Aibo3DControllerBehavior.cc

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00001 #include "Shared/RobotInfo.h"
00002 //#if defined(TGT_ERS7) || defined(TGT_ERS210) || defined(TGT_ERS2xx)
00003 
00004 #include "Aibo3DControllerBehavior.h"
00005 #include "Behaviors/Controls/BehaviorSwitchControl.h"
00006 
00007 REGISTER_BEHAVIOR_MENU(Aibo3DControllerBehavior,"TekkotsuMon");
00008 
00009 extern BehaviorSwitchControlBase * const autoRegisterWorldStateSerializer;
00010 
00011 void Aibo3DControllerBehavior::doStart() {
00012   // Behavior startup
00013   BehaviorBase::doStart();
00014   
00015   launchedSerializer=false;
00016   if(autoRegisterWorldStateSerializer!=NULL) {
00017     if(!autoRegisterWorldStateSerializer->isRunning()) {
00018       autoRegisterWorldStateSerializer->start();
00019       launchedSerializer=true;
00020     }
00021     // open gui
00022     /*    std::vector<std::string> tmp;
00023     tmp.push_back("Aibo3D Load Instructions");
00024     tmp.push_back("To load Aibo3D, you will need to install java3d\nand then run Tekkotsu/tools/aibo3d/");
00025     tmp.back()+=getGUIType();
00026     Controller::loadGUI("ControllerMsg","LoadAibo3d",getPort(),tmp);*/
00027   }
00028   
00029   Controller::loadGUI(getGUIType(),getGUIType(),getPort());
00030 }
00031 
00032 void Aibo3DControllerBehavior::doStop() {
00033   Controller::closeGUI(getGUIType());
00034   if(launchedSerializer && autoRegisterWorldStateSerializer!=NULL) {
00035     autoRegisterWorldStateSerializer->stop();
00036   }
00037   // Total behavior stop
00038   BehaviorBase::doStop();
00039 }
00040 
00041 //#endif