MAHeadTurnAhead.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 "MAHeadTurnAhead.hpp"

#include "types/MABodyMotion.hpp"
#include "types/MAComplexIndicators.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MAHeadController.hpp"
#include "MAHeadLookAround.hpp"
#include "MAMotorOverload.hpp"

MAHeadTurnAhead::MAHeadTurnAhead() : MABehavior(MCGetClassName(this))
{
  // Set a lifetime duration to avoid dangling behaviors
  SetLifetimeExpirationTime(5000);
}


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


bool MAHeadTurnAhead::IsFinished()
{
  return MA::Head->IsUp() && !MA::Head->IsTransitionActive(MA::Head->ToNormalAheadStr);
}


void MAHeadTurnAhead::ActivatingActions()
{
  StartTransition(*MA::Head, MA::Head->ToNormalAheadStr);
  // Create the motor overload behaviors
  MAMotorOverload::CreateBehaviorForMotors(MA::Head->GetMotors(), nullptr);
}


void MAHeadTurnAhead::FinishingActions()
{
  // Delete the motor overload behaviors
  MAMotorOverload::DeleteBehaviorForMotors(MA::Head->GetMotors());
}