#ifndef INCLUDED_Smmm_h_	// このファイル　INCLUDED_MyStateSync_h_　が定義されていなければ
#define INCLUDED_Smmm_h_	// このファイル　INCLUDED_MyStateSync_h_　を定義する

#include "Shared/ERS7Info.h"	// AIBOの機種（ERS7）に関する部品ファイル
#include "Shared/WorldState.h"	// 状態を監視するための部品ファイル
#include "StateHeader.h"		// 状態と遷移に必要な部品ファイル
#include "StartCommFromPC.h"	// PCから合図を受信するための部品ファイル

// クラス 
class Smmm : public StateNode {
protected:
	StateNode * start_node; // start_nodeは、クラス全体で使用するのでココに定義する
	StartCommFromPC fromPC; // PCからの合図を受け取るオブジェクト

public:
	// コンストラクタ
	Smmm() : StateNode("Smmm"), start_node(NULL), fromPC() {}

	// デコンストラクタ
	~Smmm() {
		if(issetup)
			teardown();
	}

virtual void setup() {

	// 親クラスStateNodeのsetup()関数を呼ぶ
	StateNode::setup();

	// 伏せノード作成
	StateNode * lie_node = new SmallMotionSequenceNode("Lie","lielie.mot");
	addNode(lie_node);

	// 座り姿勢ノード
	StateNode * hajime_node = new TinyMotionSequenceNode("Hajime","hajime.mot");
	addNode(hajime_node);
	
	//前奏ノード
	StateNode * zenso_node = new LargeMotionSequenceNode("Zenso","zenso.mot");
	addNode(zenso_node);
	
	//前奏ノード２
	StateNode * zenso2_node = new LargeMotionSequenceNode("Zenso2","zenso2.mot");
	addNode(zenso2_node);
	
	//間奏1ノード
	StateNode * kanso_node = new LargeMotionSequenceNode("Kanso","kanso2.mot");
	addNode(kanso_node);
	
	//間奏１ノード２
	StateNode * madao2_node = new LargeMotionSequenceNode("Madao2","madao2.mot");
	addNode(madao2_node);

	//ンチャノード1-1
	StateNode * ncha_node = new LargeMotionSequenceNode("Ncha","ncha.mot");
	addNode(ncha_node);
	
	//ンチャノード1-2
	StateNode * ncha2_node = new LargeMotionSequenceNode("Ncha2","ncha2.mot");
	addNode(ncha2_node);
	
	//ンチャノード2-1
	StateNode * ncha3_node = new LargeMotionSequenceNode("Ncha3","ncha.mot");
	addNode(ncha3_node);
	
	//ンチャノード2-2
	StateNode * ncha4_node = new LargeMotionSequenceNode("Ncha4","ncha2.mot");
	addNode(ncha4_node);
	
	//ンチャノード3-1
	StateNode * ncha5_node = new LargeMotionSequenceNode("Ncha5","ncha.mot");
	addNode(ncha5_node);
	
	//ンチャノード3-2
	StateNode * ncha6_node = new LargeMotionSequenceNode("Ncha6","ncha2.mot");
	addNode(ncha6_node);
	
	//ンチャノード4-1
	StateNode * ncha7_node = new LargeMotionSequenceNode("Ncha7","ncha.mot");
	addNode(ncha7_node);
	
	//ンチャノード4-2
	StateNode * ncha8_node = new LargeMotionSequenceNode("Ncha8","ncha2.mot");
	addNode(ncha8_node);
	
	//最初ノード1-1
	StateNode * saisyo1_node = new MediumMotionSequenceNode("Saisyo1","saisyo1.mot");
	addNode(saisyo1_node);
	
	//最初ノード1-2
	StateNode * saisyo2_node = new MediumMotionSequenceNode("Saisyo2","saisyo2.mot");
	addNode(saisyo2_node);
	
	//最初ノード1-3
	StateNode * saisyo3_node = new MediumMotionSequenceNode("Saisyo3","saisyo1.mot");
	addNode(saisyo3_node);
	
	//最初ノード2-1
	StateNode * saisyo4_node = new MediumMotionSequenceNode("Saisyo4","saisyo1.mot");
	addNode(saisyo4_node);
	
	//最初ノード2-2
	StateNode * saisyo5_node = new MediumMotionSequenceNode("Saisyo5","saisyo2.mot");
	addNode(saisyo5_node);
	
	//最初ノード2-3
	StateNode * saisyo6_node = new MediumMotionSequenceNode("Saisyo6","saisyo1.mot");
	addNode(saisyo6_node);	
	
	//最初ノード3-1
	StateNode * saisyo7_node = new MediumMotionSequenceNode("Saisyo7","saisyo1.mot");
	addNode(saisyo7_node);
	
	//最初ノード3-2
	StateNode * saisyo8_node = new MediumMotionSequenceNode("Saisyo8","saisyo2.mot");
	addNode(saisyo8_node);
	
	//最初ノード3-3
	StateNode * saisyo9_node = new MediumMotionSequenceNode("Saisyo9","saisyo1.mot");
	addNode(saisyo9_node);	
	
	
	//途中ノード1-1
	StateNode * tocyuu1_node = new LargeMotionSequenceNode("Tocyuu1","tocyuu4.mot");
	addNode(tocyuu1_node);
	
	//途中ノード1-2
	StateNode * tocyuu2_node = new LargeMotionSequenceNode("Tocyuu2","tocyuu2.mot");
	addNode(tocyuu2_node);
	
	//途中ノード1-3
	StateNode * tocyuu3_node = new LargeMotionSequenceNode("Tocyuu3","tocyuu5.mot");
	addNode(tocyuu3_node);
	
	//途中ノード2-1
	StateNode * tocyuu4_node = new LargeMotionSequenceNode("Tocyuu4","tocyuu4.mot");
	addNode(tocyuu4_node);
	
	//途中ノード2-2
	StateNode * tocyuu5_node = new LargeMotionSequenceNode("Tocyuu5","tocyuu2.mot");
	addNode(tocyuu5_node);
	
	//途中ノード2-3
	StateNode * tocyuu6_node = new LargeMotionSequenceNode("Tocyuu6","tocyuu5.mot");
	addNode(tocyuu6_node);
	
	//途中ノード3-1
	StateNode * tocyuu7_node = new LargeMotionSequenceNode("Tocyuu7","tocyuu4.mot");
	addNode(tocyuu7_node);
	
	//途中ノード3-2
	StateNode * tocyuu8_node = new LargeMotionSequenceNode("Tocyuu8","tocyuu2.mot");
	addNode(tocyuu8_node);
	
	//途中ノード3-3
	StateNode * tocyuu9_node = new LargeMotionSequenceNode("Tocyuu9","tocyuu5.mot");
	addNode(tocyuu9_node);
	
	//間奏2ノード1
	StateNode * kawaru05_node = new MediumMotionSequenceNode("kawaru05","kawaru05.mot");
	addNode(kawaru05_node);
	
	//間奏2ノード2
	StateNode * kawaru06_node = new MediumMotionSequenceNode("kawaru06","kawaru06.mot");
	addNode(kawaru06_node);
	
	//間奏2ノード3
	StateNode * kawaru07_node = new MediumMotionSequenceNode("kawaru07","kawaru07.mot");
	addNode(kawaru07_node);

    //間奏2ノード4
	StateNode * kawaru09_node = new MediumMotionSequenceNode("kawaru09","kawaru09.mot");
	addNode(kawaru09_node);

	//間奏2ノード5
	StateNode * kawaru_node = new MediumMotionSequenceNode("Kawaru","kawaru.mot");
	addNode(kawaru_node);

	//間奏2ノード6
	StateNode * asobi_node = new LargeMotionSequenceNode("Asobi","asobi.mot");
	addNode(asobi_node);
	
	//間奏2ノード7
	StateNode * ashi1_node = new MediumMotionSequenceNode("Ashi1","ashi1.mot");
	addNode(ashi1_node);
	
	//間奏2ノード8
	StateNode * asi1_node = new MediumMotionSequenceNode("Asi1","asi1.mot");
	addNode(asi1_node);
	
	//せくしーノード1-1
	StateNode * sexy1_node = new MediumMotionSequenceNode("Sexy1","ma.mot");
	addNode(sexy1_node);
	
	//せくしーノード1-2
	StateNode * sexy2_node = new MediumMotionSequenceNode("Sexy2","ma.mot");
	addNode(sexy2_node);
	
	//せくしーノード1-3
	StateNode * sexy3_node = new MediumMotionSequenceNode("Sexy3","ma.mot");
	addNode(sexy3_node);
	
	//せくしーノード2-1
	StateNode * sexy4_node = new MediumMotionSequenceNode("Sexy4","ma2.mot");
	addNode(sexy4_node);
	
	//せくしーノード2-2
	StateNode * sexy5_node = new MediumMotionSequenceNode("Sexy5","ma2.mot");
	addNode(sexy5_node);
	
	//せくしーノード1-3
	StateNode * sexy6_node = new MediumMotionSequenceNode("Sexy6","ma.mot");
	addNode(sexy6_node);	
	
	//せくしーノード3-1
	StateNode * sexy7_node = new MediumMotionSequenceNode("Sexy7","ma.mot");
	addNode(sexy7_node);
	
	//せくしーノード3-2
	StateNode * sexy8_node = new MediumMotionSequenceNode("Sexy8","ma.mot");
	addNode(sexy8_node);

	//せくしーノード3-3
	StateNode * sexy9_node = new MediumMotionSequenceNode("Sexy9","ma.mot");
	addNode(sexy9_node);


	// 停止
	WalkNode * stop_node = new WalkNode("Stop", 0,0,0);
	addNode(stop_node);
	
	
	// スタートは伏せ姿勢
	start_node = lie_node;

	// PCからの合図（TextMessageEvent）による遷移（伏せ→座り）
	EventTrans * textTrans = new EventTrans(hajime_node,EventBase::textmsgEGID);
	lie_node->addTransition(textTrans);

	// 1番（座り→前奏→前奏２→んちゃ→んちゃ１→最初→6秒経過→最初2→6秒経過→途中→最後→ンチャ）
	hajime_node->addTransition(new CompletionTrans(zenso_node));
	zenso_node->addTransition(new CompletionTrans(zenso2_node));
	zenso2_node->addTransition(new CompletionTrans(ncha_node));
	ncha_node->addTransition(new CompletionTrans(ncha2_node));
	ncha2_node->addTransition(new CompletionTrans(saisyo1_node));
	saisyo1_node->addTransition(new CompletionTrans(sexy1_node));
	sexy1_node->addTransition(new CompletionTrans(saisyo2_node));
	saisyo2_node->addTransition(new CompletionTrans(sexy2_node));
	sexy2_node->addTransition(new CompletionTrans(tocyuu1_node));
	tocyuu1_node->addTransition(new CompletionTrans(tocyuu2_node));
	tocyuu2_node->addTransition(new CompletionTrans(tocyuu3_node));
	tocyuu3_node->addTransition(new CompletionTrans(saisyo3_node));
	saisyo3_node->addTransition(new CompletionTrans(sexy3_node));
	sexy3_node->addTransition(new CompletionTrans(ncha3_node));
	
	// 2番（んちゃ１→最初→6秒経過→最初2→6秒経過→途中→最後→ンチャ）
	ncha3_node->addTransition(new CompletionTrans(ncha4_node));
	ncha4_node->addTransition(new CompletionTrans(saisyo4_node));
	saisyo4_node->addTransition(new CompletionTrans(sexy4_node));
	sexy4_node->addTransition(new CompletionTrans(saisyo5_node));
	saisyo5_node->addTransition(new CompletionTrans(sexy5_node));
	sexy5_node->addTransition(new CompletionTrans(tocyuu4_node));
	tocyuu4_node->addTransition(new CompletionTrans(tocyuu5_node));
	tocyuu5_node->addTransition(new CompletionTrans(tocyuu6_node));
	tocyuu6_node->addTransition(new CompletionTrans(saisyo6_node));
	saisyo6_node->addTransition(new CompletionTrans(sexy6_node));
	sexy6_node->addTransition(new CompletionTrans(ncha5_node));
	
	// ンチャ〜間奏１〜ンチャ（ンチャ２→間奏１→ンチャ）
	ncha5_node->addTransition(new CompletionTrans(ncha6_node));
	ncha6_node->addTransition(new CompletionTrans(kanso_node));
    kanso_node->addTransition(new CompletionTrans(madao2_node));
	madao2_node->addTransition(new CompletionTrans(ncha7_node));
	ncha7_node->addTransition(new CompletionTrans(ncha8_node));
	
	// 3番（最初→6秒経過→最初2→6秒経過→途中→最後→ンチャ）
    ncha8_node->addTransition(new CompletionTrans(saisyo7_node));
	saisyo7_node->addTransition(new CompletionTrans(sexy7_node));
	sexy7_node->addTransition(new CompletionTrans(saisyo8_node));
	saisyo8_node->addTransition(new CompletionTrans(sexy8_node));
	sexy8_node->addTransition(new CompletionTrans(tocyuu7_node));
	tocyuu7_node->addTransition(new CompletionTrans(tocyuu8_node));
	tocyuu8_node->addTransition(new CompletionTrans(tocyuu9_node));
	tocyuu9_node->addTransition(new CompletionTrans(saisyo9_node));
	saisyo9_node->addTransition(new CompletionTrans(sexy9_node));
	sexy9_node->addTransition(new CompletionTrans(kawaru05_node));

	// ンチャ〜間奏２（ンチャ２→間奏２）
	kawaru05_node->addTransition(new CompletionTrans(kawaru06_node));
	kawaru06_node->addTransition(new CompletionTrans(kawaru07_node));
	kawaru07_node->addTransition(new CompletionTrans(kawaru09_node));
	kawaru09_node->addTransition(new CompletionTrans(kawaru_node));
	kawaru_node->addTransition(new CompletionTrans(asobi_node));
	asobi_node->addTransition(new CompletionTrans(ashi1_node));
	ashi1_node->addTransition(new CompletionTrans(asi1_node));
	asi1_node->addTransition(new CompletionTrans(stop_node));

}

virtual void DoStart() {
	StateNode::DoStart();
	start_node->DoStart();
	fromPC.DoStart();	// fromPCオブジェクトをスタート
}

virtual void DoStop() {
	StateNode::DoStop();
	fromPC.DoStop();	// fromPCオブジェクトをストップ
}

virtual void teardown() {
	StateNode::teardown();
}

private:  // コンパイル時の警告を避けるためのダミー関数
	Smmm(const Smmm&);
	Smmm operator=(const Smmm&);
};

#endif