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

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 GripperBlowoutNodeContribution implements ProgramNodeContribution {
    private static final String KEY_DELAY = "KEY_DELAY";
    private final ProgramAPI programAPI;
    private final UndoRedoManager undoRedoManager;
    private final KeyboardInputFactory keyboardFactory;
    private final GripperBlowoutNodeView view;
    private final DataModel model;
    public GripperBlowoutNodeContribution(ProgramAPIProvider apiProvider, GripperBlowoutNodeView 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.setDelay(model.get(KEY_DELAY, 1500));
    }

    @Override
    public void closeView() {
        model.set(KEY_DELAY, view.getDelay());
    }

    @Override
    public String getTitle() {
        return "Grip: Blowout ";
    }

    @Override
    public void generateScript(ScriptWriter writer) {
        String ioName=programAPI.getInstallationNode(URGripInstallationNodeContribution.class).getBlowoutIO();
        int idx = IOHandler.getIOIndex(ioName);
        if(idx >0) { // N/C -> -1
            writer.appendLine("set_standard_digital_out(" + idx + ", True)");
            writer.appendLine("sleep(" + Float.toString(view.getDelay() / 1000.0f) + ")");
            writer.appendLine("set_standard_digital_out(" + idx + ", False)");
        }
        writer.writeChildren();
    }

    public KeyboardNumberInput getKeyboardForPositionField() {
        KeyboardNumberInput<Integer> keyboardInput = keyboardFactory.createIntegerKeypadInput();
        keyboardInput.setInitialValue(model.get(KEY_DELAY, 0));
        return keyboardInput;
    }

    public KeyboardInputCallback<Integer> getCallbackForPositionField() {
        return new KeyboardInputCallback<Integer>() {
            @Override
            public void onOk(Integer value) {
                model.set(KEY_DELAY, value);
                view.setDelay(value);
            }
        };
    }

    public KeyboardNumberInput getKeyboardForSpeedField() {
        KeyboardNumberInput<Integer> keyboardInput = keyboardFactory.createIntegerKeypadInput();
        keyboardInput.setInitialValue(model.get(KEY_DELAY, view.getDelay()));
        return keyboardInput;
    }

    public KeyboardInputCallback<Integer> getCallbackForSpeedField() {
        return new KeyboardInputCallback<Integer>() {
            @Override
            public void onOk(Integer value) {
                model.set(KEY_DELAY, value);
                view.setDelay(value);
            }
        };
    }

    @Override
    public boolean isDefined() {
        return true;
    }
}