MALegMoved.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 "MALegMoved.hpp"

#include "core/MARandomness.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MALedsController.hpp"
#include "controllers/MALegController.hpp"
#include "controllers/MASpeakerController.hpp"
#include "MALegLyingPosition.hpp"
#include "MALegSittingPosition.hpp"
#include "MALegMoveAway.hpp"
#include "MALegPull.hpp"

MALegMoved::MALegMoved(MA::Leg::LegTypes leg_type) :
  // There are no lifetime and active state duration set -> The behavior is dynamic,
  // but it is not destroyed until the leg is not stopped and the behavior finished.
  MALegBehavior(MCGetClassName(this), leg_type, false)
{
  SetSelfActivationDuration(1000);
  // Register the desired connections
  DesiredConnections[MAGetLegBehaviorName<MALegLyingPosition>(leg_type)] = -1.0;
  DesiredConnections[MAGetLegBehaviorName<MALegSittingPosition>(leg_type)] = -1.0;
  DesiredConnections[MAGetLegBehaviorName<MALegPull>(leg_type)] = -1.0;
}


MABehavior::StimulusLevelType MALegMoved::GetCurrentStimulus()
{
  // The leg is being moved, but there are no generators, thus it is moved by "somebody".
  if (!Controller->IsMoving() && LegState.Stopped < 20)
  {
    return MABehavior::Stimulated;
  }
  return MABehavior::NoStimulus;
}


bool MALegMoved::IsFailed()
{
  // The leg is being moved with generators -> Failed.
  // It is a safety check since the behavior does not have lifetime, so
  // it becomes "failed" when an other behavior start to move the joints.
  if (Controller->IsMoving())
    return true;
  else
    return false;
}


bool MALegMoved::IsFinished()
{
  if (LegState.Stopped > 80)
  {
    return true;
  }
  return false;
}


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


void MALegMoved::FinishingActions()
{
  MALegMoved::FailingActions();
}


void MALegMoved::ActivatingActions()
{
  StartTransition(*MA::Leds, MA::Leds->ShowAngryFaceStr);
  // Avoid concurrent barking
  if (!MALEGBEHAVIOR_IS_ACTIVATED(MALegMoved, MA::Leg::LF) &&
      !MALEGBEHAVIOR_IS_ACTIVATED(MALegMoved, MA::Leg::LH) &&
      !MALEGBEHAVIOR_IS_ACTIVATED(MALegMoved, MA::Leg::RF) &&
      !MALEGBEHAVIOR_IS_ACTIVATED(MALegMoved, MA::Leg::RH))
  {
    MA_RANDOM_POINT_1(Sound, 1, 2);

    if (Sound == 1)
      PlaySound("legsangry1");
    if (Sound == 2)
      PlaySound("legsangry2");
  }
}