MATailToBack.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 "MATailToBack.hpp"

#include "types/MARobotState.hpp"
#include "controllers/MATailController.hpp"

MATailToBack::MATailToBack() : MABehavior(MCGetClassName(this))
{
  SetLifetimeExpirationTime(GetSelfActivationDuration()+200);
}


MABehavior::StimulusLevelType MATailToBack::GetCurrentStimulus()
{
  // Unconditional activation:
  // 1. If the tail is at position, the behavior finishes successfully
  // 2. Otherwise the tail is moved to the back
  return MABehavior::OverStimulated;
}


void MATailToBack::ActivatingActions()
{
  if (!MA::Tail->IsAtBack())
  {
    StartTransition(*MA::Tail, MA::Tail->ToBackStr);
  }
}


void MATailToBack::FailingActions()
{
  MA::Tail->SetPower(false);
}


void MATailToBack::FinishingActions()
{
  MA::Tail->SetPower(false);
}