AuboStudio SDK 0.6.3

gripper_configuration.h
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1 #ifndef AUBO_SCOPE_GRIPPER_CONFIGURATION_H
2 #define AUBO_SCOPE_GRIPPER_CONFIGURATION_H
3
4 #include <functional>
5 #include <aubo_caps/domain/script/script_writer.h>
6 #include <aubo_caps/contribution/driver/gripper/capability/width_capability.h>
7 #include <aubo_caps/contribution/driver/gripper/capability/speed_capability.h>
8 #include <aubo_caps/contribution/driver/gripper/capability/grip_force_capability.h>
9 #include <aubo_caps/contribution/driver/gripper/capability/grip_vacuum_capability.h>
10
11 namespace arcs {
12 namespace aubo_scope {
13 ARCS_CLASS_FORWARD(GripperConfiguration);
14
15 /**
16 * This interface provides access to register or setup various properties and
17 * capabilities of a gripper. It is optional to register these capabilities and
18 * properties.
19 */
20 class GripperConfiguration
21 {
22 public:
23 virtual ~GripperConfiguration() = default;
24
25 /**
26 * Register a width/position capability for a gripper that supports moving
27 * to a user configurable position (open/close to a configurable width).
28 *
29 * @param minWidth The minimum width supported by the gripper
30 * @param maxWidth The maximum width supported by the gripper
31 * @param defaultGripWidth default value for the width for a grip action.
32 * This value is used for, e.g. performing a "default" grip action using the
33 * toolbar
34 * @param defaultReleaseWidth default value for the width for a release
35 * action. This value is used for, e.g. performing a "default" release
36 * action using the toolbar
37 * @param unit the unit for all specified values, not <code>null</code>
38 * @return a width capability allowing for dynamic adjustments of the
39 * capability properties including the value range and default values
40 * @throws InvalidCapabilityRange if <code>minWidth</code> >
41 * <code>maxWidth</code>
42 * @throws InvalidCapabilityRange if <code>defaultGripWidth</code> or
43 * <code>defaultReleaseWidth</code> is outside the range defined by
44 * <code>minWidth</code> and <code>maxWidth</code>.
45 * @throws CapabilityAlreadyRegistered if this capability has already been
46 * registered
47 * @throws CalledOutsideGripperConfigurationPhase if this method is called
48 * at the wrong time by a AuboCap implementing the {@link
49 * GripperContribution} interface, i.e. called outside the scope of the
50 * configuration of the gripper.
51 * @throws CalledOutsideMethodScope if this method is called at the wrong
52 * time by a (regular) AuboCap which has registered its program node
53 * contribution/service as conformant with a AuboScope gripper (using
54 * {@link GripperRegistrationManager#registerAsGripper(Class)}),
55 * i.e. called outside the scope of the call to either {@link
56 * SwingProgramNodeService#configureContribution(ContributionConfiguration)}
57 * (for a Swing-based AuboCap) or {@link
58 * ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration)}
59 * (for a HTML-based AuboCap).
60 */
61 virtual WidthCapabilityPtr registerWidthCapability(
62 double minWidth, double maxWidth, double defaultGripWidth,
63 double defaultReleaseWidth) = 0;
64
65 /**
66 * Register a force capability for a gripper that supports gripping using a
67 * user configurable force.
68 *
69 * @param minForce minimum force supported by the gripper
70 * @param maxForce maximum force supported by the gripper
71 * @param defaultGripForce default value for the force for a grip action.
72 * This value is used for, e.g. performing a "default" grip action using the
73 * toolbar
74 * @param unit the unit for all specified values, <code>null</code>
75 * @return a force capability allowing for dynamic adjustments of the
76 * capability properties including the value range and default value
77 * @throws InvalidCapabilityRange if <code>minForce</code> >
78 * <code>maxForce</code> or <code>defaultGripForce</code> is outside the
79 * range defined by <code>minForce</code> and <code>maxForce</code>.
80 * @throws CapabilityAlreadyRegistered if this capability has already been
81 * registered
82 * @throws CalledOutsideGripperConfigurationPhase if this method is called
83 * at the wrong time by a AuboCap implementing the {@link
84 * GripperContribution} interface, i.e. called outside the scope of the
85 * configuration of the gripper.
86 * @throws CalledOutsideMethodScope if this method is called at the wrong
87 * time by a (regular) AuboCap which has registered its program node
88 * contribution/service as conformant with a AuboScope gripper (using
89 * {@link GripperRegistrationManager#registerAsGripper(Class)}),
90 * i.e. called outside the scope of the call to either {@link
91 * SwingProgramNodeService#configureContribution(ContributionConfiguration)}
92 * (for a Swing-based AuboCap) or {@link
93 * ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration)}
94 * (for a HTML-based AuboCap).
95 */
96 virtual GripForceCapabilityPtr registerGrippingForceCapability(
97 double minForce, double maxForce, double defaultGripForce) = 0;
98
99 /**
100 * Register a speed capability for a gripper that supports operating using a
101 * user configurable speed.
102 *
103 * @param minSpeed minimum speed supported by the gripper
104 * @param maxSpeed maximum speed supported by the gripper
105 * @param defaultGripSpeed default value for the speed for a grip action.
106 * This value is used for, e.g. performing a "default" grip action using the
107 * toolbar
108 * @param defaultReleaseSpeed default value for the speed for a grip action.
109 * This value is used for, e.g. performing a "default" release action using
110 * the toolbar
111 * @param unit the unit for all specified values, not <code>null</code>
112 * @return a speed capability allowing for dynamic adjustments of the
113 * capability properties including the value range and default values
114 * @throws InvalidCapabilityRange if <code>minSpeed</code> >
115 * <code>maxSpeed</code>
116 * @throws InvalidCapabilityRange if <code>defaultGripSpeed</code> or
117 * defaultReleaseSpeed</code> is outside the range defined by
118 * <code>minSpeed</code> and <code>maxSpeed</code>.
119 * @throws CapabilityAlreadyRegistered if this capability has already been
120 * registered
121 * @throws CalledOutsideGripperConfigurationPhase if this method is called
122 * at the wrong time by a AuboCap implementing the {@link
123 * GripperContribution} interface, i.e. called outside the scope of the
124 * configuration of the gripper.
125 * @throws CalledOutsideMethodScope if this method is called at the wrong
126 * time by a (regular) AuboCap which has registered its program node
127 * contribution/service as conformant with a AuboScope gripper (using
128 * {@link GripperRegistrationManager#registerAsGripper(Class)}),
129 * i.e. called outside the scope of the call to either {@link
130 * SwingProgramNodeService#configureContribution(ContributionConfiguration)}
131 * (for a Swing-based AuboCap) or {@link
132 * ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration)}
133 * (for a HTML-based AuboCap).
134 */
135 virtual SpeedCapabilityPtr registerSpeedCapability(
136 double minSpeed, double maxSpeed, double defaultGripSpeed,
137 double defaultReleaseSpeed) = 0;
138
139 /**
140 * <p>
141 * Register a vacuum capability for a gripper that supports gripping using a
142 * user configurable vacuum level.
143 * </p>
144 *
145 * If the gripper works with absolute pressure, specify a positive range for
146 * the supported vacuum level. If the gripper works with relative pressure
147 * (vacuum), specify a negative range for the supported vacuum level.
148 *
149 * @param minVacuum minimum vacuum level supported by the gripper
150 * @param maxVacuum maximum vacuum level supported by the gripper
151 * @param defaultGripVacuum default value for the vacuum level for a grip
152 * action. This value is used for, e.g. performing a "default" grip action
153 * using the toolbar
154 * @param unit the unit for all specified values, not <code>null</code>
155 * @return a vacuum capability allowing for dynamic adjustments of the
156 * capability properties including the value range and default value
157 * @throws InvalidCapabilityRange if <code>minVacuum</code> >
158 * <code>maxVacuum</code> or <code>defaultGripVacuum</code> is outside the
159 * range defined by <code>minVacuum</code> and <code>maxVacuum</code>.
160 * @throws CapabilityAlreadyRegistered if this capability has already been
161 * registered
162 * @throws CalledOutsideGripperConfigurationPhase if this method is called
163 * at the wrong time by a AuboCap implementing the {@link
164 * GripperContribution} interface, i.e. called outside the scope of the
165 * configuration of the gripper.
166 * @throws CalledOutsideMethodScope if this method is called at the wrong
167 * time by a (regular) AuboCap which has registered its program node
168 * contribution/service as conformant with a AuboScope gripper (using
169 * {@link GripperRegistrationManager#registerAsGripper(Class)}),
170 * i.e. called outside the scope of the call to either {@link
171 * SwingProgramNodeService#configureContribution(ContributionConfiguration)}
172 * (for a Swing-based AuboCap) or {@link
173 * ProgramNodeServiceConfigurable#configureContribution(ProgramNodeConfiguration)}
174 * (for a HTML-based AuboCap).
175 */
176 virtual GripVacuumCapabilityPtr registerGrippingVacuumCapability(
177 double minVacuum, double maxVacuum, double defaultGripVacuum) = 0;
178
179 /**
180 * <p>
181 * Register this feedback capability if the gripper can inform AuboScope
182 * whether it has detected that an object has been gripped, after a grip
183 * action has been triggered. This will enable the end user to configure the
184 * actions to take when the gripper has detected that an object has been
185 * gripped and/or when the grip action timed out.
186 * </p>
187 *
188 * <p>
189 * The provided implementation of the {@link ScriptCodeGenerator} interface
190 * must generate the script code for determining if a grip was detected. The
191 * return value of the script code <b>must</b> be a boolean, i.e. 'True' or
192 * 'False'.
193 * </p>
194 *
195 * <b>Note:</b> When this capability has been registered, the
196 * {@link GripperContribution#generateGripActionScript(ScriptWriter,
197 * GripActionParameters)} method should generate different grip action
198 * script code depending on whether the end user has enabled or disabled the
199 * grip detection option (in the Gripper program node). For more details,
200 * see Javadoc for
201 * {@link GripActionParameters#isGripDetectionEnabled()}.
202 *
203 * @param scriptCodeGenerator script generator that generates the script
204 * code for determining if a grip was detected. When the script code needs
205 * to be generated, the method
206 * {@link
207 * ScriptCodeGenerator#generateScript(ScriptWriter, Object)} will be called
208 * (by AuboScope). The resulting script code will be embedded in a script
209 * function and <b>must</b> return a boolean, i.e. 'True' or 'False'.
210 * @throws CapabilityAlreadyRegistered if this capability has already been
211 * registered
212 * @throws CalledOutsideGripperConfigurationPhase if this method is called
213 * at the wrong time, i.e. outside the scope of the {@link
214 * GripperContribution#configureGripper(GripperConfiguration,
215 * GripperAPIProvider)} method.
216 */
217 virtual void registerGripDetectedCapability(
218 std::function<void(ScriptWriterPtr scriptWriter)>
219 scriptCodeGenerator) = 0;
220
221 /**
222 * <p>
223 * Register this feedback capability if the gripper can inform AuboScope
224 * whether it has detected an object has been released, after a release
225 * action has been triggered. This will enable the end user to configure the
226 * actions to take when the gripper has detected that an object has been
227 * released and/or when the release action timed out.
228 * </p>
229 *
230 * <p>
231 * The provided implementation of the {@link ScriptCodeGenerator} interface
232 * must generate the script code for determining if a release was detected.
233 * The return value of the script code <b>must</b> be a boolean, i.e. 'True'
234 * or 'False'.
235 * </p>
236 *
237 * <b>Note:</b> When this capability has been registered, the
238 * {@link GripperContribution#generateReleaseActionScript(ScriptWriter,
239 * ReleaseActionParameters)} method should generate different release action
240 * script code depending on whether the end user has enabled or disabled the
241 * release detection option (in the Gripper program node). For more details,
242 * see Javadoc for
243 * {@link GripActionParameters#isGripDetectionEnabled()}.
244 *
245 * @param scriptCodeGenerator script generator that generates the script
246 * code for determining if a release was detected. When the script code
247 * needs to be generated, the method
248 * {@link
249 * ScriptCodeGenerator#generateScript(ScriptWriter, Object)} will be called
250 * (by AuboScope). The resulting script code will be embedded in a script
251 * function and <b>must</b> return a boolean, i.e. 'True' or 'False'.
252 * @throws CapabilityAlreadyRegistered if this capability has already been
253 * registered
254 * @throws CalledOutsideGripperConfigurationPhase if this method is called
255 * at the wrong time, i.e. outside the scope of the {@link
256 * GripperContribution#configureGripper(GripperConfiguration,
257 * GripperAPIProvider)} method.
258 */
259 virtual void registerReleaseDetectedCapability(
260 std::function<void(ScriptWriterPtr scriptWriter)>
261 scriptCodeGenerator) = 0;
262 };
263 } // namespace aubo_scope
264 } // namespace arcs
265
266 #endif
arcs::aubo_scope::GripperConfiguration
This interface provides access to register or setup various properties and capabilities of a gripper.
Definition: gripper_configuration.h:21
arcs::aubo_scope::GripperConfiguration::registerGrippingForceCapability
virtual GripForceCapabilityPtr registerGrippingForceCapability(double minForce, double maxForce, double defaultGripForce)=0
Register a force capability for a gripper that supports gripping using a user configurable force.
arcs::aubo_scope::GripperConfiguration::registerWidthCapability
virtual WidthCapabilityPtr registerWidthCapability(double minWidth, double maxWidth, double defaultGripWidth, double defaultReleaseWidth)=0
Register a width/position capability for a gripper that supports moving to a user configurable positi...
arcs::aubo_scope::GripperConfiguration::registerGrippingVacuumCapability
virtual GripVacuumCapabilityPtr registerGrippingVacuumCapability(double minVacuum, double maxVacuum, double defaultGripVacuum)=0
arcs::aubo_scope::GripperConfiguration::registerSpeedCapability
virtual SpeedCapabilityPtr registerSpeedCapability(double minSpeed, double maxSpeed, double defaultGripSpeed, double defaultReleaseSpeed)=0
Register a speed capability for a gripper that supports operating using a user configurable speed.
arcs::aubo_scope::GripperConfiguration::registerGripDetectedCapability
virtual void registerGripDetectedCapability(std::function< void(ScriptWriterPtr scriptWriter)> scriptCodeGenerator)=0
arcs::aubo_scope::GripperConfiguration::~GripperConfiguration
virtual ~GripperConfiguration()=default
arcs::aubo_scope::GripperConfiguration::registerReleaseDetectedCapability
virtual void registerReleaseDetectedCapability(std::function< void(ScriptWriterPtr scriptWriter)> scriptCodeGenerator)=0
grip_force_capability.h
grip_vacuum_capability.h
arcs::aubo_scope::ARCS_CLASS_FORWARD
ARCS_CLASS_FORWARD(GripForceCapability)
arcs
Definition: contribution_provider.h:7
script_writer.h
speed_capability.h
width_capability.h