com.ur.urcap.api.domain.resource.tooliointerface.control

Interface ToolIOInterfaceController

public interface ToolIOInterfaceController

This interface can be implemented to request control of the Tool I/O Interface.

Pass the implementation of this interface to ControllableResourceModel.requestControl(ToolIOInterfaceController) to request control of the Tool I/O Interface. If granted control by the end user, a callback will be made with a ToolIOInterfaceControlEvent instance containing the resource.

Method Summary

Modifier and Type	Method and Description
void	onControlGranted(ToolIOInterfaceControlEvent event) This callback method is called when the control is assigned to this URCap by the end user.
void	onControlToBeRevoked(ToolIOInterfaceControlEvent event) This callback method is called when the control is about to be revoked.

Method Detail

onControlGranted

void onControlGranted(ToolIOInterfaceControlEvent event)

This callback method is called when the control is assigned to this URCap by the end user.

Parameters:

event - This object holds information about the control granted event (containing the resource instance which can now be controlled exclusively)

onControlToBeRevoked

void onControlToBeRevoked(ToolIOInterfaceControlEvent event)

This callback method is called when the control is about to be revoked.

The control can be revoked in the following situations:

• The control is reassigned to a different URCap
• Manual control for the end user is selected
• A new installation is created
• A different installation is loaded
• The robot is shut down

This controller still has control of the resource until exiting the scope of the method. This allows for a safe/graceful shutdown of attached devices while still in control of the resource.

Parameters:

event - This object holds information related to the control about to be revoked event (containing the resource instance)