//-*-c++-*-
#ifndef INCLUDED_BarkHowlBlinkBehavior_h_
#define INCLUDED_BarkHowlBlinkBehavior_h_
 
#include "Behaviors/StateMachine.h"
#include "Events/EventRouter.h"

#nodeclass BarkHowlBlinkBehavior : StateNode : setup
  #statemachine

    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

  #endstatemachine
#endnodeclass

#endif