MAHeadLookAround.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 "MAHeadLookAround.hpp"

#include "types/MABodyMotion.hpp"
#include "types/MAComplexIndicators.hpp"
#include "types/MAEmotions.hpp"
#include "types/MAGoals.hpp"
#include "types/MAHead.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MAHeadController.hpp"
#include "MABodyStroked.hpp"
#include "MAHeadTurnAhead.hpp"
#include "MAMotorOverload.hpp"
#include "MASkitterPlaybackExecute.hpp"

MAHeadLookAround::MAHeadLookAround() : MABehavior(MCGetClassName(this))
{
  // Destroy the behavior if it is not activated immediately
  SetLifetimeExpirationTime(120);
  // Register the desired connections
  DesiredConnections[MCGetClassName<MAHeadTurnAhead>()] = -1.0;
}


MABehavior::StimulusLevelType MAHeadLookAround::GetCurrentStimulus()
{
  if (MA::RobotState->Head->SleptAwaken > 80 &&
      (MA::RobotState->BodyMotion->Lying > 80 || MA::RobotState->BodyMotion->Sitting > 80 ||
       MA::RobotState->BodyMotion->OnStation || MA::RobotState->ComplexIndicators->IsStandingPosture))
  {
    return MABehavior::OverStimulated;
  }
  return MABehavior::NoStimulus;
}


bool MAHeadLookAround::IsFailed()
{
  bool Ret = true;

  Ret = Ret && (MA::RobotState->BodyMotion->Lying < 60 && MA::RobotState->BodyMotion->Sitting < 60);
  Ret = Ret && !MA::RobotState->BodyMotion->OnStation;
  Ret = Ret && !MA::RobotState->ComplexIndicators->IsStandingPosture;
  Ret = Ret || MA::RobotState->Head->SleptAwaken == 0;
  Ret = Ret || MA::RobotState->Goals->TurnHeadToLeft != 0;
  Ret = Ret || MA::RobotState->Goals->TurnHeadToRight != 0;
  return Ret;
}


void MAHeadLookAround::ActivatingActions()
{
  if (MA::RobotState->BodyMotion->Lying > 80 || MA::RobotState->ComplexIndicators->IsStandingPosture ||
      MA::RobotState->BodyMotion->OnStation)
  {
    StartTransition(*MA::Head, MA::Head->LookAroundLyingStr);
  }
  if (MA::RobotState->BodyMotion->Sitting > 80)
    StartTransition(*MA::Head, MA::Head->LookAroundSittingStr);
  // Create the motor overload behaviors
  MAMotorOverload::CreateBehaviorForMotors(MA::Head->GetMotors(), nullptr);
}


void MAHeadLookAround::FinishingActions()
{
  // Corner case: Orphan behavior
  if (!GetMaster())
    return;

  if (MABEHAVIOR_IS_NORMAL(MABodyStroked) && !MABEHAVIOR_EXISTS(MASkitterPlaybackExecute))
    MACreateBehavior<MAHeadLookAround>(GetMaster());
  // Delete the motor overload behaviors
  MAMotorOverload::DeleteBehaviorForMotors(MA::Head->GetMotors());
}