MABodyTurnRight.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 "MABodyTurnRight.hpp"

#include <MCLog.hpp>

#include "types/MAComplexIndicators.hpp"
#include "types/MAGoals.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MALegController.hpp"

#include "MABodyAdjustStandingPosture.hpp"
#include "MABodyStateMaster.hpp"

MABodyTurnRight::MABodyTurnRight() : MABehavior(MCGetClassName(this))
{
  DesiredConnections[MCGetClassName<MABodyStateMaster>()] = -1.0;
}


MABehavior::StimulusLevelType MABodyTurnRight::GetCurrentStimulus()
{
  return MABehavior::OverStimulated;
}


bool MABodyTurnRight::IsFailed()
{
  return MA::RobotState->ComplexIndicators->ElapsedRightTurnTime+GetElapsedActivatedStateTime() >=
             MA::RobotState->Goals->DesiredRightTurnDuration;
}


void MABodyTurnRight::ActivatingActions()
{
  std::string Suffix = ":1.8";

  if (MA::RobotState->ComplexIndicators->ElapsedRightTurnTime == 0)
    Suffix += ":1000";

  StartTransition(*MA::LegLF, "SKIT:turn_right"+Suffix);
  StartTransition(*MA::LegLH, "SKIT:turn_right"+Suffix);
  StartTransition(*MA::LegRF, "SKIT:turn_right"+Suffix);
  StartTransition(*MA::LegRH, "SKIT:turn_right"+Suffix);
  if (MA::RobotState->ComplexIndicators->ElapsedRightTurnTime == 0)
    MA::RobotState->ComplexIndicators->ElapsedRightTurnTime = 1;
}


void MABodyTurnRight::FinishingActions()
{
  MA::RobotState->ComplexIndicators->ElapsedRightTurnTime += GetElapsedActivatedStateTime();
  MABEHAVIOR_CREATE(MABodyTurnRight, nullptr);
}


void MABodyTurnRight::FailingActions()
{
  MA::RobotState->ComplexIndicators->ElapsedRightTurnTime += GetElapsedActivatedStateTime();
  if (MA::RobotState->ComplexIndicators->ElapsedRightTurnTime >=
      MA::RobotState->Goals->DesiredRightTurnDuration)
  {
    MC_LOG("Right turn duration: %d msec (desired: %d msec)",
           (int)MA::RobotState->ComplexIndicators->ElapsedRightTurnTime,
           (int)MA::RobotState->Goals->DesiredRightTurnDuration);
  } else {
    MC_LOG("The right turn duration is less than the desired (%d < %d)",
           (int)MA::RobotState->ComplexIndicators->ElapsedRightTurnTime,
           (int)MA::RobotState->Goals->DesiredRightTurnDuration);
  }
  MABEHAVIOR_CREATE(MABodyAdjustStandingPosture, nullptr);
}