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- package urgrip.programnodes;
- import com.ur.urcap.api.contribution.ProgramNodeContribution;
- import com.ur.urcap.api.contribution.program.ProgramAPIProvider;
- import com.ur.urcap.api.domain.ProgramAPI;
- import com.ur.urcap.api.domain.data.DataModel;
- import com.ur.urcap.api.domain.script.ScriptWriter;
- 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 GripperGripNodeView view;
- private final DataModel model;
- public GripperGripNodeContribution(ProgramAPIProvider apiProvider, GripperGripNodeView view, DataModel model) {
- this.programAPI = apiProvider.getProgramAPI();
- this.view = view;
- this.model = model;
- }
- @Override
- public void openView() {
- view.setAction(model.get(KEY_ACTION, "GRIP"));
- }
- @Override
- public void closeView() {
- model.set(KEY_ACTION, view.getAction());
- }
- @Override
- public String getTitle() {
- return "Grip: Grip";
- }
- @Override
- public void generateScript(ScriptWriter writer) {
- String ioNameOpen=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getGripOpenIO();
- String ioNameClose=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getGripCloseIO();
- String ioNameWaitFor=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getWaitforIO();
- int idxOpen = IOHandler.getIOIndex(ioNameOpen);
- int idxClose = IOHandler.getIOIndex(ioNameClose);
- int idxWaitFor = IOHandler.getIOIndex(ioNameWaitFor);
- if(model.get(KEY_ACTION,"GRIP").equals("GRIP")) {
- writer.appendLine("set_standard_digital_out("+ idxOpen +", True)");
- writer.appendLine("set_standard_digital_out("+ idxClose +", False)");
- } else {
- writer.appendLine("while get_standard_digital_in("+idxWaitFor+") != True:");
- writer.appendLine("end");
- writer.appendLine("set_standard_digital_out("+ idxOpen +", False)");
- writer.appendLine("set_standard_digital_out("+ idxClose +", True)");
- }
- System.out.println(writer.generateScript());
- writer.writeChildren();
- }
- @Override
- public boolean isDefined() {
- return true;
- }
- }
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