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calib_thread.cpp
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/***************************************************************************
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* calib_thread.cpp - Katana calibration one-time thread
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*
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* Created: Tue Jun 09 18:37:02 2009
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* Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#include "calib_thread.h"
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#include "controller.h"
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/** @class KatanaCalibrationThread "calib_thread.h"
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* Katana calibration thread.
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* This thread calibrates the arm when started and is finished when the calibration
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* is done.
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* @author Tim Niemueller
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*/
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/** Constructor.
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* @param katana katana controller base class
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* @param logger logger
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*/
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KatanaCalibrationThread::KatanaCalibrationThread
(
fawkes::RefPtr<fawkes::KatanaController>
katana,
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fawkes::Logger
*logger)
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:
KatanaMotionThread
(
"KatanaCalibrationThread"
, katana, logger)
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{
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}
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void
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KatanaCalibrationThread::once
()
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{
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try
{
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_katana
->
calibrate
();
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_logger
->
log_debug
(
name
(),
"Calibration successful"
);
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}
catch
(
fawkes::Exception
&e) {
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_logger
->
log_warn
(
name
(),
"Calibration failed (ignoring error): %s"
, e.
what
());
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_error_code
=
fawkes::KatanaInterface::ERROR_CMD_START_FAILED
;
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}
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_finished
=
true
;
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}
src
plugins
katana
calib_thread.cpp
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