MALegLyingPosition.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 "MALegLyingPosition.hpp"

#include "types/MABodyMotion.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MALegController.hpp"
#include "MALegMoveAway.hpp"
#include "MALegMoved.hpp"
#include "MAMotorOverload.hpp"

MALegLyingPosition::MALegLyingPosition(MA::Leg::LegTypes leg_type) :
  MALegBehavior(MCGetClassName(this), leg_type, false)
{
  // 100 ms is needed to have enough time for the LegMoved -> LegMoveAway
  // activation chain
  SetSelfActivationDuration(100);
}


MABehavior::StimulusLevelType MALegLyingPosition::GetCurrentStimulus()
{
  if (MA::RobotState->BodyMotion->Lying > 80 && !Controller->IsLyingPosition() &&
      !MALEGBEHAVIOR_IS_ACTIVATED(MALegMoved, Controller->GetLegType()))
  {
    return MABehavior::Stimulated;
  }
  return MABehavior::NoStimulus;
}


bool MALegLyingPosition::IsFailed()
{
  // When the leg is headed back, it is needed to move away from the body before
  // going to lying position.
  if (Controller->IsBack())
  {
    return true;
  }
  // The leg must be moved away if the fore leg is stuck under this leg
  if ((LegState.Type == MA::Leg::LH && LegState.IsForwardNearBody() &&
       MA::RobotState->LegLF->IsBackwardNearBody()) ||
      (LegState.Type == MA::Leg::RH && LegState.IsForwardNearBody() &&
       MA::RobotState->LegRF->IsBackwardNearBody()))
  {
    return true;
  }
  return false;
}


void MALegLyingPosition::ActivatingActions()
{
  StartTransition(*Controller, Controller->ToLyingPositionStr);
}


void MALegLyingPosition::FailingActions()
{
  MALEGBEHAVIOR_CREATE(MALegMoveAway, LegState.Type, GetMaster());
}


void MALegLyingPosition::FinishingActions()
{
  // Switch off the joints to let the leg fine-tune its position and avoid
  // forcing the joints by children
  Controller->SetPower(false);
}