Fawkes API
Fawkes Development Version
|
24 #include "gripper_thread.h"
26 #include "controller.h"
27 #include "exception.h"
29 #include <interfaces/KatanaInterface.h>
47 unsigned int poll_interval_ms)
51 poll_interval_usec_ = poll_interval_ms * 1000;
76 "Starting gripper motion failed (ignoring): %s",
87 usleep(poll_interval_usec_);
92 if (++num_errors <= 10) {
93 _logger->
log_warn(
"KatanaMotorControlThread",
"Reading sensor/motor data failed, retrying");
97 "Receiving sensor/motor data failed too often, aborting");
virtual void gripper_close(bool blocking=false)=0
Close Gripper.
fawkes::Logger * _logger
Logger.
@ CLOSE_GRIPPER
Close gripper.
bool _finished
Set to true when motion is finished, to false on reset.
unsigned int _error_code
Set to the desired error code on error.
virtual void gripper_open(bool blocking=false)=0
Open Gripper.
virtual bool final()=0
Check if movement is final.
fawkes::RefPtr< fawkes::KatanaController > _katana
Katana object for interaction with the arm.
KatanaGripperThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
@ OPEN_GRIPPER
Open gripper.
virtual void log_warn(const char *component, const char *format,...)=0
virtual void once()
Execute an action exactly once.
void set_mode(gripper_mode_t mode)
Set mode.
gripper_mode_t
Gripper execution mode.
virtual const char * what() const
Get primary string.
static const uint32_t ERROR_COMMUNICATION
ERROR_COMMUNICATION constant.
static const uint32_t ERROR_CMD_START_FAILED
ERROR_CMD_START_FAILED constant.
virtual void read_motor_data()=0
Read motor data of currently active joints from device into controller libray.
virtual void log_debug(const char *component, const char *format,...)=0
virtual void read_sensor_data()=0
Read all sensor data from device into controller libray.
static const uint32_t ERROR_MOTOR_CRASHED
ERROR_MOTOR_CRASHED constant.