From 1d4f12645e895c2974df21fb39a9c7b15a07dc61 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit.edu>
Date: Thu, 10 Mar 2022 15:46:02 +0100
Subject: [PATCH] Fix error message for absolute encoder error in imagine board
(untested)
---
source/devices/ethercat/common/imagine_board/Data.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/source/devices/ethercat/common/imagine_board/Data.cpp b/source/devices/ethercat/common/imagine_board/Data.cpp
index d00db052..3c34bd44 100644
--- a/source/devices/ethercat/common/imagine_board/Data.cpp
+++ b/source/devices/ethercat/common/imagine_board/Data.cpp
@@ -31,7 +31,7 @@
// armarx
#include <RobotAPI/libraries/core/math/MathUtils.h>
-
+#include <bitset>
namespace devices::ethercat::common::imagine_board
{
@@ -143,7 +143,7 @@ namespace devices::ethercat::common::imagine_board
// Error or Warning bit is set
std::uint8_t error_and_warnings = static_cast<std::uint8_t>((raw_abs_encoder_value_bytes[2] & 0b00000011) << 6u)
| static_cast<std::uint8_t>((raw_abs_encoder_value_bytes[3] & ~0b00000011) >> 2u);
- ARMARX_RT_LOGF_ERROR("%s: Absolute Encoder Error and Warning bits: %b", d.robotNode->getName().c_str(), error_and_warnings);
+ARMARX_ERROR << deactivateSpam(1) << d.robotNode->getName() << "Absolute Encoder der Error and Warning bits" << std::bitset<8>(error_and_warnings);
}
}
--
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