#include "Behaviors/StateMachine.h"

#define PLAY_LED 

$nodeclass BarkHowlBlinkBehavior : StateNode {
  $setupmachine{
	wait: 
		StateNode=B(RobotInfo::PlayButOffset)[setSound("ping.wav")]=>
		LedNode [LedEngine::flash(RobotInfo::PlayLEDMask,100)]=T(1000)=>

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

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

    bark: SoundNode("barkmed.wav")
    bark =B(RobotInfo::PlayButOffset)[setSound("ping.wav")]=> wait
    bark =T(4000)=> {howl, blink}

    howl: SoundNode("howl.wav")

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

    wait: StateNode =T(8000)=> bark
  }

}

REGISTER_BEHAVIOR(BarkHowlBlinkBehavior);