MABodyStandingBored.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 "MABodyStandingBored.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 "MABodyLieDownFromStanding.hpp"
#include "MABodySitDownFromStanding.hpp"
#include "MABodyStroked.hpp"
#include "MABodyTurnLeft.hpp"
#include "MABodyTurnRight.hpp"
#include "MAGoodFloorTalk.hpp"
#include "MAHeadLookAround.hpp"
#include "MAHeadTurnAhead.hpp"
#include "MAHeavyCalculations.hpp"
#include "MASoftCarpetReaction.hpp"
#include "MAStandFunnySkitMaster.hpp"
#include "MAWalkMaster.hpp"
#include "MAWrongFloorSkit.hpp"

#include <MCLog.hpp>

MABodyStandingBored::MABodyStandingBored() : MABehavior(MCGetClassName(this)),
  MARobotStateUpdater(MA::UpdateComplexIndicators), ResetFloorOwnerFeedback(false)
{
  RegisterUpdater(*this);
  MA_RANDOM_POINT_1(BoredTime, 10000, 30000);

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


MABehavior::StimulusLevelType MABodyStandingBored::GetCurrentStimulus()
{
  // Wait until the ongoing heavy calculations are done.
  if (MABEHAVIOR_IS_ACTIVATED(MAHeavyCalculations))
    return MABehavior::NoStimulus;

  if (MA::RobotState->ComplexIndicators->IsStandingPosture &&
      !MA::LegLF->IsAnyActiveTransition() && !MA::LegLH->IsAnyActiveTransition() &&
      !MA::LegRF->IsAnyActiveTransition() && !MA::LegRH->IsAnyActiveTransition() &&
      MABEHAVIOR_IS_NORMAL(MABodyStroked))
  {
    if (MA::RobotState->Goals->LiePostureDesire != 0 ||
        MA::RobotState->Goals->SitPostureDesire != 0 ||
        MA::RobotState->Goals->DesiredLeftTurnDuration != 0 ||
        MA::RobotState->Goals->DesiredRightTurnDuration != 0 ||
        MA::RobotState->Goals->DesiredBackwardWalkDuration != 0 ||
        MA::RobotState->Goals->DesiredForwardWalkDuration != 0 ||
        MA::RobotState->BodyMotion->Floor.OwnerFeedback >= 0 ||
        MA::RobotState->Goals->HappyOnCarpetFeedback != 0)
    {
      return MABehavior::OverStimulated;
    }
    return MABehavior::Stimulated;
  }
  return MABehavior::NoStimulus;
}


void MABodyStandingBored::ActivatingActions()
{
  MABEHAVIOR_DELETE(MAHeadLookAround);
  // Give responses for owner feedback of floor surface recognition
  if (MA::RobotState->BodyMotion->Floor.OwnerFeedback >= 0)
  {
    if ((int)MA::RobotState->BodyMotion->Floor.OwnerFeedback == (int)MA::RobotState->BodyMotion->Floor.Surface)
    {
      MABEHAVIOR_CREATE(MAGoodFloorTalk, nullptr);
    } else {
      MABEHAVIOR_CREATE(MAWrongFloorSkit, nullptr);
    }
    ResetFloorOwnerFeedback = true;
    return;
  }
  if (MA::RobotState->Goals->HappyOnCarpetFeedback == 1)
  {
    MA_RANDOM_POINT_1(HappyReaction, 1, 5);

    MA::RobotState->Goals->HappyOnCarpetFeedback = 0;
    if (HappyReaction == 1)
    {
      MABEHAVIOR_CREATE(MASoftCarpetReaction, nullptr);
      return;
    }
  }
  // Start the desired locomotion if needs be...
  if (MA::RobotState->Goals->DesiredLeftTurnDuration-
      MA::RobotState->ComplexIndicators->ElapsedLeftTurnTime > 1000)
  {
    MABEHAVIOR_CREATE(MABodyTurnLeft, nullptr);
    MABEHAVIOR_CREATE(MAHeadTurnAhead, nullptr);
    return;
  }
  if (MA::RobotState->Goals->DesiredRightTurnDuration-
      MA::RobotState->ComplexIndicators->ElapsedRightTurnTime > 1000)
  {
    MABEHAVIOR_CREATE(MABodyTurnRight, nullptr);
    MABEHAVIOR_CREATE(MAHeadTurnAhead, nullptr);
    return;
  }
  if (MA::RobotState->Goals->DesiredForwardWalkDuration != 0 ||
      MA::RobotState->Goals->DesiredBackwardWalkDuration != 0)
  {
    MABEHAVIOR_CREATE(MAWalkMaster, nullptr);
    return;
  }
  // If the locomotion is controlled, the standing posture is not left to sit or lie postures.
  if (MA::RobotState->Goals->MotionControl == 1)
    return;
  // Go to desired posture if needs be...
  if (MA::RobotState->Goals->LiePostureDesire != 0)
  {
    MABEHAVIOR_CREATE(MABodyLieDownFromStanding, nullptr);
    return;
  }
  if (MA::RobotState->Goals->SitPostureDesire != 0)
  {
    MABEHAVIOR_CREATE(MABodySitDownFromStanding, nullptr);
    return;
  }
  // Do a random funny skit.
  MA_RANDOM_POINT_1(RandomFunnyAction, 1, 20);

  if (RandomFunnyAction == 1)
  {
    MABEHAVIOR_CREATE(MAStandFunnySkitMaster, nullptr);
    return;
  }
  // ...otherwise go to random posture.
  MA_RANDOM_POINT_1(NewAction, 1, 8);

  if (NewAction == 1)
  {
    // Set a random turn duration
    MA_RANDOM_POINT_1(NewDuration, 2000, 20000);

    MA::RobotState->Goals->DesiredLeftTurnDuration = NewDuration;
    MABEHAVIOR_CREATE(MABodyTurnLeft, nullptr);
    MABEHAVIOR_CREATE(MAHeadTurnAhead, nullptr);
    return;
  }
  if (NewAction == 2)
  {
    // Set a random turn duration
    MA_RANDOM_POINT_1(NewDuration, 6000, 20000);

    MA::RobotState->Goals->DesiredRightTurnDuration = NewDuration;
    MABEHAVIOR_CREATE(MABodyTurnRight, nullptr);
    MABEHAVIOR_CREATE(MAHeadTurnAhead, nullptr);
    return;
  }
  if (NewAction == 3)
  {
    MABEHAVIOR_CREATE(MABodySitDownFromStanding, nullptr);
    return;
  }
  if (NewAction >= 4 && NewAction <= 6)
  {
    MABEHAVIOR_CREATE(MABodyLieDownFromStanding, nullptr);
    return;
  }
  if (NewAction >= 7)
  {
    MABEHAVIOR_CREATE(MAWalkMaster, nullptr);
    return;
  }
  // The lowest priority thing to turn the head ahead
  MABEHAVIOR_CREATE(MAHeadTurnAhead, nullptr);
}


void MABodyStandingBored::UpdateRobotState(MARobotState& state)
{
  if (unlikely(ResetFloorOwnerFeedback))
  {
    ResetFloorOwnerFeedback = false;
    state.BodyMotion->Floor.OwnerFeedback = -1;
  }
}