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

Interface GripperConfigurable

@ConsumerType
public interface GripperConfigurable

If an implementation of ProgramNodeContribution also implements this interface, it will enable that contribution to be configured as a Gripper program node (GripperNode instance) from another program node contribution (could be contributed by a different 3rd party URCap). This will allow the program node to be used for e.g. creating template nodes. The program node contribution/service must be also be registered as conformant with a PolyScope gripper device using GripperRegistrationManager.registerAsGripper(Class).

Note: This interface is not relevant for URCaps implementing the GripperContribution interface, since such URCaps by default have insertable and configurable Gripper program nodes.

Method Summary

Modifier and Type	Method and Description
GripperNodeConfig	getConfig(GripperNodeConfigBuilders gripperNodeConfigBuilders) This method is called when another program node contribution queries this program node for its current gripper configuration.
void	setConfig(GripperNodeConfig config) This method is called when this program node is configured externally by another program node contribution.

Method Detail

setConfig

void setConfig(GripperNodeConfig config)

This method is called when this program node is configured externally by another program node contribution. The provided gripper configuration must be applied, so convert the configuration parameters into something meaningful for the given program node contribution (and gripper), i.e. map the PolyScope representation of a gripper node configuration to your own representation.

Parameters:

config - the gripper configuration containing parameters for the gripper action to be applied

getConfig

GripperNodeConfig getConfig(GripperNodeConfigBuilders gripperNodeConfigBuilders)

This method is called when another program node contribution queries this program node for its current gripper configuration. A configuration reflecting (matching) the current configuration of the gripper stored in this program node must be created and returned using one of the provided configuration builders (i.e. convert your own configuration of the gripper to the PolyScope representation of gripper node configuration).

Note: It is not allowed to return your own implementation of the GripperNodeConfig interface; doing so will throw an exception. Instead the builders provided by the GripperNodeConfigBuilders interface must be used.

Parameters:

gripperNodeConfigBuilders - an interface providing means of creating the gripper configuration to be returned

Returns:

the current gripper configuration of this program node