NodeContribution does not implement the generateScript()

URCap Development
1

I modified the HelloWorld Program Contribution as bellow
but I have always an Error:

HelloworldProgamNodeContribution is not abstract and does not override abstract method generateScript(ScriptWriter) in ProgramNode Contribution

package com.ur.urcap.examples.helloworld.impl ;

// API stuff imported
import com.ur.urcap.api .contribution.ProgramNodeContribution ;
import com.ur.urcap.api.domain.URCapAPI ;
import com.ur.urcap.api.domain.data.DataModel ;
import com.ur.urcap.api.domain.script.ScriptWriter ;
import com.ur.urcap.api.ui.annotation.Input ;
import com.ur.urcap.api.ui.annotation.Label ;
import com.ur.urcap.api.ui.component.InputEvent ;
import com.ur.urcap.api.ui.component.InputTextField ;
import com.ur.urcap.api.ui.component.LabelComponent ;

// Used for reading from RealTime Client
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;

public class HelloWorldProgramNodeContribution implements ProgramNodeContribution {

         private final URCapAPI urCapAPI;
         private final DataModel dataModel;

public HelloWorldProgramNodeContribution(URCapAPI urCapAPI, DataModel dataModel) {
this.urCapAPI = urCapAPI;
this.dataModel = dataModel;
}
// Include the “clientSendScript” class as “scriptSender”
//clientSendScript scriptSender = new clientSendScript();

// Just a pose, that is used for moving the robot…
private String myPose = “p[0.0,-0.3,0.1,0,3.1415,0]”;

public class clientSendScript {

public clientSendScript() { }

// localhost IP
private String TCP_IP = “127.0.0.1”;
// Port for secondary client
private int TCP_port = 30002;

// Public method to send MoveJ command to client interface
public void sendMoveJ(String pose){
sendToSecondary(“movej(”+myPose+“,a=1.57,v=0.5)”);
}

// Internal method that sends script to client
private void sendToSecondary(String command){
try{
// Create a new Socket Client
Socket sc = new Socket(TCP_IP, TCP_port);
if (sc.isConnected()){
System.out.println(“Connected to UR Secondary Client”);
}

  	// Create stream for data
  	DataOutputStream out;
  	out = new DataOutputStream(sc.getOutputStream());
  	
  	// Wrap command in "def" and "end"
  	String thisCommand = "def myCustomCode():\n "+command+"\n end\n";
  	
  	// Send command
  	out.writeUTF(thisCommand);
  	System.out.println("Send this: "+thisCommand);
  	out.flush();

  	// Perform housekeeping 
  	out.close();
  	sc.close();
  	System.out.println("Disconnected from UR Secondary Client");
  } 
  catch (IOException e){
  	System.out.println(e);
  }

}
}

}

thank you in advance

2

Hi,

I follow this code to send movej but I also would like some event for the next step after the robot already moved to the target position successful.

could you please give me an advice.

3

It seems as if your NodeContribution does not implement the generateScript() function the ProgramNodeContribution interface demands.
Just add the following lines and your error should disappear:

@Override
public void generateScript(ScriptWriter writer){}

The interface needs some more functions to be defined. Probably best if you have a look into one of the example URCaps or the definition of the ProgramNodeContribution interface.

1 Like
4

Hi,

I follow this code and it work very well. but I can see that move respect to base coordination, I wonder how to change it to move the robot respect to Tool coordination.

normally, I move the robot with URscript as below but now I would like to move as the same via URCap

Example code:

global pose_wrt_tool = p[0,0,0.1,0,0 , 1.57]

global pose_wrt_base = pose_trans(get_forward_kin(), pose_wrt_tool)

movel( pose_wrt_base , a=1.2, v=0.25)

   get_forward_kin() returns current pose.