AuboStudio SDK 0.6.3

release_action_parameters.h
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1 #ifndef AUBO_SCOPE_RELEASE_ACTION_PARAMETERS_H
2 #define AUBO_SCOPE_RELEASE_ACTION_PARAMETERS_H
3
4 #include <aubo_caps/domain/script/script_writer.h>
5
6 namespace arcs {
7 namespace aubo_scope {
8
9 ARCS_CLASS_FORWARD(ReleaseActionParameters);
10 /**
11 * <p>
12 * This interface represents parameters for a release action defined/configured
13 * by the end user.
14 * </p>
15 *
16 * These parameters are used when generating script code for a release action
17 * (see
18 * {@link GripperContribution#generateReleaseActionScript(ScriptWriter,
19 * ReleaseActionParameters)}).
20 */
21 class ReleaseActionParameters
22 {
23 public:
24 virtual ~ReleaseActionParameters() = default;
25
26 /**
27 * <p>
28 * Get the selected width to be used for releasing the gripper.
29 * </p>
30 *
31 * This is only valid, if the width capability has been registered (using
32 * the method
33 * {@link GripperCapabilities#registerWidthCapability(double, double,
34 * double, double, Length.Unit)}).
35 *
36 * @return The width to use for the release action
37 * @throws UnsupportedOperationException if the gripper has not registered
38 * the width capability
39 */
40 virtual double getWidth() = 0;
41
42 /**
43 * <p>
44 * Get the selected speed to be used for releasing the gripper.
45 * </p>
46 *
47 * This is only valid, if the speed capability has been registered (using
48 * the method
49 * {@link GripperCapabilities#registerSpeedCapability(double, double,
50 * double, double, Speed.Unit)}).
51 *
52 * @return The speed to use for the release action
53 * @throws UnsupportedOperationException if the gripper has not registered
54 * the speed capability
55 */
56 virtual double getSpeed() = 0;
57
58 /**
59 * <p>
60 * Use this method to determine whether the release detection option in the
61 * Gripper program node is on or off.
62 * </p>
63 *
64 * <p>
65 * Note that this method will report that release detection is off, when
66 * script code is to be generated due to the user testing a release
67 * configuration of a gripper program or operating the gripper using the
68 * toolbar.
69 * </p>
70 *
71 * <p>
72 * This method should only be called, if the release detected feedback
73 * capability has been registered (using
74 * {@link
75 * GripperFeedbackCapabilities#registerReleaseDetectedCapability(ScriptCodeGenerator)}).
76 * </p>
77 *
78 * <p>
79 * The purpose of this method is to ensure that the appropriate script code
80 * for performing a release action is generated when the end user has
81 * specified a new payload value. The user-defined payload value will be
82 * applied by AuboScope immediately after the generated release action
83 * script code has finished executing. Depending on the enablement state of
84 * release detection, the generated script should have the following
85 * properties: <ul> <li> <i>Release detection off:</i> The script code
86 * should not finish earlier than when it is appropriate to apply the new
87 * payload value (i.e. when the object has been released). This typically
88 * means that the script code should wait a time period corresponding to
89 * opening the gripper's "fingers" fully (if the gripper is vacuum operated
90 * then long enough to achieve some level of vacuum).
91 * </li>
92 * <li>
93 * <i>Release detection on:</i> The payload will only be set if the
94 * release detection was successful, i.e. it will be applied immediately
95 * after a release was detected. This means that it is not necessary for the
96 * script code to wait (since the built-in detection timeout
97 * functionality will handle the waiting part).
98 * </li>
99 * </ul>
100 * </p>
101 *
102 * @return <code>true</code> if the end user has enabled release detection,
103 * and <code>false</code> if release detection is disabled.
104 * @throws UnsupportedOperationException if the gripper has not registered
105 * the release detected feedback capability
106 */
107 virtual bool isReleaseDetectionEnabled() = 0;
108 };
109 } // namespace aubo_scope
110 } // namespace arcs
111 #endif
arcs::aubo_scope::ReleaseActionParameters
Definition: release_action_parameters.h:22
arcs::aubo_scope::ReleaseActionParameters::~ReleaseActionParameters
virtual ~ReleaseActionParameters()=default
arcs::aubo_scope::ReleaseActionParameters::getWidth
virtual double getWidth()=0
arcs::aubo_scope::ReleaseActionParameters::getSpeed
virtual double getSpeed()=0
arcs::aubo_scope::ReleaseActionParameters::isReleaseDetectionEnabled
virtual bool isReleaseDetectionEnabled()=0
arcs::aubo_scope::ARCS_CLASS_FORWARD
ARCS_CLASS_FORWARD(GripForceCapability)
arcs
Definition: contribution_provider.h:7
script_writer.h