MAWaitFloorFeedback.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 "MAWaitFloorFeedback.hpp"

#include "types/MABodyMotion.hpp"
#include "types/MAComplexIndicators.hpp"
#include "types/MAGoals.hpp"
#include "types/MARobotState.hpp"
#include "ml/MAClassifierModels.hpp"
#include "ml/MADataCollector.hpp"
#include "MABehaviorManager.hpp"
#include "MABodyStandingBored.hpp"
#include "MAWalkInitialPosition.hpp"

MAWaitFloorFeedback::MAWaitFloorFeedback() : MABehavior(MCGetClassName(this)),
  MARobotStateUpdater(MA::UpdateComplexIndicators), DataCollectionStopped(false),
  Initialized(false)
{
  RegisterUpdater(*this);
  // Set the maximal wait time for the owner feedback
  SetActivatedStateExpirationTime(MA::MaxFeedbackWaitTime);
}


MABehavior::StimulusLevelType MAWaitFloorFeedback::GetCurrentStimulus()
{
  return MABehavior::OverStimulated;
}


bool MAWaitFloorFeedback::IsFailed()
{
  // We can't wait more after the dog start to walk forward again
  return MABEHAVIOR_IS_ACTIVATED(MAWalkInitialPosition) &&
         MA::RobotState->Goals->DesiredForwardWalkDuration > 2000;
}


bool MAWaitFloorFeedback::IsFinished()
{
  return (int)MA::RobotState->BodyMotion->Floor.OwnerFeedback >= 0;
}


void MAWaitFloorFeedback::ActivatedStateUpdate()
{
  if (!DataCollectionStopped && GetElapsedActivatedStateTime() > 2000)
  {
    DataCollectionStopped = true;
    MA::DataCollector->StopActiveJobToCollectAType(MA::FloorSurfaceModelID, "RobotState");
    MA::DataCollector->StopActiveJobToCollectAType(MA::FloorSurfaceModelID, "LogMessage");
  }
}


void MAWaitFloorFeedback::FinishingActions()
{
  MAFloorSurface& Floor = MA::RobotState->BodyMotion->Floor;

  if ((int)Floor.OwnerFeedback == (int)MA::WoodFlooring)
    MC_LOG("Owner feedback arrived: wood flooring");
  if ((int)Floor.OwnerFeedback == (int)MA::Field)
    MC_LOG("Owner feedback arrived: field");
  if ((int)Floor.OwnerFeedback == (int)MA::Carpet)
    MC_LOG("Owner feedback arrived: carpet");
  if ((int)Floor.OwnerFeedback == (int)MA::FoamMat)
    MC_LOG("Owner feedback arrived: foam mat");
  if ((int)Floor.OwnerFeedback == (int)MA::Vinyl)
    MC_LOG("Owner feedback arrived: vinyl");
  if ((int)Floor.OwnerFeedback == (int)MA::Tiles)
    MC_LOG("Owner feedback arrived: tiles");
  if ((int)Floor.OwnerFeedback == (int)MA::CarpetedFloor)
    MC_LOG("Owner feedback arrived: carpeted floor");
  if ((int)Floor.OwnerFeedback == (int)MA::UserDefinedFloor)
    MC_LOG("Owner feedback arrived: user defined");

  // The standing posture is needed to execute the body responses for the good/wrong results when
  // the robot is standing or walking.
  if ((MA::RobotState->ComplexIndicators->IsStandingPosture > 0 ||
      MA::RobotState->ComplexIndicators->IsLocomotionActive()) && !MABEHAVIOR_EXISTS(MABodyStandingBored))
  {
    MA::RobotState->Goals->StandPostureDesire = 1;
    MA::RobotState->Goals->ArousalFeedbackNeeded = MA::RobotState->Goals->ArousalFeedbackNeeded.GetMax();
  }
}


void MAWaitFloorFeedback::UpdateRobotState(MARobotState& state)
{
  if (unlikely(!Initialized))
  {
    Initialized = true;
    state.BodyMotion->Floor.OwnerFeedback = -1;
  }
}