MATurnAway.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 "MATurnAway.hpp"

#include "core/MARandomness.hpp"
#include "types/MABodyMotion.hpp"
#include "types/MAGoals.hpp"
#include "types/MARobotState.hpp"
#include "MABodyAdjustStandingPosture.hpp"
#include "MABodyTurnLeft.hpp"
#include "MABodyTurnRight.hpp"
#include "MAWalkAway.hpp"
#include "MAWalkMaster.hpp"

#include <MCLog.hpp>

MATurnAway::MATurnAway() : MABehavior(MCGetClassName(this))
{
}


MABehavior::StimulusLevelType MATurnAway::GetCurrentStimulus()
{
  if (!MABEHAVIOR_EXISTS(MAWalkMaster) && !MABEHAVIOR_EXISTS(MABodyAdjustStandingPosture))
  {
    return MABehavior::OverStimulated;
  }
  return MABehavior::NoStimulus;
}


bool MATurnAway::IsFailed()
{
  return MA::RobotState->BodyMotion->Flying > 60;
}


bool MATurnAway::IsFinished()
{
  return MA::RobotState->Goals->DesiredLeftTurnDuration == 0 &&
         MA::RobotState->Goals->DesiredRightTurnDuration == 0;
}


void MATurnAway::ActivatingActions()
{
  MA_RANDOM_POINT_1(Direction, 1, 2);
  MA_RANDOM_POINT_1(Duration, 12000, 18000);

  if (Direction == 1)
  {
    MA::RobotState->Goals->DesiredLeftTurnDuration = Duration;
    MABEHAVIOR_CREATE(MABodyTurnLeft, GetMaster());
  } else {
    MA::RobotState->Goals->DesiredRightTurnDuration = Duration;
    MABEHAVIOR_CREATE(MABodyTurnRight, GetMaster());
  }
}


void MATurnAway::FinishingActions()
{
  // Don't walk away in the motion control is active
  if (MA::RobotState->Goals->MotionControl == 0)
    MABEHAVIOR_CREATE(MAWalkAway, GetMaster());
}