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