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

Interface GripperRegistrationManager

All Superinterfaces:

DeviceRegistrationManager

@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:

• It will be included as a device in the list of available PolyScope grippers returned by GripperManager.getGrippers()
• It can be inserted as a Gripper node in the program tree by another program node contribution using GripperNodeFactory.createGripperNode(GripperDevice)
• It can have the gripper action configured by another program node contribution using GripperNode.setConfig(GripperNodeConfig)

In order for the program node to be insertable and configurable, the program node contribution must implement the GripperConfigurable interface.

Method Summary

Modifier and Type	Method and Description
<T extends ProgramNodeContribution & GripperConfigurable> GripperRegistrationConfiguration	registerAsGripper(Class<T> gripperProgramNodeContributionClass) Register this program node contribution as a conformant PolyScope gripper device.

Method Detail

registerAsGripper

<T extends ProgramNodeContribution & GripperConfigurable> GripperRegistrationConfiguration registerAsGripper(Class<T> gripperProgramNodeContributionClass)

Register this program node contribution as a conformant PolyScope gripper device.

Note: This is a one-time registration that must be performed within the scope of the call to either SwingProgramNodeService.configureContribution(ContributionConfiguration) (for Swing-based URCaps) or ProgramNodeServiceConfigurable.configureContribution(ProgramNodeConfiguration) (for HTML-based URCaps).
Note: The program node contribution must implement the GripperConfigurable interface.

Type Parameters:

T - The class type for the program node contribution that should be registered as conformant with a PolyScope gripper device, i.e. the class type of the instance returned when the SwingProgramNodeService.createNode(ProgramAPIProvider, SwingProgramNodeView, DataModel, CreationContext) or ProgramNodeService.createNode(URCapAPI, DataModel) method is called on the service. Besides implementing the ProgramNodeContribution interface, the class type must also implement the GripperConfigurable interface.

Parameters:

gripperProgramNodeContributionClass - The class of the program node contribution to be registered as a conformant PolyScope gripper device, not null.

Returns:

A configuration instance for the gripper registration. This can be used for registering any additional capabilities supported by the gripper (besides basic simple grip and release actions). Note that all registrations must also occur within the scope of the call to either SwingProgramNodeService.configureContribution(ContributionConfiguration) (for Swing-based URCaps) or ProgramNodeServiceConfigurable.configureContribution(ProgramNodeConfiguration) (for HTML-based URCaps).

Throws:

DeviceAlreadyRegistered - if the specified program node contribution has already been registered as a conformant gripper device.

CalledOutsideMethodScope - if this method is called at the wrong time, i.e. outside the scope of the call to either SwingProgramNodeService.configureContribution(ContributionConfiguration) (for Swing-based URCaps) or ProgramNodeServiceConfigurable.configureContribution(ProgramNodeConfiguration) (for HTML-based URCaps).