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 21 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 | getDescription () const |
| Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis). | |
Static Public Member Functions | |
| static std::string | getClassDescription () |
| Gives a short description of what this class of behaviors does... you should override this (but don't have to). | |
| static 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 | |
| static const unsigned int | max_t = 10000 |
| max time between ear flips when at "high power" mark | |
| static const unsigned int | high_power_p = 20 |
| percent of 100 which is point at which to begin warning | |
| static 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 | |
Member Function Documentation
| static std::string BatteryMonitorBehavior::getClassDescription | ( | ) | [inline, static] |
Gives a short description of what this class of behaviors does... you should override this (but don't have to).
If you do override this, also consider overriding getDescription() to return it
Reimplemented from BehaviorBase.
Definition at line 97 of file BatteryMonitorBehavior.h.
Referenced by getDescription().
| virtual std::string BatteryMonitorBehavior::getDescription | ( | ) | const [inline, virtual] |
Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).
By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)
This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.
Reimplemented from BehaviorBase.
Definition at line 98 of file BatteryMonitorBehavior.h.
The documentation for this class was generated from the following file:
