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StartupBehavior Class Reference

#include <StartupBehavior.h>

Inheritance diagram for StartupBehavior:

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Detailed Description

This Behavior is the only hardcoded behavior by the framework to start up once all the data structures and such are set up.

This is done by assigning an instance of StartupBehavior to the global startupBehavior variable. Note that there's nothing special about the type of this class, it's just another BehaviorBase - startupBehavior could be any behavior. If you want some other behavior to run automatically at startup, simply remove StartupBehavior from the project and assign an instance of your own class to startupBehavior instead.

By default, this behavior is similar in idea to the init process in unix/linux.

Definition at line 24 of file StartupBehavior.h.

Inherited

virtual void DoStart ()
 By default, merely adds to the reference counter (through AddReference()) you should still call this from your overriding methods.

virtual void DoStop ()
 By default, subtracts from the reference counter, and deletes if zero you should still call this when you override this call this at the end of your DoStop(), not beginning (it might delete this ).

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 - calls each of the other Setup functions in turn.

virtual ControlBase * SetupModeSwitch ()
 sets up Mode Switch menu

virtual ControlBase * SetupBackgroundBehaviors ()
 sets up Background Behaviors menu

virtual ControlBase * SetupTekkotsuMon ()
 sets up TekkotsuMon menu

virtual ControlBase * SetupStatusReports ()
 sets up Status Reports menu

virtual ControlBase * SetupFileAccess ()
 sets up File Access menu

virtual ControlBase * SetupWalkEdit ()
 sets up Walk Editing menus (contributed by PGSS 2003 team project - see StartupBehavior_SetupWalkEdit.cc )

virtual void startSubMenu ()
 future calls to addItem() will be placed under the most recently added item

virtual void addItem (ControlBase *control)
 inserts a control at the end of the menu

virtual ControlBase * endSubMenu ()
 closes out a submenu so that future calls to addItem() will be added to the enclosing menu, returns the menu being closed out


Protected Attributes

std::vector< BehaviorBase * > spawned
 Behaviors spawned from DoStart, so they can automatically be stopped on DoStop.

std::stack< ControlBase * > setup
 only used during setup - easier than passing it around all the functions

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.

Constructor & Destructor Documentation

StartupBehavior::StartupBehavior (   ) 
 

Constructor.

Definition at line 26 of file StartupBehavior.cc.

References ReferenceCounter::AddReference().

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StartupBehavior::~StartupBehavior (   )  [virtual]
 

Destructor.

Definition at line 34 of file StartupBehavior.cc.

Member Function Documentation

void StartupBehavior::addItem (  ControlBase *  control  )  [protected, virtual]
 

inserts a control at the end of the menu

Definition at line 147 of file StartupBehavior.cc.

References setup.

void StartupBehavior::DoStart (   )  [virtual]
 

By default, merely adds to the reference counter (through AddReference()) you should still call this from your overriding methods.

Reimplemented from BehaviorBase.

Definition at line 36 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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void StartupBehavior::DoStop (   )  [virtual]
 

By default, subtracts from the reference counter, and deletes if zero you should still call this when you override this call this at the end of your DoStop(), not beginning (it might delete this ).

Reimplemented from BehaviorBase.

Definition at line 76 of file StartupBehavior.cc.

References BehaviorBase::DoStop(), motman, MotionManager::removeMotion(), spawned, and stop_id.

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ControlBase * StartupBehavior::endSubMenu (   )  [protected, virtual]
 

closes out a submenu so that future calls to addItem() will be added to the enclosing menu, returns the menu being closed out

Definition at line 152 of file StartupBehavior.cc.

References setup.

std::string StartupBehavior::getClassDescription (   )  [inline, static]
 

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 36 of file StartupBehavior.h.

virtual std::string StartupBehavior::getName (   )  const [inline, virtual]
 

Identifies the behavior in menus and such.

Implements BehaviorBase.

Definition at line 35 of file StartupBehavior.h.

void StartupBehavior::processEvent (  const EventBase &   )  [virtual]
 

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 84 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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ControlBase * StartupBehavior::SetupBackgroundBehaviors (   )  [protected, virtual]
 

sets up Background Behaviors menu

Definition at line 19 of file StartupBehavior_SetupBackgroundBehaviors.cc.

References addItem(), endSubMenu(), WorldState::ERS220Mask, WorldState::robotDesign, startSubMenu(), and state.

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ControlBase * StartupBehavior::SetupFileAccess (   )  [protected, virtual]
 

sets up File Access menu

Definition at line 12 of file StartupBehavior_SetupFileAccess.cc.

References addItem(), endSubMenu(), startSubMenu(), and stop_id.

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ControlBase * StartupBehavior::SetupMenus (   )  [protected, virtual]
 

Initializes the Controller menu structure - calls each of the other Setup functions in turn.

Also adds Shutdown and Help items at the end

Definition at line 112 of file StartupBehavior.cc.

References addItem(), endSubMenu(), setup, SetupBackgroundBehaviors(), SetupFileAccess(), SetupModeSwitch(), SetupStatusReports(), SetupTekkotsuMon(), SetupWalkEdit(), and startSubMenu().

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ControlBase * StartupBehavior::SetupModeSwitch (   )  [protected, virtual]
 

sets up Mode Switch menu

Definition at line 18 of file StartupBehavior_SetupModeSwitch.cc.

References addItem(), endSubMenu(), and startSubMenu().

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ControlBase * StartupBehavior::SetupStatusReports (   )  [protected, virtual]
 

sets up Status Reports menu

Definition at line 11 of file StartupBehavior_SetupStatusReports.cc.

References addItem(), FreeMemReportControl::DoStart(), endSubMenu(), and startSubMenu().

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ControlBase * StartupBehavior::SetupTekkotsuMon (   )  [protected, virtual]
 

sets up TekkotsuMon menu

Definition at line 14 of file StartupBehavior_SetupTekkotsuMon.cc.

References addItem(), endSubMenu(), startSubMenu(), and stop_id.

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ControlBase * StartupBehavior::SetupWalkEdit (   )  [protected, virtual]
 

sets up Walk Editing menus (contributed by PGSS 2003 team project - see StartupBehavior_SetupWalkEdit.cc )

Definition at line 29 of file StartupBehavior_SetupWalkEdit.cc.

References addItem(), endSubMenu(), WalkMC::getSlowMo(), WalkControllerBehavior::getWalkMC(), WalkMC::getWP(), and startSubMenu().

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void StartupBehavior::startSubMenu (   )  [protected, virtual]
 

future calls to addItem() will be placed under the most recently added item

Definition at line 142 of file StartupBehavior.cc.

References setup.

Member Data Documentation

MotionManager::MC_ID StartupBehavior::pid_id [protected]
 

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 57 of file StartupBehavior.h.

std::stack<ControlBase*> StartupBehavior::setup [protected]
 

only used during setup - easier than passing it around all the functions

Definition at line 55 of file StartupBehavior.h.

std::vector<BehaviorBase*> StartupBehavior::spawned [protected]
 

Behaviors spawned from DoStart, so they can automatically be stopped on DoStop.

Definition at line 54 of file StartupBehavior.h.

MotionManager::MC_ID StartupBehavior::stop_id [protected]
 

the main EmergencyStopMC

Definition at line 56 of file StartupBehavior.h.

The documentation for this class was generated from the following files:
Tekkotsu v1.5
 		Generated Fri Oct 10 15:57:51 2003 by Doxygen 1.3.4