program_node_factory.h

Go to the documentation of this file.

#ifndef AUBO_SCOPE_PROGRAM_NODE_FACTORY_H
#define AUBO_SCOPE_PROGRAM_NODE_FACTORY_H
 
#include <aubo_caps/domain/program/nodes/builtin/assignment_node.h>
#include <aubo_caps/domain/program/nodes/builtin/circle_move_node.h>
#include <aubo_caps/domain/program/nodes/builtin/comment_node.h>
#include <aubo_caps/domain/program/nodes/builtin/direction_node.h>
#include <aubo_caps/domain/program/nodes/builtin/folder_node.h>
#include <aubo_caps/domain/program/nodes/builtin/force_node.h>
#include <aubo_caps/domain/program/nodes/builtin/force_option_node.h>
#include <aubo_caps/domain/program/nodes/builtin/tool_force_zeroing_node.h>
#include <aubo_caps/domain/program/nodes/builtin/force_contact_node.h>
#include <aubo_caps/domain/program/nodes/builtin/force_align_node.h>
#include <aubo_caps/domain/program/nodes/builtin/force_compliant_grasp_node.h>
#include <aubo_caps/domain/program/nodes/builtin/force_entrance_search_node.h>
#include <aubo_caps/domain/program/nodes/builtin/halt_node.h>
#include <aubo_caps/domain/program/nodes/builtin/program_home_node.h>
#include <aubo_caps/domain/program/nodes/builtin/if_node.h>
#include <aubo_caps/domain/program/nodes/builtin/else_if_node.h>
#include <aubo_caps/domain/program/nodes/builtin/else_node.h>
#include <aubo_caps/domain/program/nodes/builtin/loop_node.h>
#include <aubo_caps/domain/program/nodes/builtin/move_node.h>
#include <aubo_caps/domain/program/nodes/builtin/pallet_node.h>
#include <aubo_caps/domain/program/nodes/builtin/popup_node.h>
#include <aubo_caps/domain/program/nodes/builtin/timer_node.h>
#include <aubo_caps/domain/program/nodes/builtin/screw_driving_node.h>
#include <aubo_caps/domain/program/nodes/builtin/script_node.h>
#include <aubo_caps/domain/program/nodes/builtin/seek_node.h>
#include <aubo_caps/domain/program/nodes/builtin/set_node.h>
#include <aubo_caps/domain/program/nodes/builtin/set_payload_node.h>
#include <aubo_caps/domain/program/nodes/builtin/until_node.h>
#include <aubo_caps/domain/program/nodes/builtin/wait_node.h>
#include <aubo_caps/domain/program/nodes/builtin/waypoint_node.h>
#include <aubo_caps/domain/program/nodes/builtin/switch_node.h>
#include <aubo_caps/domain/program/nodes/builtin/case_node.h>
#include <aubo_caps/domain/program/nodes/builtin/default_case_node.h>
#include <aubo_caps/domain/program/nodes/builtin/break_node.h>
#include <aubo_caps/domain/program/nodes/builtin/sub_prog_node.h>
#include <aubo_caps/domain/program/nodes/builtin/call_node.h>
#include <aubo_caps/domain/program/nodes/builtin/thread_node.h>
#include <aubo_caps/domain/program/nodes/builtin/offline_track_node.h>
#include <aubo_caps/domain/program/nodes/builtin/record_track_node.h>
#include <aubo_caps/domain/program/nodes/builtin/gripper_node.h>
#include <aubo_caps/domain/program/nodes/builtin/assembly_node.h>
#include <aubo_caps/domain/program/nodes/builtin/visual_localization_program_node.h>
#include <aubo_caps/domain/program/nodes/builtin/conveyor_tracking_node.h>
#include <aubo_caps/domain/program/nodes/builtin/gripper_node.h>
 
namespace arcs {
namespace aubo_scope {
ARCS_CLASS_FORWARD(ProgramNodeFactory);
ARCS_CLASS_FORWARD(ProgramNodeService);
 
/**
 * \chinese
 * 程序节点工厂
 * 此接口提供创建不同类型程序节点的方法。
 *
 * 可以创建内置程序节点（由 AUBO Robots 提供）和 AuboCap 程序节点。大多数方法
 * 将创建与终端用户手动添加节点时具有相同默认配置的节点。
 *
 * 请注意，此默认配置可能会因 AuboScope 版本而异。
 * \endchinese
 * \english
 * ProgramNodeFactory
 * This interfaces supplies methods to create different types of program nodes.
 *
 * Both built-in program nodes (provided by AUBO 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.
 * \endenglish
 */
class ARCS_ABI_EXPORT ProgramNodeFactory
{
public:
    ProgramNodeFactory(ProgramNodeFactory &f);
    ProgramNodeFactory(ProgramNodeFactory &&f);
    virtual ~ProgramNodeFactory();
 
    /**
     * \chinese
     * 创建一个 AuboCap 程序节点，该节点是 ProgramNodeContribution 的实例。
     *
     * @param typeid_service 创建程序节点贡献的服务
     * @return 由 ProgramNodeService 创建的表示 ProgramNodeContribution 的
     * ProgramNode。如果提供 ProgramNodeService 的 AuboCap 未安装，则返回
     * <code>null</code>。
     * @throws IllegalArgumentException 如果参数 ProgramNodeService 为
     * <code>null</code> 或未实现 ProgramNodeService
     * \endchinese
     * \english
     * This method creates a AuboCap program node which is an instance of a
     * {@link contribution/ProgramNodeContribution}.
     *
     * @param typeid_service is the service creating the program node
     * contribution
     * @return the {@link ProgramNode} which represents the {@link
     * contribution/ProgramNodeContribution} created by {@link
     * ProgramNodeService}. Returns <code>null</code> if AuboCap providing
     * ProgramNodeService is not installed.
     * @throws IllegalArgumentException if the argument ProgramNodeService
     * is <code>null</code> or ProgramNodeService does not implement {@link
     * ProgramNodeService}.
     * \endenglish
     */
    ProgramNodePtr createUserProgramNode(const char *typeid_service);
 
    /**
     * \chinese
     * 创建一个默认的移动节点，其下包含一个默认路点节点。
     * @return 新的移动节点
     * \endchinese
     * \english
     * Creates a default Move node with one default Waypoint node under it.
     * @return new Move Node.
     * \endenglish
     */
    MoveNodePtr createMoveNode();
 
    /**
     * \chinese
     * <p>创建一个默认的移动节点，其下不包含路点节点（例如用于插入命名路点）。</p>
     * 注意：移动节点必须至少包含一个路点节点才有效。
     * @return 新的移动节点
     * \endchinese
     * \english
     * <p>Creates a default Move node without a Waypoint node under it (e.g. to
     * be used for inserting named waypoints).</p> Note that at least one
     * Waypoint node must be under it for a Move node to be valid.
     * @return new Move Node.
     * \endenglish
     */
    MoveNodePtr createMoveNodeNoTemplate();
 
    /**
     * \chinese
     * 创建具有默认路点名称的路点节点（对应终端用户手动添加新节点时生成的名称）。
     * @return 新的路点节点
     * \endchinese
     * \english
     * Creates a Waypoint node with default waypoint name (corresponds to the
     * name generated if the end user added a new node manually).
     * @return new Waypoint Node.
     * \endenglish
     */
    WaypointNodePtr createWaypointNode();
 
    /**
     * \chinese
     * <p>创建具有建议名称的路点节点。</p>
     * <p>如果建议名称已被注册，最终名称可能会不同。路点名称在插入程序树时注册。</p>
     * 变量路点将使用变量名称而不是建议名称。
     *
     * @param suggested_name 建议的路点名称。有效名称必须匹配正则表达式
     * [a-zA-Z][a-zA-Z0-9_]{0,14}
     * @return 新的路点节点
     * @throws IllegalWaypointNameException 如果名称为非法格式
     * \endchinese
     * \english
     * <p>Creates a Waypoint node with a suggested name.</p>
     * <p>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.</p>
     * Variable waypoints will use the name of the variable instead of the
     * suggested name.
     *
     * @param 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.
     * @return new Waypoint Node.
     * @throws IllegalWaypointNameException In case of an illegal name.
     * \endenglish
     */
    WaypointNodePtr createWaypointNode(const std::string &suggested_name);
 
    /**
     * \chinese
     * 创建一个未指定 until 类型的 Until 节点。
     * @return 新的 Until 节点
     * \endchinese
     * \english
     * Creates an Until Node with no until type specified.
     * @return a new Until Node.
     * \endenglish
     */
    UntilNodePtr createUntilNode();
    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();
    ForceOptionNodePtr createForceOptionNode();
    ToolForceZeroingNodePtr createToolForceZeroingNode();
    ForceAlignNodePtr createForceAlignNode();
    ForceCompliantGraspNodePtr createForceCompliantGraspNode();
    ForceEntranceSearchNodePtr createForceEntranceSearchNode();
    ForceContactNodePtr createForceContactNode();
    AssemblyNodePtr createAssemblyNode();
    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();
    VisualLocalizationProgramNodePtr createVisualLocalizationProgramNode();
    ConveyorTrackingNodePtr createConveyorTrackingNode();
 
    /**
     * \chinese
     * <p>创建新的夹爪程序节点。此节点类型可用于编程所选夹爪设备的夹取和释放动作。</p>
     * 程序节点将使用与终端用户在 AuboScope 中手动添加节点时相同的默认配置创建，
     * 即未选择夹爪动作的未定义配置。
     *
     * @param gripperDevice 要为其创建夹爪节点的夹爪设备，不能为
     * <code>null</code>。 创建的夹爪节点将为此设备编程夹爪动作。
     * @return 新的夹爪程序节点（可使用 TreeNode 接口插入到程序树中）
     * @throws UnresolvedDeviceException 当指定的 gripperDevice 设备不可解析时
     * \endchinese
     * \english
     * <p>
     * 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.
     * </p>
     * 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.
     *
     * @param gripperDevice the gripper device to create a Gripper node for, not
     * <code>null</code>. The created Gripper node will program gripper actions
     * for this device.
     * @return a new Gripper program node (which can be inserted into the
     * program tree using the {@link TreeNode} interface).
     * @throws UnresolvedDeviceException when the specified
     * <code>gripperDevice</code> device is unresolved. See
     *                                   {@link GripperDevice#isResolvable()}.
     * \endenglish
     */
    GripperNodePtr createGripperNode(GripperDevicePtr gripperDevice);
 
private:
    friend class DataSwitch;
    ProgramNodeFactory();
    void *d_{ nullptr };
};
 
} // namespace aubo_scope
} // namespace arcs
 
#endif