Reference

BatteryMonitorBehavior Class Reference

#include <BatteryMonitorBehavior.h>

Inheritance diagram for BatteryMonitorBehavior:

Detailed Description

A background behavior which will monitor the power level and flip the ears when appropriate on a 210, or blink the headlight if a 220.

Think of this as a simple example class. For exercise, try using a MotionSequenceMC instead of switching the ears back manually using a PostureMC

Definition at line 20 of file BatteryMonitorBehavior.h.

Public Member Functions

BatteryMonitorBehavior ()

constructor

virtual ~BatteryMonitorBehavior ()

destructor

virtual void DoStart ()

Listens for the PowerSourceID::LowPowerWarnSID.

virtual void DoStop ()

Stops listening for events.

virtual void processEvent (const EventBase &event)

Adds a BatteryMonitorMC to motman if power goes low.

virtual std::string getName () const

Identifies the behavior in menus and such.

Static Public Member Functions

std::string getClassDescription ()

Gives a short description of what this class of behaviors does... you should override this (but don't have to).

bool shouldWarn ()

returns true if the warning should be active (power remaining less than high_power_p, no external power, but also checks that a power update has been received)

Static Public Attributes

const unsigned int max_t = 10000

max time between ear flips when at "high power" mark

const unsigned int high_power_p = 20

percent of 100 which is point at which to begin warning

const unsigned int no_power_p = 14

percent of 100 at which power will fail (approximate!)

Protected Member Functions

void startWarning ()

adds a pose and a timer to get the ears flipping

void stopWarning ()

removes pose, in case battery magically charges

unsigned int calcFlipDelay ()

makes the ears flip more rapidly as power declines. Flips back and forth once every 15 seconds at 15%, down to flipping constantly at 5%.

void setFlipper (bool set)

sets the ears on a 210 or the headlight on a 220 - true toggles current, false clears

Protected Attributes

PostureMC * pose

if we are currently warning of low battery, holds a pose, NULL otherwise

MotionManager::MC_ID pose_id

id of pose if we are currently warning, MotionManager::invalid_MC_ID otherwise

MotionManager::MC_ID led_id

id of LedMC if we are currently warning, MotionManager::invalid_MC_ID otherwise

Private Member Functions

BatteryMonitorBehavior (const BatteryMonitorBehavior &)

don't copy behaviors

BatteryMonitorBehavior operator= (const BatteryMonitorBehavior &)

don't assign behaviors

Constructor & Destructor Documentation

BatteryMonitorBehavior::BatteryMonitorBehavior ( ) [inline]

constructor

Definition at line 27 of file BatteryMonitorBehavior.h.
References led_id, pose, and pose_id.

virtual BatteryMonitorBehavior::~BatteryMonitorBehavior ( ) [inline, virtual]

destructor

Definition at line 29 of file BatteryMonitorBehavior.h.

BatteryMonitorBehavior::BatteryMonitorBehavior ( const BatteryMonitorBehavior & ) [private]

don't copy behaviors

Member Function Documentation

unsigned int BatteryMonitorBehavior::calcFlipDelay ( ) [inline, protected]

makes the ears flip more rapidly as power declines. Flips back and forth once every 15 seconds at 15%, down to flipping constantly at 5%.

Definition at line 125 of file BatteryMonitorBehavior.h.
References high_power_p, max_t, no_power_p, ERS210Info::PowerRemainOffset, WorldState::sensors, and state.

virtual void BatteryMonitorBehavior::DoStart ( ) [inline, virtual]

Listens for the PowerSourceID::LowPowerWarnSID.

Reimplemented from BehaviorBase.
Definition at line 32 of file BatteryMonitorBehavior.h.
References EventRouter::addListener(), BehaviorBase::DoStart(), erouter, EventBase::powerEGID, processEvent(), shouldWarn(), and EventBase::statusETID.