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StartupBehavior_SetupBackgroundBehaviors.cc

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00001 #include "StartupBehavior.h"
00002 
00003 #include "Behaviors/Controls/ControlBase.h"
00004 #include "Behaviors/Controls/BehaviorSwitchControl.h"
00005 
00006 #include "Behaviors/Demos/AutoGetupBehavior.h"
00007 #include "Behaviors/Demos/BatteryMonitorBehavior.h"
00008 #include "Behaviors/Demos/HeadLevelBehavior.h"
00009 #include "Behaviors/Demos/ToggleHeadLightBehavior.h"
00010 #include "Behaviors/Demos/HelloWorldBehavior.h"
00011 #include "Behaviors/Demos/CrashTestBehavior.h"
00012 #include "Behaviors/Demos/RelaxBehavior.h"
00013 #include "Behaviors/Demos/WorldStateVelDaemon.h"
00014 #include "Behaviors/Demos/CameraBehavior.h"
00015 
00016 #include "Shared/WorldState.h"
00017 #include "Shared/ERS210Info.h"
00018 
00019 ControlBase*
00020 StartupBehavior::SetupBackgroundBehaviors() {
00021   addItem(new ControlBase("Background Behaviors","Background daemons and monitors"));
00022   startSubMenu();
00023   { 
00024     addItem((new BehaviorSwitchControl<AutoGetupBehavior>("AutoGetupBehavior",false))->start());
00025     addItem((new BehaviorSwitchControl<BatteryMonitorBehavior>("BatteryMonitorBehavior",false))->start());
00026     addItem(new BehaviorSwitchControl<HeadLevelBehavior>("HeadLevelBehavior",false));
00027     if(state->robotDesign & WorldState::ERS220Mask)
00028       addItem(new BehaviorSwitchControl<ToggleHeadLightBehavior>("ToggleHeadLightBehavior",false));
00029     addItem(new BehaviorSwitchControl<HelloWorldBehavior>("HelloWorldBehavior",false));
00030     addItem(new BehaviorSwitchControl<CrashTestBehavior>("CrashTestBehavior",false));
00031     addItem(new BehaviorSwitchControl<RelaxBehavior>("RelaxBehavior",false));
00032     addItem(new BehaviorSwitchControl<CameraBehavior>("CameraBehavior",false));
00033     addItem((new BehaviorSwitchControl<WorldStateVelDaemon>("WorldStateVelDaemon",false))->start());
00034   }
00035   return endSubMenu();
00036 }

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