ProgramNodeFactory (api 1.10.0 API)

```
@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 that this default configuration may change between PolyScope versions.

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method and Description
`AssignmentNode`	`createAssignmentNode()`
`CircleMoveNode`	`createCircleMoveNode()`
`CommentNode`	`createCommentNode()`
`DirectionNode`	`createDirectionNode()`
`ElseIfNode`	`createElseIfNode()`
`ElseNode`	`createElseNode()`
`FolderNode`	`createFolderNode()`
`ForceNode`	`createForceNode()`
`HaltNode`	`createHaltNode()`
`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 (e.g.
`PalletNode`	`createPalletNode()`
`PopupNode`	`createPopupNode()`
`ScrewdrivingNode`	`createScrewdrivingNode()` Creates a Screwdriving node.
`SeekNode`	`createSeekNode()`
`SetNode`	`createSetNode()`
`UntilNode`	`createUntilNode()` Creates an Until Node with no until type 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 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 Waypoint node with a suggested 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:
    
    new Move Node.
  - createMoveNodeNoTemplate
```
MoveNode createMoveNodeNoTemplate()
```
    Creates a default Move node without a Waypoint node under it (e.g. to be used for inserting named waypoints).
    Note that at least one Waypoint node must be under it for a Move node to be valid.
    
    Returns:
    
    new Move Node.
  - createWaypointNode
```
WaypointNode createWaypointNode()
```
    Creates a Waypoint node with default waypoint name (corresponds to the name generated if the end user added a new node manually).
    
    Returns:
    
    new Waypoint Node.
  - createWaypointNode
```
WaypointNode createWaypointNode(String suggestedName)
```
    Creates a Waypoint node with a suggested name.
    
    The final name can be different if the suggested name is already registered. The waypoint name is registered when it is inserted into the program tree.
    Variable waypoints will use the name of the variable instead of the suggested name.
    
    Parameters:
    
    suggestedName - the suggested name of the waypoint. Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters.
    
    Returns:
    
    new Waypoint Node.
    
    Throws:
    
    IllegalWaypointNameException - In case of an illegal name.
  - createUntilNode
```
UntilNode createUntilNode()
```
    Creates an Until Node with no until type specified.
    
    Returns:
    
    a new Until Node.
  - createDirectionNode
```
DirectionNode createDirectionNode()
```
  - createWaitNode
```
WaitNode createWaitNode()
```
  - createSetNode
```
SetNode createSetNode()
```
  - createPopupNode
```
PopupNode createPopupNode()
```
  - createHaltNode
```
HaltNode createHaltNode()
```
  - createCommentNode
```
CommentNode createCommentNode()
```
  - createFolderNode
```
FolderNode createFolderNode()
```
  - createLoopNode
```
LoopNode createLoopNode()
```
  - createAssignmentNode
```
AssignmentNode createAssignmentNode()
```
  - createIfNode
```
IfNode createIfNode()
```
  - createElseIfNode
```
ElseIfNode createElseIfNode()
```
  - createElseNode
```
ElseNode createElseNode()
```
  - createCircleMoveNode
```
CircleMoveNode createCircleMoveNode()
```
  - 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 capability is not available. Use CapabilityManager.hasCapability(Capability) with ProgramNodeCapability.SCREWDRIVING to verify availability.

Interface ProgramNodeFactory

Method Summary

Method Detail

createURCapProgramNode

createMoveNode

createMoveNodeNoTemplate

createWaypointNode

createWaypointNode

createUntilNode

createDirectionNode

createWaitNode

createSetNode

createPopupNode

createHaltNode

createCommentNode

createFolderNode

createLoopNode

createAssignmentNode

createIfNode

createElseIfNode

createElseNode

createCircleMoveNode

createPalletNode

createSeekNode

createForceNode

createScrewdrivingNode