URCap Button to run URScript

URCap Development
2

Check out this link, and add these class files to your project. They give you functions for sending lines of script for execution from java. Once you have those, something like the following code will, in this case, set digital output 1 to True:

				final ScriptCommand script = new ScriptCommand();
				//create a new String to hold the command
				String string = "set_digital_out(1,True)";
				//assign the newly created command as Primary. Secondary commands cannot consume robot time
				script.setAsPrimaryProgram();
				//add the created string to the command
				script.appendLine(string);
				//create a new instance of a ScriptSender
				final ScriptSender sender = new ScriptSender();
				//send the created script using the newly created sender
				sender.sendScriptCommand(script);

You could replace .setAsPrimaryProgram() with .setAsSecondaryProgram() if you don’t want your main program to be interrupted.

Now, that’s fine for sending script commands. But I’ll point out, it’s kinda laggy, and if you spam those buttons, you can really lag the robot. If all you’re trying to do is set a physical output via Java, that’s possible to do directly and much quicker.

import java.util.Collection;
import java.util.Iterator;

import com.ur.urcap.api.domain.io.DigitalIO;
import com.ur.urcap.api.domain.io.IO;
import com.ur.urcap.api.domain.io.IOModel;
import com.ur.urcap.api.domain.io.ModbusIO;

public class IOHelper {

	private final IOModel ioModel;

	public IOHelper(final IOModel ioModel) {
		this.ioModel = ioModel;
	}

	public DigitalIO[] getDigitalInputs() {
		final Collection<DigitalIO> ioCollection = ioModel.getIOs(DigitalIO.class);
		ioCollection.removeIf(n -> !n.isInput());
		final int inputSize = ioCollection.size();
		final Iterator<DigitalIO> itr = ioCollection.iterator();
		final DigitalIO[] inputList = new DigitalIO[inputSize];

		for (int i = 0; i < inputSize; i++) {
			inputList[i] = itr.next();
		}
		return inputList;
	}
	
	
	
	public DigitalIO[] getDigitalOutputs() {
		final Collection<DigitalIO> ioCollection = ioModel.getIOs(DigitalIO.class);
		ioCollection.removeIf(DigitalIO::isInput);
		final int outputSize = ioCollection.size();
		final Iterator<DigitalIO> itr = ioCollection.iterator();
		final DigitalIO[] outputList = new DigitalIO[outputSize];

		for (int i = 0; i < outputSize; i++) {
			outputList[i] = itr.next();
		}
		return outputList;
	}

	public ModbusIO[] getModBusInputs() {
		final Collection<ModbusIO> ioCollection = ioModel.getIOs(ModbusIO.class);
		ioCollection.removeIf(n -> !n.isInput());
		final int inputSize = ioCollection.size();
		final Iterator<ModbusIO> itr = ioCollection.iterator();
		final ModbusIO[] inputList = new ModbusIO[inputSize];

		for (int i = 0; i < inputSize; i++) {
			inputList[i] = itr.next();
		}
		return inputList;
	}

	public ModbusIO[] getModBusOutputs() {
		final Collection<ModbusIO> ioCollection = ioModel.getIOs(ModbusIO.class);
		ioCollection.removeIf(ModbusIO::isInput);
		final int outputSize = ioCollection.size();
		final Iterator<ModbusIO> itr = ioCollection.iterator();
		final ModbusIO[] outputList = new ModbusIO[outputSize];

		for (int i = 0; i < outputSize; i++) {
			outputList[i] = itr.next();
		}
		return outputList;
	}

	public DigitalIO getSpecificDigitalIO(final String defaultName) {
		final Collection<DigitalIO> ioCollection = ioModel.getIOs(DigitalIO.class);
		final int ioCount = ioCollection.size();

		if (ioCount > 0) {
			final Iterator<DigitalIO> ioItr = ioCollection.iterator();
			while (ioItr.hasNext()) {
				final DigitalIO thisIO = ioItr.next();
				final String thisDefaultName = thisIO.getDefaultName();
				if (thisDefaultName.equals(defaultName)) {
					return thisIO;
				}
			}
		}
		return null;
	}
	
	public IO getSpecificGPIO(final String defaultName) {
		final Collection<IO> ioCollection = ioModel.getIOs();
		final int ioCount = ioCollection.size();

		if (ioCount > 0) {
			final Iterator<IO> ioItr = ioCollection.iterator();
			while (ioItr.hasNext()) {
				final IO thisIO = ioItr.next();
				final String thisDefaultName = thisIO.getDefaultName();
				if (thisDefaultName.equals(defaultName)) {
					return thisIO;
				}
			}
		}
		return null;
	}
	
	

	public ModbusIO getSpecificModBusIO(final String signalName) {
		final Collection<ModbusIO> ioCollection = ioModel.getIOs(ModbusIO.class);
		final int ioCount = ioCollection.size();
		if (ioCount > 0) {
			final Iterator<ModbusIO> ioItr = ioCollection.iterator();
			while (ioItr.hasNext()) {
				final ModbusIO thisIO = ioItr.next();
				final String thisSignalAddress = thisIO.getName();
				if (thisSignalAddress.equals(signalName)) {
					return thisIO;
				}
			}
		}
		return null;
	}

}

Here’s the whole classfile for IOHelper, which just makes it a little easier to access the IO you want to control.
I reference this link when I need to know the name of an IO: How to obtain a list of ALL the IOs on the robot using the URCap Java API - #3 by fujikit

Once you have that, you can just say something like:

DigitalIO digitalOut1= IOHelper.getSpecificDigitalIO("digital_out[1]");

Now in the action of your button, you can do:

digitalOut1.setValue(true);

to turn it on, and setValue(false) to turn it off.

Hope some of that is helpful.

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