#include "Behaviors/StateMachine.h"

$nodeclass BarkHowlBlinkBehavior : StateNode {
  $setupmachine{

    launch: StateNode =N=> {noblink, bark}

    noblink: LedNode [setPriority(MotionManager::kBackgroundPriority);
	              getMC()->set(RobotInfo::FaceLEDMask,0.0)]

    bark: SoundNode($,"barkmed.wav")
    bark =T(5000)=> {howl, blink}
    bark =B(RobotInfo::GreenButOffset)[setSound("ping.wav")]=> wait

    wait: StateNode =T(15000)=> bark

    howl: SoundNode($,"howl.wav")

    blink: LedNode [getMC()->cycle(RobotInfo::AllLEDMask, 1500, 1.0)]

    {howl, blink} =C(1)=> wait

  }

}

REGISTER_BEHAVIOR(BarkHowlBlinkBehavior);