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

Interface SystemConfiguration

public interface SystemConfiguration

This interface provides access to functionality for configuring the robot system (separate from the gripping device), e.g. configuring the Tool I/O interface settings.

Method Summary

Modifier and Type	Method and Description
CapabilityManager	getCapabilityManager() Access an interface that can be used for verifying that specific capabilities are available on the underlying robot/system.
ControllableResourceModel	getControllableResourceModel() Access an interface for requesting exclusive control of system resources, e.g.
ResourceModel	getResourceModel()

Method Detail

getCapabilityManager

CapabilityManager getCapabilityManager()

Access an interface that can be used for verifying that specific capabilities are available on the underlying robot/system. Verification of availability is required for all methods/interfaces annotated with RequiredCapability.

Returns:

the capability manager interface which can be used to query information about the availability of system capabilities

getResourceModel

ResourceModel getResourceModel()

Returns:

a resource model interface with read-only access to system resources, e.g. the Tool I/O interface.

getControllableResourceModel

ControllableResourceModel getControllableResourceModel()

Access an interface for requesting exclusive control of system resources, e.g. the configuration of the Tool I/O interface.

NOTE: Requesting control of a system resource must happen in the scope of the GripperContribution.configureInstallation(CustomUserInputConfiguration, SystemConfiguration, TCPConfiguration, GripperAPIProvider) method.

Returns:

a resource model interface for requesting exclusive control of system resources