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

Interface SystemConfiguration

@ProviderType
public interface SystemConfiguration

This interface provides access to functionality for configuring the robot system, 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()
TCPConfiguration	getTCPConfiguration(SelectableGripper gripper) Get the TCPConfiguration interface for managing the (optional) TCP associated with the specified SelectableGripper gripper/zone.

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 within the scope of the GripperContribution.configureInstallation(CustomUserInputConfiguration, SystemConfiguration, TCPConfiguration, GripperAPIProvider) method.

Returns:

a resource model interface for requesting exclusive control of system resources

getTCPConfiguration

TCPConfiguration getTCPConfiguration(SelectableGripper gripper)

Get the TCPConfiguration interface for managing the (optional) TCP associated with the specified SelectableGripper gripper/zone. The returned interface can be used to add an TCP for the specified individual gripper/zone to PolyScope as well as update the TCP's offset and remove the TCP again.

Note: This method is only relevant if the multi-gripper capability has been registered (see GripperCapabilities.registerMultiGripperCapability(GripperListProvider)). For grippers not supporting the multi-gripper capability, a single TCP can be added using the tcpConfiguration parameter passed when the GripperContribution.configureInstallation(CustomUserInputConfiguration, SystemConfiguration, TCPConfiguration, GripperAPIProvider) method is called.
Note: The TCP associated with the individual gripper will be not be available (nor visible) in PolyScope to the end user when the gripper has been disabled (using MultiGripperCapability.setEnabled(SelectableGripper, boolean)).

Parameters:

gripper - The individual gripper/zone for which to get the TCP configuration interface for, not null

Returns:

An interface for adding, updating and removing a TCP for the specified gripper

Throws:

IllegalArgumentException - if this contribution is not the owner of the individual gripper/zone, i.e. the specified gripper was not added by this URCap.