MABodySitting.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 "MABodySitting.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 "MABodySittingBored.hpp"
#include "MALegSittingPosition.hpp"
#include "MALegMoveAway.hpp"
#include "MALegMoved.hpp"
#include "MASittingFreefall.hpp"
#include "MATailToBack.hpp"
#include "MATypeRanges.hpp"

MABodySitting::MABodySitting() : MABehavior(MCGetClassName(this))
{
  MABEHAVIOR_CREATE(MABodySittingBored, this);
}


MABehavior::StimulusLevelType MABodySitting::GetCurrentStimulus()
{
  if (MA::RobotState->BodyMotion->Sitting > 80)
  {
    return MABehavior::OverStimulated;
  }
  return MABehavior::NoStimulus;
}


bool MABodySitting::IsFailed()
{
  return MA::RobotState->ComplexIndicators->OverloadDangerWhileSitting > 50;
}


void MABodySitting::ActivatingActions()
{
  if (!MA::RobotState->ComplexIndicators->IsSittingPosture)
  {
    // Since the posture is not sitting, just move away the legs to go into lying position and
    // trigger MABodyLying
    MALEGBEHAVIOR_CREATE(MALegMoveAway, MA::Leg::LF, this);
    MALEGBEHAVIOR_CREATE(MALegMoveAway, MA::Leg::LH, this);
    MALEGBEHAVIOR_CREATE(MALegMoveAway, MA::Leg::RF, this);
    MALEGBEHAVIOR_CREATE(MALegMoveAway, MA::Leg::RH, this);
    return;
  }
  // Switch off these joints to spare energy
  // TODO: Enable power savings
//  if (!MA::RobotState->LegLF->Moving)
//    MA::LegLF->SetPower(MA::LegJoint1, false);
//  if (!MA::RobotState->LegRF->Moving)
//    MA::LegRF->SetPower(MA::LegJoint1, false);
  // Switch off the joints to let the leg fine-tune its position and avoid
  // forcing the joints by children
  if (!MA::RobotState->LegLH->Moving)
    MA::LegLH->SetPower(false);
  if (!MA::RobotState->LegRH->Moving)
    MA::LegRH->SetPower(false);

  MALEGBEHAVIOR_CREATE(MALegSittingPosition, MA::Leg::LH, this);
  MALEGBEHAVIOR_CREATE(MALegSittingPosition, MA::Leg::RH, this);
  MALEGBEHAVIOR_CREATE(MALegMoved, MA::Leg::LH, this);
  MALEGBEHAVIOR_CREATE(MALegMoved, MA::Leg::RH, this);
  MABEHAVIOR_CREATE(MATailToBack, this);
}


void MABodySitting::FailingActions()
{
  MC_LOG("Overload danger in the front legs while sitting.");
  if (MA::RobotState->ComplexIndicators->IsSittingPosture &&
      !MA::RobotState->LegLF->Moving && !MA::RobotState->LegRF->Moving &&
      !MA::RobotState->LegLH->Moving && !MA::RobotState->LegRH->Moving)
  {
    // When motor overload danger happens, the posture is changed to lying.
    MA::RobotState->Goals->LiePostureDesire = 1;
  } else {
    MABEHAVIOR_CREATE(MASittingFreefall, nullptr);
  }
}