com.ur.urcap.api.contribution.driver.gripper.capability

Interface GripperFeedbackCapabilities

public interface GripperFeedbackCapabilities

Register the feedback capabilities of the gripper using this interface. A feedback capability is a type of status the gripper is capable of informing PolyScope about.

PolyScope will execute the script code associated with a feedback capability at appropriate times in the given context. Script code generated must be idempotent (meaning it has no side effects when called multiple times if all other state has not changed in between calls). The script code generated must also execute fast, since the feedback could be checked often.

Since:

1.9.0

Method Summary

Modifier and Type	Method and Description
void	registerGripDetectedCapability(ScriptCodeGenerator<GripDetectedParameters> scriptCodeGenerator) Register this feedback capability if the gripper can inform PolyScope whether it has detected that an object has been gripped, after a grip action has been triggered.
void	registerReleaseDetectedCapability(ScriptCodeGenerator<ReleaseDetectedParameters> scriptCodeGenerator) Register this feedback capability if the gripper can inform PolyScope whether it has detected an object has been released, after a release action has been triggered.

Method Detail

registerGripDetectedCapability

void registerGripDetectedCapability(ScriptCodeGenerator<GripDetectedParameters> scriptCodeGenerator)

Register this feedback capability if the gripper can inform PolyScope whether it has detected that an object has been gripped, after a grip action has been triggered. This will enable the end user to configure the actions to take when the gripper has detected that an object has been gripped and/or when the grip action timed out.

The provided implementation of the ScriptCodeGenerator interface must generate the script code for determining if a grip was detected. The return value of the script code must be a boolean, i.e. 'True' or 'False'.

Note: When this capability has been registered, the GripperContribution.generateGripActionScript(ScriptWriter, GripActionParameters) method should generate different grip action script code depending on whether the end user has enabled or disabled the grip detection option (in the Gripper program node). For more details, see Javadoc for GripActionParameters.isGripDetectionEnabled().

Parameters:

scriptCodeGenerator - script generator that generates the script code for determining if a grip was detected. When the script code needs to be generated, the method ScriptCodeGenerator.generateScript(ScriptWriter, Object) will be called (by PolyScope). The resulting script code will be embedded in a script function and must return a boolean, i.e. 'True' or 'False'.

Throws:

CapabilityAlreadyRegistered - if this capability has already been registered

CalledOutsideGripperConfigurationPhase - if this method is called at the wrong time, i.e. outside the scope of the GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider) method.

registerReleaseDetectedCapability

void registerReleaseDetectedCapability(ScriptCodeGenerator<ReleaseDetectedParameters> scriptCodeGenerator)

Register this feedback capability if the gripper can inform PolyScope whether it has detected an object has been released, after a release action has been triggered. This will enable the end user to configure the actions to take when the gripper has detected that an object has been released and/or when the release action timed out.

The provided implementation of the ScriptCodeGenerator interface must generate the script code for determining if a release was detected. The return value of the script code must be a boolean, i.e. 'True' or 'False'.

Note: When this capability has been registered, the GripperContribution.generateReleaseActionScript(ScriptWriter, ReleaseActionParameters) method should generate different release action script code depending on whether the end user has enabled or disabled the release detection option (in the Gripper program node). For more details, see Javadoc for GripActionParameters.isGripDetectionEnabled().

Parameters:

scriptCodeGenerator - script generator that generates the script code for determining if a release was detected. When the script code needs to be generated, the method ScriptCodeGenerator.generateScript(ScriptWriter, Object) will be called (by PolyScope). The resulting script code will be embedded in a script function and must return a boolean, i.e. 'True' or 'False'.

Throws:

CapabilityAlreadyRegistered - if this capability has already been registered

CalledOutsideGripperConfigurationPhase - if this method is called at the wrong time, i.e. outside the scope of the GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider) method.