generate urscript for blowout, couple, grip

src/main/java/urgrip/installation/URGripInstallationNodeService.java

@@ -20,7 +20,7 @@ public class URGripInstallationNodeService implements SwingInstallationNodeServi
 
 	@Override
 	public String getTitle(Locale locale) {
-		return "Hello World";
+		return "Grip";
 	}
 
 	@Override

src/main/java/urgrip/programnodes/GripperBlowoutNodeContribution.java

@@ -30,7 +30,7 @@ public class GripperBlowoutNodeContribution implements ProgramNodeContribution {
     @Override
     public void openView() {
 
-        view.setDelay(model.get(KEY_DELAY, 20));
+        view.setDelay(model.get(KEY_DELAY, 1500));
     }
 
     @Override
@@ -40,16 +40,17 @@ public class GripperBlowoutNodeContribution implements ProgramNodeContribution {
 
     @Override
     public String getTitle() {
-        return "Gripper ";
+        return "Grip: Blowout ";
     }
 
     @Override
     public void generateScript(ScriptWriter writer) {
         String ioName=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getBlowoutIO();
         int idx = IOHandler.getIOIndex(ioName);
-       //  writer.appendLine("set_standard_digital_out("+ idx +"," + true + ")");
-      //   writer.appendLine("set_standard_digital_out("+ idx +"," + true + ")");
-
+        writer.appendLine("set_standard_digital_out("+ idx +"," + 1 + ")");
+        writer.appendLine("sleep("+ Float.toString(view.getDelay()/1000.0f) +")");
+        writer.appendLine("set_standard_digital_out("+ idx +"," + 0 + ")");
+        System.out.println(writer.generateScript());
         writer.writeChildren();
     }
 
@@ -71,7 +72,7 @@ public class GripperBlowoutNodeContribution implements ProgramNodeContribution {
 
     public KeyboardNumberInput getKeyboardForSpeedField() {
         KeyboardNumberInput<Integer> keyboardInput = keyboardFactory.createIntegerKeypadInput();
-        keyboardInput.setInitialValue(model.get(KEY_DELAY, 0));
+        keyboardInput.setInitialValue(model.get(KEY_DELAY, view.getDelay()));
         return keyboardInput;
     }
 

src/main/java/urgrip/programnodes/GripperBlowoutNodeService.java

@@ -11,7 +11,6 @@ import java.util.Locale;
 
 public class GripperBlowoutNodeService implements SwingProgramNodeService<GripperBlowoutNodeContribution, GripperBlowoutNodeView> {
 
-
     @Override
     public String getId() {
         return "GripperBlowout";
@@ -24,7 +23,7 @@ public class GripperBlowoutNodeService implements SwingProgramNodeService<Grippe
 
     @Override
     public String getTitle(Locale locale) {
-        return "Gripper: Blowout";
+        return "Grip: Blowout";
     }
 
     @Override

src/main/java/urgrip/programnodes/GripperCoupleNodeContribution.java

@@ -9,19 +9,17 @@ import com.ur.urcap.api.domain.undoredo.UndoRedoManager;
 import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardInputCallback;
 import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardInputFactory;
 import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardNumberInput;
+import urgrip.installation.URGripInstallationNodeContribution;
+import urgrip.toolbar.IOHandler;
 
 public class GripperCoupleNodeContribution implements ProgramNodeContribution {
     private static final String KEY_ACTION = "KEY_ACTION";
     private final ProgramAPI programAPI;
-    private final UndoRedoManager undoRedoManager;
-    private final KeyboardInputFactory keyboardFactory;
     private final GripperCoupleNodeView view;
     private final DataModel model;
 
     public GripperCoupleNodeContribution(ProgramAPIProvider apiProvider, GripperCoupleNodeView view, DataModel model) {
         this.programAPI = apiProvider.getProgramAPI();
-        this.undoRedoManager = apiProvider.getProgramAPI().getUndoRedoManager();
-        this.keyboardFactory = apiProvider.getUserInterfaceAPI().getUserInteraction().getKeyboardInputFactory();
         this.view = view;
         this.model = model;
     }
@@ -38,11 +36,24 @@ public class GripperCoupleNodeContribution implements ProgramNodeContribution {
 
     @Override
     public String getTitle() {
-        return "Gripper Couple ";
+        return "Grip: Couple";
     }
 
     @Override
     public void generateScript(ScriptWriter writer) {
+        String ioNameOpen=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getCoupleOpenIO();
+        String ioNameClose=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getCoupleCloseIO();
+        int idxOpen = IOHandler.getIOIndex(ioNameOpen);
+        int idxClose = IOHandler.getIOIndex(ioNameClose);
+        if(model.get(KEY_ACTION,"COUPLE").equals("COUPLE")) {
+            writer.appendLine("set_standard_digital_out("+ idxOpen +"," + 1 + ")");
+            writer.appendLine("set_standard_digital_out("+ idxClose +"," + 0 + ")");
+        } else {
+            writer.appendLine("set_standard_digital_out("+ idxOpen +"," + 0 + ")");
+            writer.appendLine("set_standard_digital_out("+ idxClose +"," + 1 + ")");
+        }
+        System.out.println(writer.generateScript());
+        writer.writeChildren();
     }
 
     @Override

src/main/java/urgrip/programnodes/GripperCoupleNodeService.java

@@ -23,7 +23,7 @@ public class GripperCoupleNodeService implements SwingProgramNodeService<Gripper
 
     @Override
     public String getTitle(Locale locale) {
-        return "Gripper: Couple";
+        return "Grip: Couple";
     }
 
     @Override
@@ -36,8 +36,6 @@ public class GripperCoupleNodeService implements SwingProgramNodeService<Gripper
         return new GripperCoupleNodeContribution(apiProvider, view, model);
     }
 
-
     public GripperCoupleNodeService() {
-
     }
 }

src/main/java/urgrip/programnodes/GripperGripNodeContribution.java

@@ -9,26 +9,24 @@ import com.ur.urcap.api.domain.undoredo.UndoRedoManager;
 import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardInputCallback;
 import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardInputFactory;
 import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardNumberInput;
+import urgrip.installation.URGripInstallationNodeContribution;
+import urgrip.toolbar.IOHandler;
 
 public class GripperGripNodeContribution implements ProgramNodeContribution {
     private static final String KEY_ACTION = "KEY_ACTION";
     private final ProgramAPI programAPI;
-    private final UndoRedoManager undoRedoManager;
-    private final KeyboardInputFactory keyboardFactory;
     private final GripperGripNodeView view;
     private final DataModel model;
 
     public GripperGripNodeContribution(ProgramAPIProvider apiProvider, GripperGripNodeView view, DataModel model) {
         this.programAPI = apiProvider.getProgramAPI();
-        this.undoRedoManager = apiProvider.getProgramAPI().getUndoRedoManager();
-        this.keyboardFactory = apiProvider.getUserInterfaceAPI().getUserInteraction().getKeyboardInputFactory();
         this.view = view;
         this.model = model;
     }
 
     @Override
     public void openView() {
-        view.setAction(model.get(KEY_ACTION, "COUPLE"));
+        view.setAction(model.get(KEY_ACTION, "GRIP"));
     }
 
     @Override
@@ -39,12 +37,24 @@ public class GripperGripNodeContribution implements ProgramNodeContribution {
 
     @Override
     public String getTitle() {
-        return "Gripper Grip";
+        return "Grip: Grip";
     }
 
     @Override
     public void generateScript(ScriptWriter writer) {
-
+        String ioNameOpen=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getGripOpenIO();
+        String ioNameClose=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getGripCloseIO();
+        int idxOpen = IOHandler.getIOIndex(ioNameOpen);
+        int idxClose = IOHandler.getIOIndex(ioNameClose);
+        if(model.get(KEY_ACTION,"GRIP").equals("GRIP")) {
+            writer.appendLine("set_standard_digital_out("+ idxOpen +"," + 1 + ")");
+            writer.appendLine("set_standard_digital_out("+ idxClose +"," + 0 + ")");
+        } else {
+            writer.appendLine("set_standard_digital_out("+ idxOpen +"," + 0 + ")");
+            writer.appendLine("set_standard_digital_out("+ idxClose +"," + 1 + ")");
+        }
+        System.out.println(writer.generateScript());
+        writer.writeChildren();
     }
 
     @Override

src/main/java/urgrip/programnodes/GripperGripNodeService.java

@@ -24,7 +24,7 @@ public class GripperGripNodeService implements SwingProgramNodeService<GripperGr
 
     @Override
     public String getTitle(Locale locale) {
-        return "Gripper: Grip";
+        return "Grip: Grip";
     }
 
     @Override

src/main/java/urgrip/programnodes/GripperGripNodeView.java

@@ -58,7 +58,7 @@ public class GripperGripNodeView implements SwingProgramNodeView<GripperGripNode
 
 
     public String getAction() {
-        if(gripButton.isSelected()) return "COUPLE";
-        return "DECOUPLE";
+        if(gripButton.isSelected()) return "GRIP";
+        return "UNGRIP";
     }
 }