#include "Behaviors/StateMachine.h"

$nodeclass Lab5part4 : VisualRoutinesStateNode {

	$nodeclass AnalyzeShapes : VisualRoutinesStateNode : doStart {
		camSkS.requireIdx4way();

		NEW_SKETCH(depth, usint, sketchFromDepth());

		usint max = -1;
	        NEW_SKETCH(edgesSouth, usint, depth - depth[*camSkS.idxS]);
		NEW_SKETCH(edgesWest, usint, depth - depth[*camSkS.idxW]);
		NEW_SKETCH(final, bool, (((edgesSouth >= 300) & (edgesSouth <= max - 300)) | ((edgesWest >= 300) & (edgesWest <= max - 300))));
	}

	$setupmachine {
		getShapes: AnalyzeShapes =C=> SpeechNode("done")			

	}
}


REGISTER_BEHAVIOR(Lab5part4);