Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * motion_thread.h - Katana one-time thread interface for motions 00004 * 00005 * Created: Wed Jun 10 11:41:36 2009 00006 * Copyright 2006-2009 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #include "motion_thread.h" 00024 00025 #include <kniBase.h> 00026 00027 /** @class KatanaMotionThread "motion_thread.h" 00028 * Katana motion thread base class. 00029 * Base class for motion threads for the Katana. 00030 * 00031 * When implementing a motion thread ensure that you read the sensor data 00032 * during the communication with the arm. The main (act) thread will not do 00033 * this as not to interfere with motion thread communication. You can use 00034 * code like this: 00035 * @code 00036 * _katana->GetBase()->GetSCT()->arr[0].recvDAT(); // update sensor values 00037 * @endcode 00038 * @author Tim Niemueller. 00039 */ 00040 00041 /** Constructor. 00042 * @param thread_name name of the thread 00043 * @param katana katana linear motion base class 00044 * @param logger logger 00045 */ 00046 KatanaMotionThread::KatanaMotionThread(const char * thread_name, 00047 fawkes::RefPtr<CLMBase> katana, 00048 fawkes::Logger *logger) 00049 : Thread(thread_name, Thread::OPMODE_CONTINUOUS) 00050 { 00051 _katana = katana; 00052 _logger = logger; 00053 _finished = false; 00054 _error_code = 0; 00055 } 00056 00057 00058 /** Did the motion finish already? 00059 * @return true if the motion was finished, flase otherwise 00060 */ 00061 bool 00062 KatanaMotionThread::finished() const 00063 { 00064 return _finished; 00065 } 00066 00067 00068 /** Error code. 00069 * @return error code, one or more of the ERROR_* constants from the 00070 * KatanaInterface or'ed. 00071 */ 00072 unsigned int 00073 KatanaMotionThread::error_code() const 00074 { 00075 return _error_code; 00076 } 00077 00078 00079 /** Reset for next execution. 00080 * Resets _finished and _error_code. If you override this method call the base 00081 * class method in your method. It should be used to do anything that is required 00082 * to be able to run the thread again. 00083 */ 00084 void 00085 KatanaMotionThread::reset() 00086 { 00087 _finished = false; 00088 _error_code = 0; 00089 }