyLying::MABodyLying() : MABehavior(MCGetClassName(this))
{
  MABEHAVIOR_CREATE(MABodyLyingBored, this);
}


MABehavior::StimulusLevelType MABodyLying::GetCurrentStimulus()
{
  if (MA::RobotState->BodyMotion->OnStation || MA::RobotState->BodyMotion->Lying > 80)
  {
    return MABehavior::OverStimulated;
  }
  return MABehavior::NoStimulus;
}


bool MABodyLying::IsFailed()
{
  return MA::RobotState->BodyMotion->Lying < 20 && !MA::RobotState->BodyMotion->OnStation;
}


void MABodyLying::ActivatingActions()
{
  // Check first if there is an abyss before the dog
  if (MA::RobotState->ComplexIndicators->AbyssWhileLying < 0)
  {
    MABEHAVIOR_CREATE(MALookForAbyss, this);
  }
  if (MA::RobotState->Goals->DesireLyingOnTheFloor > 0)
  {
    MABEHAVIOR_CREATE(MABodyLyingHappyTalk, this);
  }
  // Switch off all joints to spare energy and let the leg fine-tune its position to avoid
  // "child-attack" by forcing the joints.
  if (!MA::RobotState->LegLF->Moving)
    MA::LegLF->SetPower(false);
  if (!MA::RobotState->LegRF->Moving)
    MA::LegRF->SetPower(false);
  if (!MA::RobotState->LegLH->Moving)
    MA::LegLH->SetPower(false);
  if (!MA::RobotState->LegRH->Moving)
    MA::LegRH->SetPower(false);
  MALEGBEHAVIOR_CREATE(MALegLyingPosition, MA::Leg::LF, this);
  MALEGBEHAVIOR_CREATE(MALegLyingPosition, MA::Leg::LH, this);
  MALEGBEHAVIOR_CREATE(MALegLyingPosition, MA::Leg::RF, this);
  MALEGBEHAVIOR_CREATE(MALegLyingPosition, MA::Leg::RH, this);
  MALEGBEHAVIOR_CREATE(MALegMoved, MA::Leg::LF, this);
  MALEGBEHAVIOR_CREATE(MALegMoved, MA::Leg::LH, this);
  MALEGBEHAVIOR_CREATE(MALegMoved, MA::Leg::RF, this);
  MALEGBEHAVIOR_CREATE(MALegMoved, MA::Leg::RH, this);
  MABEHAVIOR_CREATE(MATailToBack, this);
}