urgrip/src/main/java/urgrip/programnodes/GripperGripNodeContribution.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 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")) {
            if(idxOpen >0) // N/C -> -1
                writer.appendLine("set_standard_digital_out("+ idxOpen +", True)");
            if(idxClose >0)
                writer.appendLine("set_standard_digital_out("+ idxClose +", False)");
        } else {
            if(idxWaitFor >0)
                writer.appendLine("while get_standard_digital_in("+idxWaitFor+") != True:");
            writer.appendLine("end");
            if(idxOpen >0)
                writer.appendLine("set_standard_digital_out("+ idxOpen +", False)");
            if(idxClose >0)
                writer.appendLine("set_standard_digital_out("+ idxClose +", True)");
        }
        writer.writeChildren();
    }

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