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

Interface ScrewdriverCapabilities

public interface ScrewdriverCapabilities

Register the capabilities of the screwdriver using this interface.

A capability is something the screwdriver is capable of doing. PolyScope will execute the script code associated with the capability at appropriate times in the given context.

Since:

1.9.0

Method Summary

Modifier and Type	Method and Description
void	registerFeedScrewCapability(ScriptCodeGenerator<FeedScrewParameters> scriptCodeGenerator) Register a capability for a screwdriver that supports automatic screw feeding.
void	registerOperationTypeCapability() Register an operation type capability for a screwdriver that supports/requires the parameter for the screwdriving operation type (i.e.
void	registerPrepareToStartScrewdriverCapability(ScriptCodeGenerator<PrepareToStartScrewdriverParameters> scriptCodeGenerator) Register a capability/requirement for a screwdriver that needs to generate script code for preparing the screwdriver for a screwdriving operation (before starting the screw driver).
void	registerProgramSelectionCapability(ScrewdriverProgramListProvider programListProvider, ScriptCodeGenerator<ProgramSelectionParameters> scriptCodeGenerator) Register a program selection capability for a screwdriver that supports selecting between a set of screwdriver programs, typically defined on an external control box for the screwdriver.

Method Detail

registerProgramSelectionCapability

void registerProgramSelectionCapability(ScrewdriverProgramListProvider programListProvider,
                                        ScriptCodeGenerator<ProgramSelectionParameters> scriptCodeGenerator)

Register a program selection capability for a screwdriver that supports selecting between a set of screwdriver programs, typically defined on an external control box for the screwdriver.

The provided implementation of the ScriptCodeGenerator interface must generate the script code for selecting the specified screwdriver program. The return value of the script code must be a boolean, i.e. 'True' or 'False'. 'True' must be returned if selecting the program succeeded and 'False' must be returned if the program selection failed.

The generated script code is executed before the script code for starting the screwdriver (could be from a different node), i.e the script code generated by ScrewdriverContribution.generateStartScrewdriverScript(ScriptWriter, ScrewdriverParameters).

Parameters:

programListProvider - provider of the list of screwdriver programs, not null

scriptCodeGenerator - script code generator responsible for generating the script code for selecting the specified screwdriver program. When the script code needs to be generated, the ScriptCodeGenerator.generateScript(ScriptWriter, Object) method will be called (by PolyScope). Return value for the generated script code must be a boolean, i.e. 'True' or 'False'.

Throws:

CapabilityAlreadyRegistered - if this capability has already been registered

CalledOutsideScrewdriverConfigurationPhase - if this method is called at the wrong time, i.e. outside the scope of the ScrewdriverContribution.configureScrewdriver(ScrewdriverConfiguration, ScrewdriverAPIProvider) method.

registerOperationTypeCapability

void registerOperationTypeCapability()

Register an operation type capability for a screwdriver that supports/requires the parameter for the screwdriving operation type (i.e. if the operation is Tighten or Loosen).

Throws:

CapabilityAlreadyRegistered - if this capability has already been registered

CalledOutsideScrewdriverConfigurationPhase - if this method is called at the wrong time, i.e. outside the scope of the ScrewdriverContribution.configureScrewdriver(ScrewdriverConfiguration, ScrewdriverAPIProvider) method.

registerPrepareToStartScrewdriverCapability

void registerPrepareToStartScrewdriverCapability(ScriptCodeGenerator<PrepareToStartScrewdriverParameters> scriptCodeGenerator)

Register a capability/requirement for a screwdriver that needs to generate script code for preparing the screwdriver for a screwdriving operation (before starting the screw driver).

The provided implementation of the ScriptCodeGenerator interface must generate the script code for preparing the screwdriver. The return value of the script code must be a boolean, i.e. 'True' or 'False'. 'True' must be returned if the preparation of the screwdriver was successful and 'False' must be returned if the preparation failed.

The generated script code is executed before the script code for starting the screwdriver (could be from a different node), i.e the script code generated by ScrewdriverContribution.generateStartScrewdriverScript(ScriptWriter, ScrewdriverParameters).

Parameters:

scriptCodeGenerator - script code generator responsible for generating the script code for preparing the screwdriver. When the script code needs to be generated, the ScriptCodeGenerator.generateScript(ScriptWriter, Object) method will be called (by PolyScope). Return value for the generated script code must be a boolean, i.e. 'True' or 'False'.

Throws:

CapabilityAlreadyRegistered - if this capability has already been registered

CalledOutsideScrewdriverConfigurationPhase - if this method is called at the wrong time, i.e. outside the scope of the ScrewdriverContribution.configureScrewdriver(ScrewdriverConfiguration, ScrewdriverAPIProvider) method.

registerFeedScrewCapability

void registerFeedScrewCapability(ScriptCodeGenerator<FeedScrewParameters> scriptCodeGenerator)

Register a capability for a screwdriver that supports automatic screw feeding.

The provided implementation of the ScriptCodeGenerator interface must generate the script code for feeding a screw to the screwdriver. The return value of the script code must be a boolean, i.e. 'True' or 'False'. 'True' must be returned if the screw feed operation was successful and 'False' must be returned if the operation failed.

The generated script code is executed before the script code for preparing the screwdriver, i.e the script code generated by registerPrepareToStartScrewdriverCapability(ScriptCodeGenerator).

Parameters:

scriptCodeGenerator - script code generator responsible for generating the script code for feeding a screw to the screwdriver. When the script code needs to be generated, the ScriptCodeGenerator.generateScript(ScriptWriter, Object) method will be called (by PolyScope). Return value for the generated script code must be a boolean, i.e. 'True' or 'False'

Throws:

CapabilityAlreadyRegistered - if this capability has already been registered

CalledOutsideScrewdriverConfigurationPhase - if this method is called at the wrong time, i.e. outside the scope of the ScrewdriverContribution.configureScrewdriver(ScrewdriverConfiguration, ScrewdriverAPIProvider) method.