MAHeavyCalculations.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 "MAHeavyCalculations.hpp"

#include "types/MARobotState.hpp"
#include "types/MAGoals.hpp"
#include "types/MAHead.hpp"
#include "types/MALeg.hpp"
#include "controllers/MAHeadController.hpp"
#include "controllers/MALedsController.hpp"
#include "controllers/MALegController.hpp"
#include "ml/MADataCollector.hpp"
#include "MABehaviorManager.hpp"
#include "MABodyLyingBored.hpp"
#include "MABodySittingBored.hpp"
#include "MABodyStandingBored.hpp"
#include "MAMouthSpeaking.hpp"
#include "MAMouthSpeakingMaster.hpp"

#include <MCLog.hpp>
#include <MCTimer.hpp>

MAHeavyCalculations::MAHeavyCalculations() : MABehavior(MCGetClassName(this), false)
{
  SetSelfActivationDuration(200);
  // Suppress these behaviors to avoid any concurrent activations until
  // the ongoing calculations are finished
  DesiredConnections[MCGetClassName<MABodyStandingBored>()] = -1.0;
  DesiredConnections[MCGetClassName<MABodySittingBored>()] = -1.0;
  DesiredConnections[MCGetClassName<MABodyLyingBored>()] = -1.0;
}


MABehavior::StimulusLevelType MAHeavyCalculations::GetCurrentStimulus()
{
  bool CalculationNeeded = true;

  CalculationNeeded = CalculationNeeded && MA::DataCollector->IsAnyJobFinished();
  CalculationNeeded = CalculationNeeded && !MA::DataCollector->AreAllFinishedJobsCompressed();

  if (!CalculationNeeded)
    return MABehavior::NoStimulus;

  // Be sure that the body is in rest and there are no ongoing movements
  int ReadyBody = 0;

  ReadyBody += (MABEHAVIOR_EXISTS(MABodyStandingBored) && MABEHAVIOR_IS_NORMAL(MABodyStandingBored)) ||
               (MABEHAVIOR_EXISTS(MABodySittingBored) && MABEHAVIOR_IS_NORMAL(MABodySittingBored)) ||
               (MABEHAVIOR_EXISTS(MABodyLyingBored) && MABEHAVIOR_IS_NORMAL(MABodyLyingBored));
  ReadyBody += !MA::Head->IsAnyActiveTransition() && !MA::LegLF->IsAnyActiveTransition() &&
               !MA::LegLH->IsAnyActiveTransition() && !MA::LegRF->IsAnyActiveTransition() &&
               !MA::LegRH->IsAnyActiveTransition();
  ReadyBody += !MABEHAVIOR_IS_ACTIVATED(MAMouthSpeaking) &&
               !MABEHAVIOR_IS_ACTIVATED(MAMouthSpeakingMaster);
  if (ReadyBody == 3 && MA::RobotState->Goals->ArousalFeedbackNeeded == 0)
  {
    return MABehavior::Stimulated;
  }
  return MABehavior::NoStimulus;
}


bool MAHeavyCalculations::IsFinished()
{
  return MA::DataCollector->AreAllFinishedJobsCompressed();
}


void MAHeavyCalculations::ActivatingActions()
{
  StartTransition(*MA::Leds, MA::Leds->HeavyCalculationStr);
}


void MAHeavyCalculations::FinishingActions()
{
  MA::Leds->StartTransition(MA::Leds->FadeOutCrownWhiteStr);
}


void MAHeavyCalculations::ActivatedStateUpdate()
{
  if (GetElapsedActivatedStateTime() > 50 && !MA::DataCollector->AreAllFinishedJobsCompressed())
  {
    MA::BehaviorManager->HibernateSystem();
    MA::DataCollector->CompressAllFinishedJobs();
    MA::BehaviorManager->ResumeSystem();
  }
}