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

Interface GripperListBuilder

public interface GripperListBuilder

This interface is used for creating the list of individual grippers/zones available in a multi-gripper device, i.e. a gripper which has registered the multi-gripper capability (using the method GripperCapabilities.registerMultiGripperCapability(GripperListProvider)). It must be used to create and add all supported grippers/zones, and build the final list to be returned from GripperListProvider.getGripperList(GripperListBuilder, Locale).

At least two grippers/zones must be created, and all added grippers/zones must have a unique identifier and name. Note that the identifier of all the grippers must be constant over time and versions of the URCap as this is used for persistence of the gripper as well as, it can be used by other contributions (for example contributed by other 3rd party URCaps) to identify the gripper.

For each of the created grippers, it is possible individually to:

• Disable/enable the gripper using MultiGripperCapability.setEnabled(SelectableGripper, boolean)
• Add a TCP for the gripper with the TCPConfiguration instance returned by SystemConfiguration.getTCPConfiguration(SelectableGripper)

Since:

1.11.0

Method Summary

Modifier and Type	Method and Description
GripperList	buildList() Build the final list with all created grippers/zones.
SelectableGripper	createGripper(String id, String displayName, boolean initialEnabledState) Creates an individual gripper/zone and adds it to the list of gripper (which will be returned when the method buildList() is called).

Method Detail

createGripper

SelectableGripper createGripper(String id,
                                String displayName,
                                boolean initialEnabledState)

Creates an individual gripper/zone and adds it to the list of gripper (which will be returned when the method buildList() is called).

The returned SelectableGripper instance can be used to disable/enable the gripper using MultiGripperCapability.setEnabled(SelectableGripper, boolean). It can also be used to add a TCP for the gripper with the TCPConfiguration instance returned by SystemConfiguration.getTCPConfiguration(SelectableGripper). A reference to this gripper instance can be stored in the contribution class for easy access.

For a URCap implementing the GripperContribution interface, a SelectableGripper instance will be provided as input to script generation for grip and release actions (see the GripActionParameters and ReleaseActionParameters interfaces). The provided gripper instance should be used to identify which gripper to generate script code for. A SelectableGripper instance will also be provided as input for script code generation for feedback capabilities (see the GripDetectedParameters and ReleaseDetectedParameters interfaces).

Each created SelectableGripper instance will also be included in the list returned by MultiGripperSupport.getSelectableGrippers(). This list is used by other contributions (for example contributed by other 3rd party URCaps) to select a specific gripper when creating a configuration for a GripperNode which is using a multi-gripper device. Note that only enabled grippers will be included in this list.

Parameters:

id - The unique identifier for the gripper/zone, not null nor an empty string. Must be unique and constant over time and versions of the URCap as this is used for persistence of the gripper as well as, it can be used by other contributions (for example contributed by other 3rd party URCaps) to identify the gripper.

displayName - The name of the griper/zone to be shown in the PolyScope user interface, not null nor an empty string. For instance, for UCRaps implementing the GripperContribution interface, it will be displayed in the Gripper toolbar and program node. The name will also be used as a prefix in the program tree title of the Gripper node, except for when only one gripper is enabled, in which case the prefix will be the title of the gripper contribution (returned by GripperContribution.getTitle(Locale)).

initialEnabledState - The initial enablement state of the new gripper/zone. If true, the gripper will initially by enabled, otherwise the gripper will initially be disabled and not available in PolyScope. After creation of the gripper, it can be disabled/enabled using MultiGripperCapability.setEnabled(SelectableGripper, boolean).

Returns:

The new individual gripper/zone. The gripper can be disabled/enabled using MultiGripperCapability.setEnabled(SelectableGripper, boolean). It can also be used to add a TCP for the gripper with SystemConfiguration.getTCPConfiguration(SelectableGripper). A reference to this gripper instance can be stored in the contribution class for easy access.

Throws:

DuplicateGripperID - if a gripper/zone with the same identifier (as specified by id) has already been added

DuplicateGripperName - if a gripper/zone with the same name (as specified by displayName) has already been added

buildList

GripperList buildList()

Build the final list with all created grippers/zones. At least two grippers/zones must have been added with the createGripper(String, String, boolean) method before calling this method.

Returns:

The unmodifiable list containing all the added grippers/zones

Throws:

LessThanTwoGrippers - if less than two grippers/zones have been added with createGripper(String, String, boolean)