com.ur.urcap.api.domain.tcp

Interface TCPContributionModel

public interface TCPContributionModel

This interface provides functionality for adding, updating and removing TCPs in PolyScope.

Note: This interface must only be used in an installation contribution.

Since:

1.5.0

Method Summary

Modifier and Type	Method and Description
TCP	addTCP(String idKey, String suggestedName, Pose offset) Add a TCP to the current PolyScope installation.
TCP	getTCP(String idKey) Returns the TCP previously added by this URCap using the same idKey identifier.
void	removeTCP(String idKey) Remove a TCP added by this URCap from PolyScope.
void	updateTCP(String idKey, Pose newOffset) Update the offset of an existing TCP added by this URCap.

Method Detail

addTCP

TCP addTCP(String idKey,
           String suggestedName,
           Pose offset)

Add a TCP to the current PolyScope installation.

This makes the TCP selectable by the end user as well as available to to other URCap contributions (through the TCPModel interface). The TCP is not modifiable by the end user or other URCaps.

Parameters:

idKey - The key to identify this TCP by, not null nor an empty string. The key is for this URCap only, i.e. it only has to be unique for this URCap and not "globally" for other URCaps.

suggestedName - Suggested name for the TCP, not null nor an empty string. Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters. The final name can be retrieved from the returned TCP instance.

offset - The offset of the TCP with respect to the tool output flange, not null.

Returns:

The TCP created and registered in PolyScope.

Throws:

TCPAlreadyAddedException - If a TCP has previously been added using the same idKey identifier. Use getTCP(String) to check if the TCP has already been added to the current installation. Use updateTCP(String, Pose) to update the TCP if the offset of the TCP has changed.

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

IllegalArgumentException - If any of the values of the pose specified for the TCP offset are not inside the valid range of a TCP offset as defined by PolyScope.

getTCP

TCP getTCP(String idKey)

Returns the TCP previously added by this URCap using the same idKey identifier. Use this to verify if the TCP is present in the current installation.

Parameters:

idKey - The key to identify this TCP by, not null nor an empty string.

Returns:

The TCP previously added by this URCap. Returns null if no TCP exists in current installation (with the specified idKey identifier).

updateTCP

void updateTCP(String idKey,
               Pose newOffset)

Update the offset of an existing TCP added by this URCap.

Parameters:

idKey - The key to identify the TCP, not null nor an empty string. A TCP must have been added using the same identifier key prior to calling this method.

newOffset - The new offset to set for the TCP with respect to the tool output flange, not null.

Throws:

TCPNotFoundException - If no TCP exists with the provided idKey identifier in the current installation.

IllegalArgumentException - If any of the values of the pose specified for the TCP offset is not inside the valid range of a TCP offset as defined by PolyScope.

removeTCP

void removeTCP(String idKey)

Remove a TCP added by this URCap from PolyScope. Program nodes using the TCP will be become undefined because the TCP is no longer resolvable.

Parameters:

idKey - The identifier key used to add the TCP with, not null nor an empty string.

Throws:

TCPNotFoundException - If no TCP exists with the provided idKey identifier in the current installation.