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 #include "controller.h"
26 
27 #include <interfaces/KatanaInterface.h>
28 
29 /** @class KatanaCalibrationThread "calib_thread.h"
30  * Katana calibration thread.
31  * This thread calibrates the arm when started and is finished when the calibration
32  * is done.
33  * @author Tim Niemueller
34  */
35 
36 /** Constructor.
37  * @param katana katana controller base class
38  * @param logger logger
39  */
41  fawkes::Logger *logger)
42  : KatanaMotionThread("KatanaCalibrationThread", katana, logger)
43 {
44 }
45 
46 void
48 {
49  try {
50  _katana->calibrate();
51  _logger->log_debug(name(), "Calibration successful");
52  } catch (fawkes::Exception &e) {
53  _logger->log_warn(name(), "Calibration failed (ignoring error): %s", e.what());
55  }
56  _finished = true;
57 }
fawkes::RefPtr< fawkes::KatanaController > _katana
Katana object for interaction with the arm.
Definition: motion_thread.h:48
KatanaCalibrationThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
Constructor.
fawkes::Logger * _logger
Logger.
Definition: motion_thread.h:52
Katana motion thread base class.
Definition: motion_thread.h:35
virtual const char * what() const
Get primary string.
Definition: exception.cpp:661
Base class for exceptions in Fawkes.
Definition: exception.h:36
const char * name() const
Get name of thread.
Definition: thread.h:95
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
virtual void calibrate()=0
Calibrate the arm.
bool _finished
Set to true when motion is finished, to false on reset.
Definition: motion_thread.h:50
virtual void log_debug(const char *component, const char *format,...)=0
Log debug message.
unsigned int _error_code
Set to the desired error code on error.
Definition: motion_thread.h:54
virtual void once()
Execute an action exactly once.
static const uint32_t ERROR_CMD_START_FAILED
ERROR_CMD_START_FAILED constant.
Interface for logging.
Definition: logger.h:34