#include "Behaviors/StateMachine.h"

class BarkHowlBlinkBehavior : public StateNode {

public:
  BarkHowlBlinkBehavior() : StateNode("BarkHowlBlinkBehavior") {}


  $setupmachine { 
    startnode: StateNode =N=> {noblink, bark}

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

    bark: SoundNode($,"barkmed.wav")
      =B(ChiaraInfo::GreenButOffset)[setSound("ping.wav");]=>
	 wait: StateNode =T(15000)=> bark

    bark =T(5000)=> {howl, blink}

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

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

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


};

REGISTER_BEHAVIOR(BarkHowlBlinkBehavior);