MAWalkFreefall.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 "MAWalkFreefall.hpp"

#include "types/MABodyMotion.hpp"
#include "types/MAGoals.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MAHeadController.hpp"
#include "controllers/MALegController.hpp"
#include "MAAvoidObstacleMaster.hpp"
#include "MABodyPoked.hpp"
#include "MABodyStateMaster.hpp"

MAWalkFreefall::MAWalkFreefall(bool force_fall) : MABehavior(MCGetClassName(this)), ForceFall(force_fall)
{
  SetLifetimeExpirationTime(3000);
  SetSelfActivationDuration(400);
  DesiredConnections[MCGetClassName<MABodyPoked>()] = -1.0;
  DesiredConnections[MCGetClassName<MABodyStateMaster>()] = -1.0;
}


MABehavior::StimulusLevelType MAWalkFreefall::GetCurrentStimulus()
{
  if (ForceFall)
  {
    return MABehavior::OverStimulated;
  }
  if (!MA::RobotState->BodyMotion->IsBodyRollInWalkRange() &&
      MA::RobotState->BodyMotion->BodyState == MA::FallingOver)
  {
    return MABehavior::Stimulated;
  }
  return MABehavior::NoStimulus;
}


bool MAWalkFreefall::IsFinished()
{
  return GetElapsedActivatedStateTime() > 6000;
}


void MAWalkFreefall::ActivatingActions()
{
  // Don't give carpet feedback after falling over
  MA::RobotState->Goals->HappyOnCarpetFeedback = 0;
  // Leave motion control
  MA::RobotState->Goals->MotionControl = 0;
  MA::Head->SetPower(false);
  MA::LegLF->SetPower(false);
  MA::LegRF->SetPower(false);
  MA::LegLH->SetPower(false);
  MA::LegRH->SetPower(false);
  // The detected abyss or obstacle is not real. The robot falls down...
  MABEHAVIOR_DELETE(MAAvoidObstacleMaster);
}