Fawkes API Fawkes Development Version
calib_thread.cpp
1
2/***************************************************************************
3 * calib_thread.cpp - Katana calibration one-time thread
4 *
5 * Created: Tue Jun 09 18:37:02 2009
6 * Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
7 * 2012-2014 Bahram Maleki-Fard
8 *
9 ****************************************************************************/
10
11/* This program is free software; you can redistribute it and/or modify
12 * it under the terms of the GNU General Public License as published by
13 * the Free Software Foundation; either version 2 of the License, or
14 * (at your option) any later version.
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL file in the doc directory.
22 */
23
24#include "calib_thread.h"
25
26#include "controller.h"
27
28#include <interfaces/KatanaInterface.h>
29
30/** @class KatanaCalibrationThread "calib_thread.h"
31 * Katana calibration thread.
32 * This thread calibrates the arm when started and is finished when the calibration
33 * is done.
34 * @author Tim Niemueller
35 */
36
37/** Constructor.
38 * @param katana katana controller base class
39 * @param logger logger
40 */
42 fawkes::Logger * logger)
43: KatanaMotionThread("KatanaCalibrationThread", katana, logger)
44{
45}
46
47void
49{
50 try {
52 _logger->log_debug(name(), "Calibration successful");
53 } catch (fawkes::Exception &e) {
54 _logger->log_warn(name(), "Calibration failed (ignoring error): %s", e.what());
56 }
57 _finished = true;
58}
KatanaCalibrationThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
Constructor.
virtual void once()
Execute an action exactly once.
Katana motion thread base class.
Definition: motion_thread.h:36
fawkes::Logger * _logger
Logger.
Definition: motion_thread.h:52
fawkes::RefPtr< fawkes::KatanaController > _katana
Katana object for interaction with the arm.
Definition: motion_thread.h:48
bool _finished
Set to true when motion is finished, to false on reset.
Definition: motion_thread.h:50
unsigned int _error_code
Set to the desired error code on error.
Definition: motion_thread.h:54
Base class for exceptions in Fawkes.
Definition: exception.h:36
virtual const char * what() const noexcept
Get primary string.
Definition: exception.cpp:639
virtual void calibrate()=0
Calibrate the arm.
static const uint32_t ERROR_CMD_START_FAILED
ERROR_CMD_START_FAILED constant.
Interface for logging.
Definition: logger.h:42
virtual void log_debug(const char *component, const char *format,...)=0
Log debug message.
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
const char * name() const
Get name of thread.
Definition: thread.h:100