MAWalkSwingBackward.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 "MAWalkSwingBackward.hpp"

#include "types/MAComplexIndicators.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MALegController.hpp"
#include "MAWalkBalanceToLeft.hpp"
#include "MAWalkBalanceToRight.hpp"
#include "MAWalkPushForward.hpp"

MAWalkSwingBackward::MAWalkSwingBackward(MA::Leg::LegTypes leg_type) :
  MAWalkLegBehaviorBase(MCGetClassName(this), leg_type)
{
  SetSelfActivationDuration(0);
  if (!AnyLegSwingBackward())
  {
    float WalkPeriodQuarter = (float)MA::RobotState->ComplexIndicators->WalkPeriod / 11.0;

    if (leg_type == MA::Leg::RF)
      SetSelfActivationDuration(0);
    if (leg_type == MA::Leg::RH)
      SetSelfActivationDuration((int)(WalkPeriodQuarter*8.25));
    if (leg_type == MA::Leg::LF)
      SetSelfActivationDuration((int)(WalkPeriodQuarter*5.5));
    if (leg_type == MA::Leg::LH)
      SetSelfActivationDuration((int)(WalkPeriodQuarter*2.75));
  }
  // Don't let the swing forward behavior activated until this behavior is finished
  DesiredConnections[MAGetLegBehaviorName<MAWalkPushForward>(leg_type)] = -1.0;
}


MABehavior::StimulusLevelType MAWalkSwingBackward::GetCurrentStimulus()
{
  return MABehavior::Stimulated;
}


void MAWalkSwingBackward::ActivatingActions()
{
  StartTransition(*Controller, Controller->WalkSwingBackwardStr);
  if (Controller->GetLegType() == MA::Leg::RF)
  {
    // The delay duration is determinated with the dumped a_walk#walk_sox_fwd.mtn from MoNet sample //krazy:exclude=spelling
    // The balance is started to move from the 2th keyframe (2/11) of that MoNet motion sequence.
    // When the MALegController starts to move the RF leg forward to "Point 1", we need to wait
    // 1/11 of the walk period and start to move the balance after that.
    MABEHAVIOR_CREATE(MAWalkBalanceToRight, GetMaster(), (int)MA::RobotState->ComplexIndicators->WalkPeriod / 11);
  }
  if (Controller->GetLegType() == MA::Leg::LF)
  {
    // The LF leg is swung forward after 5.5/11 of the walk period which is at 6.5/11 in the MoNet
    // sequence. The balance is started to move after 1/11 period hence waiting that time.
    MABEHAVIOR_CREATE(MAWalkBalanceToLeft, GetMaster(), (int)MA::RobotState->ComplexIndicators->WalkPeriod / 11);
  }
  // The following walk sequence is created here, but not activated until this behavior is finished
  MALEGBEHAVIOR_CREATE(MAWalkPushForward, LegState.Type, GetMaster());
}


bool MAWalkSwingBackward::AnyLegSwingBackward()
{
  MABehavior* SwingBackwardLF = MABehavior::GetBehavior(MAGetLegBehaviorName<MAWalkSwingBackward>(MA::Leg::LF));
  MABehavior* SwingBackwardLH = MABehavior::GetBehavior(MAGetLegBehaviorName<MAWalkSwingBackward>(MA::Leg::LH));
  MABehavior* SwingBackwardRF = MABehavior::GetBehavior(MAGetLegBehaviorName<MAWalkSwingBackward>(MA::Leg::RF));
  MABehavior* SwingBackwardRH = MABehavior::GetBehavior(MAGetLegBehaviorName<MAWalkSwingBackward>(MA::Leg::RH));

  if ((!SwingBackwardLF || SwingBackwardLF->GetState() == MABehavior::Normal) &&
      (!SwingBackwardLH || SwingBackwardLH->GetState() == MABehavior::Normal) &&
      (!SwingBackwardRF || SwingBackwardRF->GetState() == MABehavior::Normal) &&
      (!SwingBackwardRH || SwingBackwardRH->GetState() == MABehavior::Normal))
  {
    return false;
  }
  return true;
}