From 7858d6ef12e7419d309d02fb1c48583e4e04f49a Mon Sep 17 00:00:00 2001
From: Niko <nikolaus.feith@unileoben.ac.at>
Date: Thu, 11 Apr 2024 18:42:12 +0200
Subject: [PATCH] debugging

---
 .../robotiq_2f_interface/MockRobotiq2fSocketAdapter.hpp   | 2 ++
 .../robotiq_2f_interface/Robotiq2fSocketAdapter.hpp       | 4 +++-
 .../include/robotiq_2f_interface/SocketAdapterBase.hpp    | 2 +-
 .../robotiq_2f_interface/src/Robotiq2fSocketAdapter.cpp   | 8 ++++----
 4 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/MockRobotiq2fSocketAdapter.hpp b/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/MockRobotiq2fSocketAdapter.hpp
index 4669e9f..d2b7fe4 100644
--- a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/MockRobotiq2fSocketAdapter.hpp
+++ b/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/MockRobotiq2fSocketAdapter.hpp
@@ -8,6 +8,8 @@
 #include <atomic>
 #include <tuple>
 
+#include "robotiq_2f_interface/SocketAdapterBase.hpp"
+
 namespace robotiq{
 class MockRobotiq2fSocketAdapter : public SocketAdapterBase {
 public:
diff --git a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/Robotiq2fSocketAdapter.hpp b/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/Robotiq2fSocketAdapter.hpp
index 5bd482a..394da7b 100644
--- a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/Robotiq2fSocketAdapter.hpp
+++ b/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/Robotiq2fSocketAdapter.hpp
@@ -25,6 +25,8 @@
 #include <cerrno> // For errno
 #include <iostream>
 
+#include "robotiq_2f_interface/SocketAdapterBase.hpp"
+
 namespace robotiq{
 // Enum for Gripper Status
 enum class GripperStatus {
@@ -173,7 +175,7 @@ public:
     * @throws std::runtime_error if the adapter is not connected to the gripper, if the gripper is not in an
     *         active state, or if the calibration sequence fails.
     */
-    void auto_calibrate(bool log=true) override;
+    void auto_calibrate(bool log=true);
 
     /**
     * Deactivates the gripper.
diff --git a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/SocketAdapterBase.hpp b/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/SocketAdapterBase.hpp
index 43ea205..b455d2f 100644
--- a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/SocketAdapterBase.hpp
+++ b/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/SocketAdapterBase.hpp
@@ -1,4 +1,4 @@
-// IGripperAdapter.hpp
+// SocketAdapterBase.hpp
 
 #ifndef SOCKET_ADAPTER_BASE_HPP
 #define SOCKET_ADAPTER_BASE_HPP
diff --git a/src/robotiq_2f/robotiq_2f_interface/src/Robotiq2fSocketAdapter.cpp b/src/robotiq_2f/robotiq_2f_interface/src/Robotiq2fSocketAdapter.cpp
index d1144e8..bac9d5e 100644
--- a/src/robotiq_2f/robotiq_2f_interface/src/Robotiq2fSocketAdapter.cpp
+++ b/src/robotiq_2f/robotiq_2f_interface/src/Robotiq2fSocketAdapter.cpp
@@ -37,7 +37,7 @@ bool Robotiq2fSocketAdapter::connect(const std::string& hostname, int port) {
         return false;
     }
 
-    if (::connect(sockfd_, (struct sockaddr*)&serv_addr, sizeof(serv_addr)) < 0) {
+    if (::connect(*sockfd_, (struct sockaddr*)&serv_addr, sizeof(serv_addr)) < 0) {
         std::cerr << "Connection to " << hostname << ":" << port << " failed: " << strerror(errno) << "\n";
         close(*sockfd_);
         *sockfd_ = -1;
@@ -344,20 +344,20 @@ std::tuple<int, ObjectStatus> Robotiq2fSocketAdapter::move_and_wait_for_pos(int
 
 void Robotiq2fSocketAdapter::auto_calibrate(bool log=true) {
     // Open in case we are holding an object
-    std::tuple<int, ObjectStatus> result = move_and_wait_for_pos(open_position, 64, 1);
+    std::tuple<int, ObjectStatus> result = move_and_wait_for_pos(open_position_, 64, 1);
     if (std::get<1>(result) != ObjectStatus::AT_DEST) {
         throw std::runtime_error("Calibration failed opening to start.");
     }
 
     // Close as far as possible
-    result = move_and_wait_for_pos(closed_position, 64, 1);
+    result = move_and_wait_for_pos(closed_position_, 64, 1);
     if (std::get<1>(result) != ObjectStatus::AT_DEST) {
         throw std::runtime_error("Calibration failed because of an object.");
     }
     max_position_ = std::get<0>(result); // Update max position
 
     // Open as far as possible
-    result = move_and_wait_for_pos(open_position, 64, 1);
+    result = move_and_wait_for_pos(open_position_, 64, 1);
     if (std::get<1>(result) != ObjectStatus::AT_DEST) {
         throw std::runtime_error("Calibration failed because of an object.");
     }