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@pheobeyeung
pheobeyeung authored Nov 7, 2022
1 parent c92455a commit 1027e3e
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23 changes: 23 additions & 0 deletions samples/swing/com.ur.urcap.examples.tooliocontrolswing/assembly.xml
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<assembly xmlns="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.3"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.3 http://maven.apache.org/xsd/assembly-1.1.3.xsd">
<id>sources</id>
<formats>
<format>tar.gz</format>
</formats>
<includeBaseDirectory>false</includeBaseDirectory>
<fileSets>
<fileSet>
<directory>.</directory>
<includes>
<include>pom.xml</include>
<include>assembly.xml</include>
</includes>
<useDefaultExcludes>true</useDefaultExcludes>
</fileSet>
<fileSet>
<directory>src</directory>
<useDefaultExcludes>true</useDefaultExcludes>
</fileSet>
</fileSets>
</assembly>
302 changes: 302 additions & 0 deletions samples/swing/com.ur.urcap.examples.tooliocontrolswing/pom.xml
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<?xml version="1.0"?>
<project
xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/maven-v4_0_0.xsd">

<modelVersion>4.0.0</modelVersion>

<groupId>com.ur.urcap.examples</groupId>
<artifactId>tooliocontrolswing</artifactId>
<version>1.0-SNAPSHOT</version>
<name>Tool I/O Control Swing</name>
<packaging>bundle</packaging>

<properties>

<!--********************************************************************-->
<!-- Note: Update this section with relevant meta data -->
<!-- that comes along with your URCap -->
<!--********************************************************************-->
<!--******************* BEGINNING OF URCAP META DATA *******************-->
<urcap.symbolicname>com.ur.urcap.examples.tooliocontrolswing</urcap.symbolicname>
<urcap.vendor>Universal Robots</urcap.vendor>
<urcap.contactAddress>Energivej 25, 5260 Odense S, Denmark</urcap.contactAddress>
<urcap.copyright>Copyright (C) 2009-${copyright.year} Universal Robots. All Rights Reserved</urcap.copyright>
<urcap.description>Tool I/O interface control sample URCap</urcap.description>
<urcap.licenseType>Sample license</urcap.licenseType>
<urcap.compatibility.CB3>true</urcap.compatibility.CB3>
<urcap.compatibility.eSeries>true</urcap.compatibility.eSeries>
<!--********************** END OF URCAP META DATA **********************-->
<!--********************************************************************-->

<!-- Host, username and password of the robot to be used when running "mvn install -Premote" -->
<urcap.install.host>localhost</urcap.install.host>
<urcap.install.username>root</urcap.install.username>
<urcap.install.password>easybot</urcap.install.password>

<!--Install path for the UR Sim-->
<ursim.home></ursim.home>

<!--Host and standard user/password for UR Sim running in a VM-->
<ursimvm.install.host></ursimvm.install.host>
<ursimvm.install.username>ur</ursimvm.install.username>
<ursimvm.install.password>easybot</ursimvm.install.password>

<!--Current year for the copyright-->
<copyright.year>${maven.build.timestamp}</copyright.year>
<maven.build.timestamp.format>yyyy</maven.build.timestamp.format>
</properties>

<build>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-compiler-plugin</artifactId>
<version>3.6.0</version>
<configuration>
<source>1.8</source>
<target>1.8</target>
</configuration>
</plugin>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-install-plugin</artifactId>
<version>2.5.2</version>
</plugin>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-surefire-plugin</artifactId>
<version>2.22.1</version>
<configuration>
<runOrder>alphabetical</runOrder>
<useSystemClassLoader>false</useSystemClassLoader>
</configuration>
</plugin>
<plugin>
<artifactId>maven-jar-plugin</artifactId>
<version>3.0.2</version>
<configuration>
<archive>
<manifestFile>${project.build.outputDirectory}/META-INF/MANIFEST.MF</manifestFile>
</archive>
</configuration>
</plugin>
<plugin>
<artifactId>maven-resources-plugin</artifactId>
<version>3.0.2</version>
</plugin>
<plugin>
<groupId>org.apache.felix</groupId>
<artifactId>maven-bundle-plugin</artifactId>
<version>2.4.0</version>
<extensions>true</extensions>
<executions>
<execution>
<id>bundle-manifest</id>
<phase>process-classes</phase>
<goals>
<goal>manifest</goal>
</goals>
</execution>
</executions>
<configuration>
<instructions>
<!--********** DO NOT MODIFY THE ENTRIES OF THIS SECTION **********-->
<Bundle-Category>URCap</Bundle-Category>
<Bundle-Activator>com.ur.urcap.examples.tooliocontrol.Activator</Bundle-Activator>
<Bundle-Vendor>${urcap.vendor}</Bundle-Vendor>
<Bundle-ContactAddress>${urcap.contactAddress}</Bundle-ContactAddress>
<Bundle-Copyright>${urcap.copyright}</Bundle-Copyright>
<Bundle-LicenseType>${urcap.licenseType}</Bundle-LicenseType>
<Bundle-Description>${urcap.description}</Bundle-Description>
<URCapCompatibility-CB3>${urcap.compatibility.CB3}</URCapCompatibility-CB3>
<URCapCompatibility-eSeries>${urcap.compatibility.eSeries}</URCapCompatibility-eSeries>
<!--***************************************************************-->
<Import-Package>
com.ur.urcap.api*,
*
</Import-Package>
</instructions>
</configuration>
</plugin>
<plugin>
<groupId>org.codehaus.mojo</groupId>
<artifactId>exec-maven-plugin</artifactId>
<version>1.1</version>
<executions>
<!-- generate URCap package after compiling -->
<execution>
<id>package-urcap</id>
<phase>package</phase>
<goals>
<goal>exec</goal>
</goals>
<configuration>
<executable>cp</executable>
<commandlineArgs>target/${project.build.finalName}.jar target/${project.build.finalName}.urcap</commandlineArgs>
<workingDirectory>.</workingDirectory>
</configuration>
</execution>
</executions>
</plugin>
<plugin>
<artifactId>maven-assembly-plugin</artifactId>
<configuration>
<descriptors>
<descriptor>assembly.xml</descriptor>
</descriptors>
</configuration>
<executions>
<execution>
<phase>package</phase>
<goals>
<goal>single</goal>
</goals>
</execution>
</executions>
</plugin>
</plugins>
</build>

<dependencies>
<dependency>
<groupId>org.osgi</groupId>
<artifactId>org.osgi.core</artifactId>
<version>4.3.0</version>
</dependency>

<dependency>
<groupId>com.ur.urcap</groupId>
<artifactId>api</artifactId>
<version>1.7.0</version>
<scope>provided</scope>
</dependency>

<!-- test dependencies -->
<dependency>
<groupId>junit</groupId>
<artifactId>junit</artifactId>
<version>4.12</version>
<scope>test</scope>
</dependency>
</dependencies>

<profiles>
<profile>
<id>remote</id>
<build>
<plugins>
<plugin>
<groupId>org.codehaus.mojo</groupId>
<artifactId>exec-maven-plugin</artifactId>
<version>1.1</version>
<executions>
<execution>
<id>remote-install-urcap</id>
<phase>install</phase>
<goals>
<goal>exec</goal>
</goals>
<configuration>
<executable>sshpass</executable>
<commandlineArgs>-p ${urcap.install.password} scp -o StrictHostKeyChecking=no target/${project.build.finalName}.jar ${urcap.install.username}@${urcap.install.host}:/root/.urcaps/${urcap.symbolicname}.jar</commandlineArgs>
<workingDirectory>.</workingDirectory>
</configuration>
</execution>
<execution>
<id>remote-restart-ui</id>
<phase>install</phase>
<goals>
<goal>exec</goal>
</goals>
<configuration>
<executable>sshpass</executable>
<commandlineArgs>-p ${urcap.install.password} ssh ${urcap.install.username}@${urcap.install.host} pkill java</commandlineArgs>
<workingDirectory>.</workingDirectory>
</configuration>
</execution>
</executions>
</plugin>
</plugins>
</build>
</profile>
<profile>
<id>local</id>
<build>
<plugins>
<plugin>
<groupId>org.codehaus.mojo</groupId>
<artifactId>exec-maven-plugin</artifactId>
<version>1.1</version>
<executions>
<execution>
<id>local-install-urcap</id>
<phase>install</phase>
<goals>
<goal>exec</goal>
</goals>
<configuration>
<executable>cp</executable>
<commandlineArgs>target/${project.build.finalName}.jar ${user.home}/.urcaps/${urcap.symbolicname}.jar</commandlineArgs>
<workingDirectory>.</workingDirectory>
</configuration>
</execution>
</executions>
</plugin>
</plugins>
</build>
</profile>
<profile>
<id>ursim</id>
<build>
<plugins>
<plugin>
<groupId>org.codehaus.mojo</groupId>
<artifactId>exec-maven-plugin</artifactId>
<version>1.1</version>
<executions>
<execution>
<id>ursim-install-urcap</id>
<phase>install</phase>
<goals>
<goal>exec</goal>
</goals>
<configuration>
<executable>cp</executable>
<commandlineArgs>target/${project.build.finalName}.jar ${ursim.home}/.urcaps/${urcap.symbolicname}.jar</commandlineArgs>
<workingDirectory>.</workingDirectory>
</configuration>
</execution>
</executions>
</plugin>
</plugins>
</build>
</profile>
<profile>
<id>ursimvm</id>
<build>
<plugins>
<plugin>
<groupId>org.codehaus.mojo</groupId>
<artifactId>exec-maven-plugin</artifactId>
<version>1.1</version>
<executions>
<execution>
<id>ursimvm-install-urcap</id>
<phase>install</phase>
<goals>
<goal>exec</goal>
</goals>
<configuration>
<executable>sshpass</executable>
<commandlineArgs>-p ${ursimvm.install.password} scp -o StrictHostKeyChecking=no target/${project.build.finalName}.jar ${ursimvm.install.username}@${ursimvm.install.host}:/home/ur/ursim-current/.urcaps/${urcap.symbolicname}.jar</commandlineArgs>
<workingDirectory>.</workingDirectory>
</configuration>
</execution>
</executions>
</plugin>
</plugins>
</build>
</profile>
</profiles>
</project>
20 changes: 20 additions & 0 deletions ...mples.tooliocontrolswing/src/main/java/com/ur/urcap/examples/tooliocontrol/Activator.java
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package com.ur.urcap.examples.tooliocontrol;

import com.ur.urcap.api.contribution.installation.swing.SwingInstallationNodeService;
import com.ur.urcap.api.contribution.program.swing.SwingProgramNodeService;
import com.ur.urcap.examples.tooliocontrol.installation.ToolIOControlInstallationNodeService;
import com.ur.urcap.examples.tooliocontrol.program.ToolIOControlProgramNodeService;
import org.osgi.framework.BundleActivator;
import org.osgi.framework.BundleContext;

public class Activator implements BundleActivator {
@Override
public void start(BundleContext bundleContext) throws Exception {
bundleContext.registerService(SwingInstallationNodeService.class, new ToolIOControlInstallationNodeService(), null);
bundleContext.registerService(SwingProgramNodeService.class, new ToolIOControlProgramNodeService(), null);
}

@Override
public void stop(BundleContext bundleContext) throws Exception {
}
}
38 changes: 38 additions & 0 deletions .../urcap/examples/tooliocontrol/installation/ToolIOControlInstallationNodeContribution.java
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package com.ur.urcap.examples.tooliocontrol.installation;

import com.ur.urcap.api.contribution.InstallationNodeContribution;
import com.ur.urcap.api.contribution.installation.InstallationAPIProvider;
import com.ur.urcap.api.domain.resource.ControllableResourceModel;
import com.ur.urcap.api.domain.script.ScriptWriter;

public class ToolIOControlInstallationNodeContribution implements InstallationNodeContribution {
private final ToolIOControlInstallationNodeView view;
private final ToolIOController toolIOController;

public ToolIOControlInstallationNodeContribution(InstallationAPIProvider apiProvider, ToolIOControlInstallationNodeView view) {
this.view = view;

ControllableResourceModel resourceModel = apiProvider.getInstallationAPI().getControllableResourceModel();
toolIOController = new ToolIOController(resourceModel, apiProvider.getSystemAPI().getCapabilityManager());
resourceModel.requestControl(toolIOController);
}

@Override
public void openView() {
view.showHelp(!toolIOController.hasControl());
}

@Override
public void closeView() {

}

@Override
public void generateScript(ScriptWriter writer) {

}

public boolean isSetupCorrect() {
return toolIOController.isSetupCorrect();
}
}
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