00001 00002 /*************************************************************************** 00003 * calib_thread.cpp - Katana calibration one-time thread 00004 * 00005 * Created: Tue Jun 09 18:37:02 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 "calib_thread.h" 00024 00025 #include <kniBase.h> 00026 00027 /** @class KatanaCalibrationThread "calib_thread.h" 00028 * Katana calibration thread. 00029 * This thread calibrates the arm when started and is finished when the calibration 00030 * is done. 00031 * @author Tim Niemueller 00032 */ 00033 00034 /** Constructor. 00035 * @param katana katana linear motion base class 00036 * @param logger logger 00037 */ 00038 KatanaCalibrationThread::KatanaCalibrationThread(fawkes::RefPtr<CLMBase> katana, 00039 fawkes::Logger *logger) 00040 : KatanaMotionThread("KatanaCalibrationThread", katana, logger) 00041 { 00042 } 00043 00044 void 00045 KatanaCalibrationThread::once() 00046 { 00047 try { 00048 _katana->calibrate(); 00049 _logger->log_debug(name(), "Calibration successful"); 00050 } catch (/*KNI*/::Exception &e) { 00051 _logger->log_warn(name(), "Calibration failed (ignoring error): %s", e.what()); 00052 _error_code = fawkes::KatanaInterface::ERROR_CMD_START_FAILED; 00053 } 00054 _finished = true; 00055 }