MAWalkBaseBehaviors.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 "MAWalkBaseBehaviors.hpp"

#include "types/MAComplexIndicators.hpp"
#include "types/MAGoals.hpp"
#include "types/MARobotState.hpp"
#include "MAAvoidObstacleMaster.hpp"
#include "MARecognizeFloorSurface.hpp"
#include "MAWalkBalanceToLeft.hpp"
#include "MAWalkBalanceToRight.hpp"
#include "MAWalkPushBackward.hpp"
#include "MAWalkPushForward.hpp"
#include "MAWalkSwingBackward.hpp"
#include "MAWalkSwingForward.hpp"

namespace
{
bool IsWalkFinished()
{
  if (MA::RobotState->ComplexIndicators->ElapsedForwardWalkTime > 0 &&
      MA::RobotState->ComplexIndicators->NearObjectForward > 90)
  {
    MC_LOG("Stop walking: near object forward (%d)",
           (int)MA::RobotState->ComplexIndicators->NearObjectForward);
    MABEHAVIOR_CREATE(MAAvoidObstacleMaster, nullptr);
    return true;
  }
  if (MA::RobotState->ComplexIndicators->ElapsedForwardWalkTime > 0 &&
      MA::RobotState->ComplexIndicators->AbyssWhileWalking > 90)
  {
    MC_LOG("Stop walking: abyss while walking (%d)",
           (int)MA::RobotState->ComplexIndicators->AbyssWhileWalking);
    MABEHAVIOR_CREATE(MAAvoidObstacleMaster, nullptr);
    return true;
  }
  if (MA::RobotState->Goals->LiePostureDesire > 0 || MA::RobotState->Goals->SitPostureDesire > 0 ||
      MA::RobotState->Goals->StandPostureDesire > 0)
  {
    MC_LOG("Stop walking: desired posture (lie: %d, sit: %d, stand: %d)",
           (int)MA::RobotState->Goals->LiePostureDesire, (int)MA::RobotState->Goals->SitPostureDesire,
           (int)MA::RobotState->Goals->StandPostureDesire);
    return true;
  }
  if (MA::RobotState->Goals->DesiredLeftTurnDuration > 0)
  {
    MC_LOG("Stop walking: to turn left");
    return true;
  }
  if (MA::RobotState->Goals->DesiredRightTurnDuration > 0)
  {
    MC_LOG("Stop walking: to turn right");
    return true;
  }
  if (MA::RobotState->ComplexIndicators->ElapsedForwardWalkTime > 0 &&
      MA::RobotState->Goals->DesiredBackwardWalkDuration > 0)
  {
    MC_LOG("Stop walking: to walk backward");
    return true;
  }
  if (MA::RobotState->ComplexIndicators->ElapsedBackwardWalkTime > 0 &&
      MA::RobotState->Goals->DesiredForwardWalkDuration > 0)
  {
    MC_LOG("Stop walking: to walk forward");
    return true;
  }

  // Stop the walk movements if the elapsed walk duration is over the desired walk duration.
  int DesiredDuration = 0;
  int CurrentDuration = 0;

  if (MA::RobotState->Goals->DesiredForwardWalkDuration > 0 &&
      MA::RobotState->ComplexIndicators->ElapsedForwardWalkTime > 0)
  {
    DesiredDuration = MA::RobotState->Goals->DesiredForwardWalkDuration;
    CurrentDuration = MA::RobotState->ComplexIndicators->ElapsedForwardWalkTime;
  } else
  if (MA::RobotState->Goals->DesiredBackwardWalkDuration > 0 &&
      MA::RobotState->ComplexIndicators->ElapsedBackwardWalkTime > 0)
  {
    DesiredDuration = MA::RobotState->Goals->DesiredBackwardWalkDuration;
    CurrentDuration = MA::RobotState->ComplexIndicators->ElapsedBackwardWalkTime;
  }
  return CurrentDuration >= DesiredDuration;
}
}

MAWalkLegBehaviorBase::MAWalkLegBehaviorBase(const std::string& behavior_name, MA::Leg::LegTypes leg_type) :
  MALegBehavior(behavior_name, leg_type)
{
}


bool MAWalkLegBehaviorBase::IsFailed()
{
  return IsWalkFinished();
}


void MAWalkLegBehaviorBase::FailingActions()
{
  // Destroy all other swing forward/push backward/balance behaviors
  for (int i = (int)MA::Leg::LF; i <= (int)MA::Leg::RH; ++i)
  {
    MALEGBEHAVIOR_DELETE(MAWalkSwingForward, (MA::Leg::LegTypes)i);
    MALEGBEHAVIOR_DELETE(MAWalkPushBackward, (MA::Leg::LegTypes)i);
  }
  // Destroy all other swing backward/push forward/balance behaviors
  for (int i = (int)MA::Leg::LF; i <= (int)MA::Leg::RH; ++i)
  {
    MALEGBEHAVIOR_DELETE(MAWalkSwingBackward, (MA::Leg::LegTypes)i);
    MALEGBEHAVIOR_DELETE(MAWalkPushForward, (MA::Leg::LegTypes)i);
  }
  MABEHAVIOR_DELETE(MAWalkBalanceToLeft);
  MABEHAVIOR_DELETE(MAWalkBalanceToRight);
  MABEHAVIOR_DELETE(MARecognizeFloorSurface);
}


MAWalkBehaviorBase::MAWalkBehaviorBase(const std::string& behavior_name, bool dynamic) :
  MABehavior(behavior_name, dynamic)
{
}


bool MAWalkBehaviorBase::IsFailed()
{
  return IsWalkFinished();
}