com.ur.urcap.api.domain.program.nodes

Interface ProgramNodeFactory

@ProviderType
public interface ProgramNodeFactory

This interfaces supplies methods to create different types of program nodes.

Both built-in program nodes (provided by Universal Robots) and URCap program nodes can be created. Most methods will create a node with the same default configuration as if the end user added the node manually.

Note: The default configuration may change between PolyScope versions.

Since:

1.1.0

Method Summary

Modifier and Type	Method and Description
AssignmentNode	createAssignmentNode()
CircleMoveNode	createCircleMoveNode()
CommentNode	createCommentNode()
DirectionNode	createDirectionNode()
ElseIfNode	createElseIfNode()
ElseNode	createElseNode()
FolderNode	createFolderNode()
ForceNode	createForceNode()
HaltNode	createHaltNode()
HomeNode	createHomeNode() Creates a default Home Node.
IfNode	createIfNode()
LoopNode	createLoopNode()
MoveNode	createMoveNode() Creates a default Move node with one default Waypoint node under it.
MoveNode	createMoveNodeNoTemplate() Creates a default Move node without a Waypoint node under it.
PalletNode	createPalletNode()
PopupNode	createPopupNode()
ScrewdrivingNode	createScrewdrivingNode() Creates a Screwdriving node.
SeekNode	createSeekNode()
SetNode	createSetNode()
SetPayloadNode	createSetPayloadNode() Creates a default Set Payload Node where the default payload (defined in the installation) is selected.
UntilNode	createUntilNode() Creates a default Until Node where the type of the until stop condition is not specified.
URCapProgramNode	createURCapProgramNode(Class<? extends URCapProgramNodeService> urcapProgramNodeService) This method creates a URCap program node which is an instance of a ProgramNodeContribution.
WaitNode	createWaitNode()
WaypointNode	createWaypointNode() Creates a default Waypoint node with default waypoint name (corresponds to the name generated if the end user added a new node manually).
WaypointNode	createWaypointNode(String suggestedName) Creates a default Waypoint node with a suggested custom name.

Method Detail

createURCapProgramNode

URCapProgramNode createURCapProgramNode(Class<? extends URCapProgramNodeService> urcapProgramNodeService)

This method creates a URCap program node which is an instance of a ProgramNodeContribution.

Parameters:

urcapProgramNodeService - is the service creating the program node contribution.

Returns:

the URCapProgramNode which represents the ProgramNodeContribution created by URCapProgramNodeService. Returns null if URCap providing urcapProgramNodeService is not installed.

Throws:

IllegalArgumentException - if the argument urcapProgramNodeService is nullor urcapProgramNodeService does not implement URCapProgramNodeService.

createMoveNode

MoveNode createMoveNode()

Creates a default Move node with one default Waypoint node under it.

Returns:

A new Move Node.

createMoveNodeNoTemplate

MoveNode createMoveNodeNoTemplate()

Creates a default Move node without a Waypoint node under it. This can, for instance, be used to create a Move node with waypoints with custom names under it (created using createWaypointNode(String)).

NOTE: At least one Waypoint node must be under a Move node for it to be valid.

Returns:

A new Move Node.

Since:

1.4.0

createCircleMoveNode

CircleMoveNode createCircleMoveNode()

Since:

1.2.56

createWaypointNode

WaypointNode createWaypointNode()

Creates a default Waypoint node with default waypoint name (corresponds to the name generated if the end user added a new node manually).

Returns:

A new Waypoint Node.

createWaypointNode

WaypointNode createWaypointNode(String suggestedName)

Creates a default Waypoint node with a suggested custom name.

The final waypoint name can be different if the specified suggested name is already registered. The waypoint name is registered when the Waypoint node is inserted into the program tree.

Variable waypoints will use the name of the selected variable instead of the suggested name.

Parameters:

suggestedName - The suggested name for the waypoint. Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters.

Returns:

A new Waypoint Node.

Throws:

IllegalWaypointNameException - If the suggested name does not match required regex.

Since:

1.4.0

createUntilNode

UntilNode createUntilNode()

Creates a default Until Node where the type of the until stop condition is not specified.

Returns:

A new Until Node.

Since:

1.6.0

createDirectionNode

DirectionNode createDirectionNode()

Since:

1.6.0

createWaitNode

WaitNode createWaitNode()

createSetNode

SetNode createSetNode()

createPopupNode

PopupNode createPopupNode()

createHaltNode

HaltNode createHaltNode()

createCommentNode

CommentNode createCommentNode()

createFolderNode

FolderNode createFolderNode()

createSetPayloadNode

SetPayloadNode createSetPayloadNode()

Creates a default Set Payload Node where the default payload (defined in the installation) is selected.

Returns:

A new Set Payload node.

Since:

1.13.0

createLoopNode

LoopNode createLoopNode()

createAssignmentNode

AssignmentNode createAssignmentNode()

createIfNode

IfNode createIfNode()

createElseIfNode

ElseIfNode createElseIfNode()

createElseNode

ElseNode createElseNode()

createHomeNode

HomeNode createHomeNode()

Creates a default Home Node.

Since:

1.13.0

createPalletNode

PalletNode createPalletNode()

createSeekNode

SeekNode createSeekNode()

createForceNode

ForceNode createForceNode()

createScrewdrivingNode

@RequiredCapability(value=SCREWDRIVING)
ScrewdrivingNode createScrewdrivingNode()

Creates a Screwdriving node. This type of node is used for programming screwing operations with a screwdriver device.

Returns:

A new Screwdriving node.

Throws:

CapabilityNotSupportedException - If the Screwdriving capability is not available. Use CapabilityManager.hasCapability(Capability) with ProgramNodeCapability.SCREWDRIVING as argument to verify availability.

Since:

1.8.0