com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration

Interface ReleaseActionConfigBuilder

@ProviderType
public interface ReleaseActionConfigBuilder

This interface can be used to build a single gripper configuration for a release action. The resulting configuration can be applied to a GripperNode instance.

Each configuration being built should ideally use a new ReleaseActionConfigBuilder instance. Note that if a gripper selection was specified when the builder was used to create a configuration for a Gripper node (which is using a multi-gripper device), then a new builder instance must be obtained to create a new configuration for another Gripper node which is using a single gripper device.

Note: The various available gripper devices can support different sets of capabilities. Therefore use GripperDevice.getCapabilitySupport(Class) to ensure that the gripper device used by a Gripper node (accessible through GripperNode.getGripperDevice()) supports a specific capability (or set of capabilities) before applying a configuration. Applying a configuration not supported by the gripper node/device will throw an exception.

Method Summary

Modifier and Type	Method and Description
ReleaseActionConfig	build() Build the gripper configuration for a Gripper program node
ReleaseActionConfigBuilder	setEmptyGripperSelection() Set an empty gripper selection for a Gripper node that uses a multi-gripper device, i.e.
ReleaseActionConfigBuilder	setGripperSelection(Optional<SelectableGripper> gripperSelection) Apply an existing gripper selection to a Gripper node that uses a multi-gripper device, i.e.
ReleaseActionConfigBuilder	setGripperSelection(SelectableGripper gripper) Select the specified individual gripper/zone for a Gripper node that uses a multi-gripper device, i.e.

Method Detail

setEmptyGripperSelection

ReleaseActionConfigBuilder setEmptyGripperSelection()

Set an empty gripper selection for a Gripper node that uses a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface). No individual gripper will be selected in the Gripper node (any existing selection will be cleared).

Note: Not all grippers support the multi-gripper capability. Use the method GripperDevice.getCapabilitySupport(Class) with the class of the MultiGripperSupport interface as argument to verify that the gripper device used by a Gripper node (accessible through GripperNode.getGripperDevice()) supports multiple grippers. Attempting to apply a configuration to a Gripper node (using GripperNode.setConfig(GripperNodeConfig)) will throw the UnsupportedConfig exception, if the node uses a single gripper device.

Returns:

This builder

setGripperSelection

ReleaseActionConfigBuilder setGripperSelection(Optional<SelectableGripper> gripperSelection)

Apply an existing gripper selection to a Gripper node that uses a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface). The specified gripper/zone selection must be taken from an existing configuration by using the return value of GripActionConfig.getGripperSelection() or ReleaseActionConfig.getGripperSelection().

Note: Not all grippers support the multi-gripper capability. Use the method GripperDevice.getCapabilitySupport(Class) with the class of the MultiGripperSupport interface as argument to verify that the gripper device used by a Gripper node (accessible through GripperNode.getGripperDevice()) supports multiple grippers. Attempting to apply a configuration to a Gripper node (using GripperNode.setConfig(GripperNodeConfig)) will throw the UnsupportedConfig exception, if the node uses a single gripper device.

Parameters:

gripperSelection - The existing gripper selection to apply, not null

Returns:

This builder

setGripperSelection

ReleaseActionConfigBuilder setGripperSelection(SelectableGripper gripper)

Select the specified individual gripper/zone for a Gripper node that uses a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface).

Note: Not all grippers support the multi-gripper capability. Use the method GripperDevice.getCapabilitySupport(Class) with the class of the MultiGripperSupport interface as argument to verify that the gripper device used by a Gripper node (accessible through GripperNode.getGripperDevice()) supports multiple grippers. Attempting to apply a configuration to a Gripper node (using GripperNode.setConfig(GripperNodeConfig)) will throw the UnsupportedConfig exception, if the node uses a single gripper device.

Parameters:

gripper - The individual gripper/zone to be selected, not null

Returns:

This builder

build

ReleaseActionConfig build()

Build the gripper configuration for a Gripper program node

Returns:

The configuration for a release action