Universal Robots Forum

Software error message

I´ve modified the HellloworldProgramNodecontribution to realise a URCap that moves the Robot directly to a desired move with a simple click on my URCap Button as below :

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

import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;

// 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 ;

public class HelloWorldProgramNodeContribution {

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(p[0.0,-0.3,0.1,0,3.1415,0],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);
	}
}

}

}

the Project is succefully built but when I press my URCap iget an error message :
"Software Error !"
Java.lang.NoSuchMethodError:com.ur.urcap.examples.helloworld.impl.HelloWorldProgramNodeContribution.(Lcom/ur/urcap/api/Domain/URCapAPI:Lcom/ur/urcap/api/Domain/data/DataModel:)V

does anyone knows why am I getting this Error?
should I modify my “programnode.html” File?

thank you for your help :slight_smile:

Is this the only class, that you have in your URCap?
If so, it seems that you are missing all of the Overridden methods for a ProgramNodeContribution.

should I use the Overridden methods?
when yes ,what i the Utility here to use an @Override mehod
I searched in Google but I didn’t get a convincing answer
thank you in advance