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.

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.
void	removeTCP(String idKey) Remove a TCP added by this URCap from PolyScope.
void	updateTCP(String idKey, Pose newOffset) Update the offset of a TCP already 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 it selectable by the end user. The TCP is not modifiable by the end user.

Parameters:

idKey - The key to identify this TCP by. 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. 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

Returns:

The TCP created and registered in PolyScope.

Throws:

TCPAlreadyAddedException - If called twice using the same idKey. 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 the pose specified for the offset is 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. Use this to verify if the TCP is present in the current installation.

Parameters:

idKey - The key to identify this TCP by.

Returns:

The TCP previously added by this URCap. Returns null if no TCP exists in current installation.

updateTCP

void updateTCP(String idKey,
               Pose newOffset)

Update the offset of a TCP already added by this URCap.

Parameters:

idKey - The key to identify the TCP. A TCP must have been added prior to this method call using the same key.

newOffset - The new offset to set for the TCP with respect to the tool output flange.

Throws:

TCPNotFoundException - If no TCP exists with the provided idKey.

IllegalArgumentException - If the pose specified for the 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 key used to add the TCP with.

Throws:

TCPNotFoundException - If no TCP exists with the provided idKey.