STDMETHODIMP ProgressWrap::COMGETTER(Completed)(BOOL *aCompleted)
{
LogRelFlow(("{%p} %s: enter aCompleted=%p\n", this, "Progress::getCompleted", aCompleted));
VirtualBoxBase::clearError();
HRESULT hrc;
try
{
CheckComArgOutPointerValidThrow(aCompleted);
AutoCaller autoCaller(this);
if (FAILED(autoCaller.rc()))
throw autoCaller.rc();
hrc = getCompleted(aCompleted);
}
catch (HRESULT hrc2)
{
hrc = hrc2;
}
catch (...)
{
hrc = VirtualBoxBase::handleUnexpectedExceptions(this, RT_SRC_POS);
}
LogRelFlow(("{%p} %s: leave *aCompleted=%RTbool hrc=%Rhrc\n", this, "Progress::getCompleted", *aCompleted, hrc));
return hrc;
}
ArrayElement* ToDo::clone() {
ToDo* ret = new ToDo();
if (getClass()) ret->setClass(*classEvent);
if (getCompleted()) ret->setCompleted(*completed);
if (getCreated()) ret->setCreated(*created);
if (getDescription()) ret->setDescription(*description);
if (getDtStamp()) ret->setDtStamp(*dtStamp);
if (getDtStart()) ret->setDtStart(*dtStart);
if (getGeo()) ret->setGeo(*geo);
if (getLastMod()) ret->setLastMod(*lastMod);
if (getLocation()) ret->setLocation(*location);
if (getOrganizer()) ret->setOrganizer(*organizer);
if (getPercent()) ret->setPercent(*percent);
if (getPriority()) ret->setPriority(*priority);
if (getRecurID()) ret->setRecurID(*recurID);
if (getSequence()) ret->setSequence(*seq);
if (getStatus()) ret->setStatus(*status);
if (getSummary()) ret->setSummary(*summary);
if (getUid()) ret->setUid(*uid);
if (getUrl()) ret->setUrl(*url);
if (getDue()) ret->setDue(*due);
if (getDuration()) ret->setDuration(*duration);
if (getAttach()) ret->setAttach(*attach);
if (getAttendee()) ret->setAttendee(*attendee);
if (getCategories()) ret->setCategories(*categories);
if (getComment()) ret->setComment(*comment);
if (getContact()) ret->setContact(*contact);
if (getExDate()) ret->setExDate(*exDate);
if (getExRule()) ret->setExRule(*exRule);
if (getRStatus()) ret->setRStatus(*rStatus);
if (getRelated()) ret->setRelated(*related);
if (getResources()) ret->setResources(*resources);
if (getRDate()) ret->setRDate(*rDate);
if (getRRule()) ret->setRRule(*rRule);
if (getXProp()) ret->setXProp(*xProp);
return ret;
}
void SetGripperRotationPosition::executionWorker()
{
qDebug("Task#%lu %s started", getTaskId(), taskName.c_str());
PlatformManipulatorAndIRBumper *platformManipulatorAndIRBumper = PlatformManipulatorAndIRBumper::getInstance();
/************************************ emulation *********************start***************************/
platformManipulatorAndIRBumper->setGripperADCRotation(355); //0 degrees = 355;
/************************************ emulation *********************finish**************************/
float sigma = 0.5; //precision in degrees
//true CW
bool direction = (angle > platformManipulatorAndIRBumper->getGripperRotation()) ? true : false;
float cutoffAngle = angle * 0.99; //<<<<<<<<<<<<<<< dynamic parameter
if (abs(abs(angle) - abs(platformManipulatorAndIRBumper->getGripperRotation())) < sigma)
{
this_thread::sleep_for(std::chrono::milliseconds(100));
setCompleted();
return;
}
while (!stopped)
{
if (!executing)
{
if (direction) //rotate gripper CW
{
platformManipulatorAndIRBumper->manGripperRotateCW();
}
else
{
platformManipulatorAndIRBumper->manGripperRotateCCW();
}
executing = true;
}
else
{
if (qDebugOn)
{
qDebug("Task#%lu: GripperRotation (deg) = %f, target (deg) = %f, cutoffAngle = %f, dSigma = %f ? %f, direction: %s", getTaskId(), platformManipulatorAndIRBumper->getGripperRotation(), angle, cutoffAngle, abs(abs(angle) - abs(platformManipulatorAndIRBumper->getGripperRotation())), sigma, (direction ? "CW" : "CCW"));
}
if ((direction && platformManipulatorAndIRBumper->getGripperRotation() >= cutoffAngle) || ((!direction && platformManipulatorAndIRBumper->getGripperRotation() <= cutoffAngle)) || (abs(angle - platformManipulatorAndIRBumper->getGripperRotation()) < sigma))
{
platformManipulatorAndIRBumper->manGripperRotateStop();
setCompleted();
break;
}
/************************************ emulation *********************start***************************/
int positionADC = platformManipulatorAndIRBumper->getGripperADCRotation();
if (direction)
{
positionADC += 1;
}
else
{
positionADC -= 1;
}
platformManipulatorAndIRBumper->setGripperADCRotation(positionADC);
/************************************ emulation *********************finish**************************/
}
this_thread::sleep_for(std::chrono::milliseconds(50));
}
if (!getCompleted())
{
string msg = Valter::format_string("Task#%lu has been stopped via stopExecution() signal", getTaskId());
qDebug("%s", msg.c_str());
TaskManager::getInstance()->sendMessageToCentralHostTaskManager(Valter::format_string("%lu~notes~%s", getTaskId(), msg.c_str()));
setCompleted();
}
}
void SetGripperGrasperPosition::executionWorker()
{
qDebug("Task#%lu %s started", getTaskId(), taskName.c_str());
PlatformManipulatorAndIRBumper *platformManipulatorAndIRBumper = PlatformManipulatorAndIRBumper::getInstance();
/************************************ emulation *********************start***************************/
platformManipulatorAndIRBumper->setGripperADCPosition(300); //0 (opened) = 300;
/************************************ emulation *********************finish**************************/
float sigma = 0.25; //precision in mm
//opening - true
bool direction = (position > platformManipulatorAndIRBumper->getGripperPosition()) ? true : false;
float cutoffPosition = (direction) ? (position * 1) : (position / 1); //<<<<<<<<<<<<<<< dynamic parameter
if (abs(position - platformManipulatorAndIRBumper->getGripperPosition()) < sigma)
{
this_thread::sleep_for(std::chrono::milliseconds(100));
setCompleted();
return;
}
while (!stopped)
{
if (!executing)
{
if (direction) //open grasper
{
platformManipulatorAndIRBumper->manGripperOpen();
}
else
{
platformManipulatorAndIRBumper->manGripperClose();
}
executing = true;
}
else
{
if (qDebugOn)
{
qDebug("Task#%lu: GripperGrasperPosition (mm) = %f, target (mm) = %f, cutoffPosition = %f, dSigma = %f ? %f, direction: %s", getTaskId(), platformManipulatorAndIRBumper->getGripperPosition(), position, cutoffPosition, abs(position - platformManipulatorAndIRBumper->getGripperPosition()), sigma, (direction ? "openning" : "closing"));
}
if ((direction && platformManipulatorAndIRBumper->getGripperPosition() >= cutoffPosition) || ((!direction && platformManipulatorAndIRBumper->getGripperPosition() <= cutoffPosition)) || (abs(position - platformManipulatorAndIRBumper->getGripperPosition()) < sigma))
{
platformManipulatorAndIRBumper->manGripperStop();
setCompleted();
break;
}
/************************************ emulation *********************start***************************/
int positionADC = platformManipulatorAndIRBumper->getGripperADCPosition();
if (direction)
{
positionADC -= 1;
}
else
{
positionADC += 1;
}
platformManipulatorAndIRBumper->setGripperADCPosition(positionADC);
/************************************ emulation *********************finish**************************/
}
this_thread::sleep_for(std::chrono::milliseconds(50));
}
if (!getCompleted())
{
string msg = Valter::format_string("Task#%lu has been stopped via stopExecution() signal", getTaskId());
qDebug("%s", msg.c_str());
TaskManager::getInstance()->sendMessageToCentralHostTaskManager(Valter::format_string("%lu~notes~%s", getTaskId(), msg.c_str()));
setCompleted();
}
}
