arcs::aubo_scope::ProgramNodeFactory Class Reference

#include <program_node_factory.h>

Public Member Functions
	ProgramNodeFactory (ProgramNodeFactory &f)
	ProgramNodeFactory (ProgramNodeFactory &&f)
virtual	~ProgramNodeFactory ()
ProgramNodePtr	createUserProgramNode (const char *typeid_service)
	This method creates a AuboCap program node which is an instance of a contribution/ProgramNodeContribution. More...
MoveNodePtr	createMoveNode ()
	Creates a default Move node with one default Waypoint node under it. More...
MoveNodePtr	createMoveNodeNoTemplate ()
WaypointNodePtr	createWaypointNode ()
	Creates a Waypoint node with default waypoint name (corresponds to the name generated if the end user added a new node manually). More...
WaypointNodePtr	createWaypointNode (const std::string &suggested_name)
UntilNodePtr	createUntilNode ()
	Creates an Until Node with no until type specified. More...
DirectionNodePtr	createDirectionNode ()
WaitNodePtr	createWaitNode ()
SetNodePtr	createSetNode ()
SetPayloadNodePtr	createSetPayloadNode ()
PopupNodePtr	createPopupNode ()
HaltNodePtr	createHaltNode ()
CommentNodePtr	createCommentNode ()
FolderNodePtr	createFolderNode ()
LoopNodePtr	createLoopNode ()
AssignmentNodePtr	createAssignmentNode ()
IfNodePtr	createIfNode ()
ElseIfNodePtr	createElseIfNode ()
ElseNodePtr	createElseNode ()
CircleMoveNodePtr	createCircleMoveNode ()
PalletNodePtr	createPalletNode ()
SeekNodePtr	createSeekNode ()
ForceNodePtr	createForceNode ()
ScrewdrivingNodePtr	createScrewdrivingNode ()
ScriptNodePtr	createScriptNode ()
TimerNodePtr	createTimerNode ()
SwitchNodePtr	createSwitchNode ()
CaseNodePtr	createCaseNode ()
DefaultCaseNodePtr	createDefaultCaseNode ()
BreakNodePtr	createBreakNode ()
SubProgNodePtr	createSubProgNode ()
CallNodePtr	createCallNode ()
OfflineTrackNodePtr	createOfflineTrackNode ()
RecordTrackNodePtr	createRecordTrackNode ()
ThreadNodePtr	createThreadNode ()
ProgramHomeNodePtr	createProgramHomeNode ()
GripperNodePtr	createGripperNode (GripperDevicePtr gripperDevice)

Private Member Functions
	ProgramNodeFactory ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Detailed Description

This interfaces supplies methods to create different types of program nodes.

Both built-in program nodes (provided by Universal Robots) and AuboCap program nodes can be created. Most methods will create a node with the same default configuration as if the end user added the node manually.

Note that this default configuration may change between AuboScope versions.

Definition at line 59 of file program_node_factory.h.

Constructor & Destructor Documentation

arcs::aubo_scope::ProgramNodeFactory::ProgramNodeFactory

(

ProgramNodeFactory &

f

)

arcs::aubo_scope::ProgramNodeFactory::ProgramNodeFactory

(

ProgramNodeFactory &&

f

)

virtual arcs::aubo_scope::ProgramNodeFactory::~ProgramNodeFactory ( )

virtual

arcs::aubo_scope::ProgramNodeFactory::ProgramNodeFactory ( )

private

Member Function Documentation

AssignmentNodePtr arcs::aubo_scope::ProgramNodeFactory::createAssignmentNode

(

)

BreakNodePtr arcs::aubo_scope::ProgramNodeFactory::createBreakNode

(

)

CallNodePtr arcs::aubo_scope::ProgramNodeFactory::createCallNode

(

)

CaseNodePtr arcs::aubo_scope::ProgramNodeFactory::createCaseNode

(

)

CircleMoveNodePtr arcs::aubo_scope::ProgramNodeFactory::createCircleMoveNode

(

)

CommentNodePtr arcs::aubo_scope::ProgramNodeFactory::createCommentNode

(

)

DefaultCaseNodePtr arcs::aubo_scope::ProgramNodeFactory::createDefaultCaseNode

(

)

DirectionNodePtr arcs::aubo_scope::ProgramNodeFactory::createDirectionNode

(

)

ElseIfNodePtr arcs::aubo_scope::ProgramNodeFactory::createElseIfNode

(

)

ElseNodePtr arcs::aubo_scope::ProgramNodeFactory::createElseNode

(

)

FolderNodePtr arcs::aubo_scope::ProgramNodeFactory::createFolderNode

(

)

ForceNodePtr arcs::aubo_scope::ProgramNodeFactory::createForceNode

(

)

GripperNodePtr arcs::aubo_scope::ProgramNodeFactory::createGripperNode

(

GripperDevicePtr

gripperDevice

)

This method creates a new Gripper program node. This node type can be used for programming grip and release actions with a selected gripper device.

The program node will be created with the same default configuration as if the end user added the node manually in AuboScope, i.e. an undefined configuration where the gripper action is unselected.

Parameters

gripperDevice

the gripper device to create a Gripper node for, not null. The created Gripper node will program gripper actions for this device.

Returns

a new Gripper program node (which can be inserted into the program tree using the TreeNode interface).

Exceptions

UnresolvedDeviceException

when the specified gripperDevice device is unresolved. See GripperDevice#isResolvable().

HaltNodePtr arcs::aubo_scope::ProgramNodeFactory::createHaltNode

(

)

IfNodePtr arcs::aubo_scope::ProgramNodeFactory::createIfNode

(

)

LoopNodePtr arcs::aubo_scope::ProgramNodeFactory::createLoopNode

(

)

MoveNodePtr arcs::aubo_scope::ProgramNodeFactory::createMoveNode

(

)

Creates a default Move node with one default Waypoint node under it.

Returns

new Move Node.

MoveNodePtr arcs::aubo_scope::ProgramNodeFactory::createMoveNodeNoTemplate

(

)

Creates a default Move node without a Waypoint node under it (e.g. to be used for inserting named waypoints).

Note that at least one Waypoint node must be under it for a Move node to be valid.

Returns

new Move Node.

OfflineTrackNodePtr arcs::aubo_scope::ProgramNodeFactory::createOfflineTrackNode

(

)

PalletNodePtr arcs::aubo_scope::ProgramNodeFactory::createPalletNode

(

)

PopupNodePtr arcs::aubo_scope::ProgramNodeFactory::createPopupNode

(

)

ProgramHomeNodePtr arcs::aubo_scope::ProgramNodeFactory::createProgramHomeNode

(

)

RecordTrackNodePtr arcs::aubo_scope::ProgramNodeFactory::createRecordTrackNode

(

)

ScrewdrivingNodePtr arcs::aubo_scope::ProgramNodeFactory::createScrewdrivingNode

(

)

ScriptNodePtr arcs::aubo_scope::ProgramNodeFactory::createScriptNode

(

)

SeekNodePtr arcs::aubo_scope::ProgramNodeFactory::createSeekNode

(

)

SetNodePtr arcs::aubo_scope::ProgramNodeFactory::createSetNode

(

)

SetPayloadNodePtr arcs::aubo_scope::ProgramNodeFactory::createSetPayloadNode

(

)

SubProgNodePtr arcs::aubo_scope::ProgramNodeFactory::createSubProgNode

(

)

SwitchNodePtr arcs::aubo_scope::ProgramNodeFactory::createSwitchNode

(

)

ThreadNodePtr arcs::aubo_scope::ProgramNodeFactory::createThreadNode

(

)

TimerNodePtr arcs::aubo_scope::ProgramNodeFactory::createTimerNode

(

)

UntilNodePtr arcs::aubo_scope::ProgramNodeFactory::createUntilNode

(

)

Creates an Until Node with no until type specified.

Returns

a new Until Node.

ProgramNodePtr arcs::aubo_scope::ProgramNodeFactory::createUserProgramNode

(

const char *

typeid_service

)

This method creates a AuboCap program node which is an instance of a contribution/ProgramNodeContribution.

Parameters

typeid_service

is the service creating the program node contribution/

Returns

the ProgramNode which represents the contribution/ProgramNodeContribution created by ProgramNodeService. Returns null if AuboCap providing ProgramNodeService is not installed.

Exceptions

IllegalArgumentException

if the argument ProgramNodeService is nullor ProgramNodeService does not implement ProgramNodeService.

WaitNodePtr arcs::aubo_scope::ProgramNodeFactory::createWaitNode

(

)

WaypointNodePtr arcs::aubo_scope::ProgramNodeFactory::createWaypointNode

(

)

Creates a Waypoint node with default waypoint name (corresponds to the name generated if the end user added a new node manually).

Returns

new Waypoint Node.

WaypointNodePtr arcs::aubo_scope::ProgramNodeFactory::createWaypointNode

(

const std::string &

suggested_name

)

Creates a Waypoint node with a suggested name.

The final name can be different if the suggested name is already registered. The waypoint name is registered when it is inserted into the program tree.

Variable waypoints will use the name of the variable instead of the suggested name.

Parameters

suggested_name

the suggested name of the waypoint. Valid names must match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters.

Returns

new Waypoint Node.

Exceptions

IllegalWaypointNameException

In case of an illegal name.

Friends And Related Function Documentation

friend class DataSwitch

friend

Definition at line 193 of file program_node_factory.h.

Member Data Documentation

void* arcs::aubo_scope::ProgramNodeFactory::d_ { nullptr }

private

Definition at line 195 of file program_node_factory.h.

---

The documentation for this class was generated from the following file:

• include/aubo_caps/domain/program/nodes/program_node_factory.h