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@@ -9,6 +9,8 @@ import com.ur.urcap.api.domain.undoredo.UndoRedoManager;
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import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardInputCallback;
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import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardInputCallback;
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import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardInputFactory;
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import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardInputFactory;
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import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardNumberInput;
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import com.ur.urcap.api.domain.userinteraction.keyboard.KeyboardNumberInput;
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+import urgrip.installation.URGripInstallationNodeContribution;
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+import urgrip.toolbar.IOHandler;
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public class GripperBlowoutNodeContribution implements ProgramNodeContribution {
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public class GripperBlowoutNodeContribution implements ProgramNodeContribution {
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private static final String KEY_DELAY = "KEY_DELAY";
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private static final String KEY_DELAY = "KEY_DELAY";
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@@ -17,7 +19,6 @@ public class GripperBlowoutNodeContribution implements ProgramNodeContribution {
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private final KeyboardInputFactory keyboardFactory;
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private final KeyboardInputFactory keyboardFactory;
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private final GripperBlowoutNodeView view;
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private final GripperBlowoutNodeView view;
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private final DataModel model;
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private final DataModel model;
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-
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public GripperBlowoutNodeContribution(ProgramAPIProvider apiProvider, GripperBlowoutNodeView view, DataModel model) {
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public GripperBlowoutNodeContribution(ProgramAPIProvider apiProvider, GripperBlowoutNodeView view, DataModel model) {
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this.programAPI = apiProvider.getProgramAPI();
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this.programAPI = apiProvider.getProgramAPI();
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this.undoRedoManager = apiProvider.getProgramAPI().getUndoRedoManager();
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this.undoRedoManager = apiProvider.getProgramAPI().getUndoRedoManager();
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@@ -28,12 +29,13 @@ public class GripperBlowoutNodeContribution implements ProgramNodeContribution {
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@Override
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@Override
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public void openView() {
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public void openView() {
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- view.setSpeed(model.get(KEY_DELAY, 20));
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+
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+ view.setDelay(model.get(KEY_DELAY, 20));
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}
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}
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@Override
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@Override
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public void closeView() {
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public void closeView() {
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- model.set(KEY_DELAY, view.getSpeed());
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+ model.set(KEY_DELAY, view.getDelay());
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}
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}
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@Override
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@Override
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@@ -43,7 +45,11 @@ public class GripperBlowoutNodeContribution implements ProgramNodeContribution {
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@Override
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@Override
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public void generateScript(ScriptWriter writer) {
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public void generateScript(ScriptWriter writer) {
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- writer.appendLine("write_output_integer_register(3," + 3 + ")");
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+ String ioName=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getBlowoutIO();
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+ int idx = IOHandler.getIOIndex(ioName);
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+ // writer.appendLine("set_standard_digital_out("+ idx +"," + true + ")");
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+ // writer.appendLine("set_standard_digital_out("+ idx +"," + true + ")");
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+
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writer.writeChildren();
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writer.writeChildren();
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}
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}
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@@ -58,7 +64,7 @@ public class GripperBlowoutNodeContribution implements ProgramNodeContribution {
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@Override
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@Override
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public void onOk(Integer value) {
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public void onOk(Integer value) {
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model.set(KEY_DELAY, value);
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model.set(KEY_DELAY, value);
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- view.setPosition(value);
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+ view.setDelay(value);
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}
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}
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};
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};
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}
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}
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@@ -74,7 +80,7 @@ public class GripperBlowoutNodeContribution implements ProgramNodeContribution {
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@Override
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@Override
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public void onOk(Integer value) {
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public void onOk(Integer value) {
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model.set(KEY_DELAY, value);
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model.set(KEY_DELAY, value);
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- view.setSpeed(value);
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+ view.setDelay(value);
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}
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}
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};
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};
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}
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}
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