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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  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #include "calib_thread.h"
24 #include "controller.h"
25 
26 /** @class KatanaCalibrationThread "calib_thread.h"
27  * Katana calibration thread.
28  * This thread calibrates the arm when started and is finished when the calibration
29  * is done.
30  * @author Tim Niemueller
31  */
32 
33 /** Constructor.
34  * @param katana katana controller base class
35  * @param logger logger
36  */
38  fawkes::Logger *logger)
39  : KatanaMotionThread("KatanaCalibrationThread", katana, logger)
40 {
41 }
42 
43 void
45 {
46  try {
47  _katana->calibrate();
48  _logger->log_debug(name(), "Calibration successful");
49  } catch (fawkes::Exception &e) {
50  _logger->log_warn(name(), "Calibration failed (ignoring error): %s", e.what());
52  }
53  _finished = true;
54 }