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

Interface GripperListProvider

public interface GripperListProvider

This interface must be implemented by the gripper URCap to register the multi-gripper capability. The implementation is responsible for providing PolyScope the list of individual grippers/zones available in the multi-gripper device.

Pass the implementation of this interface to the GripperCapabilities.registerMultiGripperCapability(GripperListProvider) method when registering the multi-gripper capability.

All supported grippers must be created and added to the list upfront, but they can initially be disabled. The method getGripperList(GripperListBuilder, Locale) is only called once when the capability is registered, so it is not possible to add more grippers at later time.

Method Summary

Modifier and Type	Method and Description
GripperList	getGripperList(GripperListBuilder gripperListBuilder, Locale locale) When the multi-gripper capability is registered (using the method GripperCapabilities.registerMultiGripperCapability(GripperListProvider)), this method is called once (by PolyScope) to retrieve the complete list of individual grippers/zones supported by this multi-gripper.

Method Detail

getGripperList

GripperList getGripperList(GripperListBuilder gripperListBuilder,
                           Locale locale)

When the multi-gripper capability is registered (using the method GripperCapabilities.registerMultiGripperCapability(GripperListProvider)), this method is called once (by PolyScope) to retrieve the complete list of individual grippers/zones supported by this multi-gripper.

Note This method is only called once, so it is not possible to add more grippers at a later time. Grippers can, however, be created in an initial disabled state if needed. This can be useful, if the gripper URCap is meant to support both a use case with only a single gripper as well as supporting the option of mounting several separate, identical grippers on the robot at the same time (e.g. using on a special mounting bracket). In this case, the secondary gripper(s) should still be added to the list, but can initially be disabled, and then enabled (with MultiGripperCapability.setEnabled(SelectableGripper, boolean)) when the end user is using a multi-gripper setup.

Parameters:

gripperListBuilder - A builder for creating individual grippers/zones and finally building the complete list (to be returned by this method)

locale - The current locale of PolyScope. Can be used for supporting gripper/zone names in several languages.

Returns:

The list with all the individual grippers/zones, not null

Throws:

LessThanTwoGrippers - if null is returned by this method (instead of a list)