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#include <StartupBehavior.h>
Inheritance diagram for StartupBehavior:
Similar in idea to the init process in unix/linux.
Definition at line 13 of file StartupBehavior.h.
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virtual void | DoStart () |
By default, merely adds to the reference counter (through AddReference())
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virtual void | DoStop () |
By default, subtracts from the reference counter, and deletes if zero
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virtual void | processEvent (const EventBase &) |
virtual std::string | getName () const |
Identifies the behavior in menus and such. | |
std::string | getClassDescription () |
Gives a short description of what this class of behaviors does... you should override this (but don't have to). | |
Public Member Functions | |
StartupBehavior () | |
Constructor. | |
virtual | ~StartupBehavior () |
Destructor. | |
Protected Member Functions | |
virtual ControlBase * | SetupMenus () |
Initializes the Controller menu structure. | |
Protected Attributes | |
std::vector< BehaviorBase * > | spawned |
Behaviors spawned from DoStart, so they can automatically be stopped on DoStop. | |
MotionManager::MC_ID | stop_id |
the main EmergencyStopMC | |
MotionManager::MC_ID | pid_id |
used to fade in the PIDs up to full strength (from initial zero) This is so the joints don't jerk on startup. |
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Constructor.
Definition at line 62 of file StartupBehavior.cc. References ReferenceCounter::AddReference(). |
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Destructor.
Definition at line 70 of file StartupBehavior.cc. |
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By default, merely adds to the reference counter (through AddReference())
Reimplemented from BehaviorBase. Definition at line 72 of file StartupBehavior.cc. References BatteryCheckControl::activate(), MotionManager::addMotion(), EventRouter::addTimer(), Controller::console_callback(), BatteryCheckControl::deactivate(), Controller::DoStart(), BehaviorBase::DoStart(), erouter, ERS210Info::FrameTime, MotionManager::invalid_MC_ID, MotionManager::kEmergencyPriority, motman, ERS210Info::NumFrames, pid_id, SoundManager::PlayFile(), Controller::setEStopID(), Wireless::setReceiver(), Controller::setRoot(), SetupMenus(), sndman, sout, spawned, stop_id, and wireless. |
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By default, subtracts from the reference counter, and deletes if zero
Reimplemented from BehaviorBase. Definition at line 112 of file StartupBehavior.cc. References BehaviorBase::DoStop(), motman, MotionManager::removeMotion(), spawned, and stop_id. |
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Gives a short description of what this class of behaviors does... you should override this (but don't have to).
Reimplemented from BehaviorBase. Definition at line 26 of file StartupBehavior.h. |
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Identifies the behavior in menus and such.
Implements BehaviorBase. Definition at line 25 of file StartupBehavior.h. |
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Uses a few timer events at the beginning to fade in the PID values, and closes the mouth too Reimplemented from BehaviorBase. Definition at line 120 of file StartupBehavior.cc. References erouter, WorldState::ERS210Mask, get_time(), MotionManager::invalid_MC_ID, ERS210Info::MaxRange, motman, ERS210Info::outputRanges, pid_id, MotionManager::removeMotion(), EventRouter::removeTimer(), WorldState::robotDesign, state, and stop_id. |
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Initializes the Controller menu structure.
Definition at line 148 of file StartupBehavior.cc. References FreeMemReportControl::DoStart(), WorldState::ERS220Mask, WorldState::robotDesign, state, and stop_id. |
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used to fade in the PIDs up to full strength (from initial zero) This is so the joints don't jerk on startup.
Definition at line 34 of file StartupBehavior.h. |
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Behaviors spawned from DoStart, so they can automatically be stopped on DoStop.
Definition at line 32 of file StartupBehavior.h. |
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the main EmergencyStopMC
Definition at line 33 of file StartupBehavior.h. |
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