// this sets the property of a puck to a value
osaPuck::Errno osaPuck::SetProperty( Barrett::ID propid,
Barrett::Value propval,
bool verify){
// empty CAN frame
osaCANBusFrame frame;
// pack the property ID and value in a "set" CAN frame
if( PackProperty( frame, Barrett::SET, propid, propval )!=osaPuck::ESUCCESS ){
CMN_LOG_RUN_WARNING << LogPrefix() << "Failed to pack property " << propid
<< std::endl;
return osaPuck::EFAILURE;
}
// send the CAN frame
if( canbus->Send( frame ) != osaCANBus::ESUCCESS ){
CMN_LOG_RUN_ERROR << LogPrefix() << "Failed to send the CAN frame."
<< std::endl;
return osaPuck::EFAILURE;
}
// do we double check that the value was set?
if( verify ){
// If we just changed the status of the puck, give it a bit of time to
// initialize itself
if( propid == Barrett::STATUS && propval == osaPuck::STATUS_READY )
osaSleep( 1.0 );
else
osaSleep( 0.01 );
// query the puck to make sure that the property is set
Barrett::Value recvpropval = rand();
if( GetProperty( propid, recvpropval ) != osaPuck::ESUCCESS ){
CMN_LOG_RUN_WARNING << LogPrefix()<<"Failed to get puck property"
<< std::endl;
return osaPuck::EFAILURE;
}
if( propval != recvpropval ){
CMN_LOG_RUN_WARNING << LogPrefix() << "Oop! Unexpected property value. "
<< "Expected " << propval << " got " << recvpropval
<< std::endl;
return osaPuck::EFAILURE;
}
}
return osaPuck::ESUCCESS;
}
// Get a property from the puck. this sends a query to the puck and wait for
// its reply
osaPuck::Errno osaPuck::GetProperty( Barrett::ID propid,
Barrett::Value& propvalue ){
// empty CAN frame
osaCANBusFrame sendframe;
// pack the query in a can frame
if( PackProperty( sendframe, Barrett::GET, propid ) != osaPuck::ESUCCESS ){
CMN_LOG_RUN_ERROR << LogPrefix() << "Failed to pack property" << std::endl;
return osaPuck::EFAILURE;
}
// send the CAN frame
if( canbus->Send( sendframe ) != osaCANBus::ESUCCESS ){
CMN_LOG_RUN_ERROR << LogPrefix() << "Failed to querry puck" << std::endl;
return osaPuck::EFAILURE;
}
// empty CAN frame
osaCANBusFrame recvframe;
// receive the response in a CAN frame
if( canbus->Recv( recvframe ) != osaCANBus::ESUCCESS ){
CMN_LOG_RUN_ERROR << LogPrefix() << "Failed to receive property"
<< std::endl;
return osaPuck::EFAILURE;
}
// unpack the can frame
Barrett::ID recvpropid;
if(UnpackCANFrame( recvframe, recvpropid, propvalue ) != osaPuck::ESUCCESS){
CMN_LOG_RUN_ERROR << LogPrefix() << "Failed to unpack CAN frame."
<< std::endl;
return osaPuck::EFAILURE;
}
// make sure that the property received is the one we asked for
if( propid != recvpropid ){
CMN_LOG_RUN_ERROR << LogPrefix() << "Oop! Unexpected property ID. "
<< "Expected " << propid << " got " << recvpropid
<< std::endl;
return osaPuck::EFAILURE;
}
return osaPuck::ESUCCESS;
}
void Log(char * message)
{
if (logFile != NULL)
{
LogPrefix();
fprintf(logFile, message);
fprintf(logFile, "\n");
fflush(logFile);
}
}
void LogFormatted(char * message, ...)
{
if (logFile != NULL)
{
va_list varargs;
va_start(varargs, message);
LogPrefix();
vfprintf(logFile, message, varargs);
fprintf(logFile, "\n");
fflush(logFile);
}
}
