MALookForAbyss.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 "MALookForAbyss.hpp"

#include "types/MABodyMotion.hpp"
#include "types/MAComplexIndicators.hpp"
#include "types/MARobotState.hpp"
#include "types/MATorso.hpp"
#include "controllers/MAHeadController.hpp"
#include "controllers/MALegController.hpp"
#include "MAAbyssHeadShake.hpp"
#include "MABodyStroked.hpp"
#include "MAHeadLookAround.hpp"
#include "MAHeadTurnAhead.hpp"
#include "MAHeadTurnAround.hpp"
#include "MAHeadTurnMaster.hpp"
#include "MAMotorOverload.hpp"

#include <MCLog.hpp>

MALookForAbyss::MALookForAbyss() : MABehavior(MCGetClassName(this))
{
  SetSelfActivationDuration(3000);
  DesiredConnections[MCGetClassName<MAHeadLookAround>()] = -1;
  DesiredConnections[MCGetClassName<MAHeadTurnAround>()] = -1;
  DesiredConnections[MCGetClassName<MAHeadTurnMaster>()] = -1;
  DesiredConnections[MCGetClassName<MABodyStroked>()] = -1;
}


MABehavior::StimulusLevelType MALookForAbyss::GetCurrentStimulus()
{
  if (!MA::LegLF->IsAnyActiveTransition() && !MA::LegLH->IsAnyActiveTransition() &&
      !MA::LegRF->IsAnyActiveTransition() && !MA::LegRH->IsAnyActiveTransition())
  {
    return MABehavior::Stimulated;
  }
  return MABehavior::NoStimulus;
}


bool MALookForAbyss::IsFailed()
{
  // We need to wait ~1500-1700 msec to get into the starting head position...
  return GetElapsedActivatedStateTime() > 1700 && MA::RobotState->Torso->FarIR >= 55;
}


void MALookForAbyss::ActivatingActions()
{
  StartTransition(*MA::Head, "SKIT:look_for_abyss:1.0:1500");
  // Create the motor overload behaviors
  MAMotorOverload::CreateBehaviorForMotors(MA::Head->GetMotors(), nullptr);
}


void MALookForAbyss::FailingActions()
{
  if (MA::RobotState->BodyMotion->Lying > 80 && MA::RobotState->BodyMotion->Flying < 20)
  {
    MA::RobotState->ComplexIndicators->AbyssWhileLying = 1;
    MC_LOG("Abyss detected before the dog");
    // Delete the motor overload behaviors
    MAMotorOverload::DeleteBehaviorForMotors(MA::Head->GetMotors());
    MABEHAVIOR_CREATE(MAAbyssHeadShake, nullptr);
  }
}


void MALookForAbyss::FinishingActions()
{
  if (MA::RobotState->BodyMotion->Lying > 80 && MA::RobotState->BodyMotion->Flying < 20)
  {
    MA::RobotState->ComplexIndicators->AbyssWhileLying = 0;
    MC_LOG("There is no abyss before the dog");
    // Delete the motor overload behaviors
    MAMotorOverload::DeleteBehaviorForMotors(MA::Head->GetMotors());
    MABEHAVIOR_CREATE(MAHeadTurnAhead, nullptr);
  }
}