@ProviderType public interface GripperRegistrationManager extends DeviceRegistrationManager
This interface is used for registering a program node contribution/service (i.e. implementations of the interfaces
ProgramNodeContribution
and SwingProgramNodeService
/ ProgramNodeService
) as conformant with
a PolyScope gripper device. This will allow a "regular" URCap to act as well as be treated and seen the same way
as a URCap implementing the GripperContribution
interface.
Note: This interface is not relevant for URCaps implementing the GripperContribution
interface, since
such URCaps are by default a PolyScope gripper device.
Registering as a PolyScope gripper device will enable other program node contributions (could be contributed by a different 3rd party URCap) to use and configure the conformant gripper program node contribution for e.g. creating a ' template node.
The device registration will give the conformant gripper program node contribution the following abilities:
GripperManager.getGrippers()
GripperNodeFactory.createGripperNode(GripperDevice)
GripperNode.setConfig(GripperNodeConfig)
In order for the program node to be insertable and configurable, the program node contribution must implement the
GripperConfigurable
interface.
Modifier and Type | Method and Description |
---|---|
<T extends ProgramNodeContribution & GripperConfigurable> |
registerAsGripper(Class<T> gripperProgramNodeContributionClass)
Register this program node contribution as a conformant PolyScope gripper device.
|
<T extends ProgramNodeContribution & GripperConfigurable> GripperRegistrationConfiguration registerAsGripper(Class<T> gripperProgramNodeContributionClass)
Register this program node contribution as a conformant PolyScope gripper device.
Note that the program node contribution must implement theGripperConfigurable
interface.T
- The class that should be registered as conformant with a PolyScope gripper device. Besides implementing
the ProgramNodeContribution
interface, the class must also implement the GripperConfigurable
interface.gripperProgramNodeContributionClass
- The class that represents the program node contribution, i.e. the type
returned when the SwingProgramNodeService.createNode(ProgramAPIProvider, SwingProgramNodeView, DataModel, CreationContext)
or ProgramNodeService.createNode(URCapAPI, DataModel)
method is called on the service. Not null
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