1234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162 |
- package at.acdp.urweb.close;
- 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.program.ProgramModel;
- import com.ur.urcap.api.domain.program.nodes.ProgramNodeFactory;
- import com.ur.urcap.api.domain.program.structure.TreeNode;
- import com.ur.urcap.api.domain.program.structure.TreeStructureException;
- import com.ur.urcap.api.domain.script.ScriptWriter;
- public class GripperCloseProgramNodeContribution implements ProgramNodeContribution {
- private final ProgramAPIProvider apiProvider;
- GripperCloseProgramNodeContribution(ProgramAPIProvider apiProvider) {
- this.apiProvider = apiProvider;
- createSubtree();
- }
- @Override
- public String getTitle() {
- return "Gripper Close";
- }
- @Override
- public void openView() {
- }
- @Override
- public void closeView() {
- }
- @Override
- public boolean isDefined() {
- return true;
- }
- @Override
- public void generateScript(ScriptWriter writer) {
- // Place script for closing gripper here
- writer.writeChildren();
- }
- private void createSubtree() {
- ProgramAPI programAPI = apiProvider.getProgramAPI();
- ProgramModel programModel = programAPI.getProgramModel();
- ProgramNodeFactory nf = programModel.getProgramNodeFactory();
- TreeNode root = programModel.getRootTreeNode(this);
- try {
- root.addChild(nf.createCommentNode().setComment("Add your nodes here"));
- root.addChild(nf.createSetNode());
- root.addChild(nf.createWaitNode());
- } catch (TreeStructureException e) {
- e.printStackTrace();
- // See e.getMessage() for explanation
- }
- }
- }
|