example java source for B-cap JavaClient - pick and place

Orin2RobotManager.java

package my.skymind.denso;

import orin2.bcap.BCAPClient;

import java.lang.reflect.Array;

public class Orin2RobotManager {
    private BCAPClient m_client;
    private int hCtrl = 0;
    private int hRob = 0;

    public Orin2RobotManager() {
        try {

            m_client = new BCAPClient("udp:192.168.0.1", 500, 3);
            m_client.Service_Start("WDT=400");
            hCtrl = m_client.Controller_Connect("Ctrl1", "CaoProv.DENSO.VRC", "localhost", "");

            try {
                hRob = m_client.Controller_GetRobot(hCtrl, "Rob", "");
                m_client.Robot_Execute(hRob, "Takearm", new int[]{0, 1});
            } catch (Throwable cause) {
                System.out.println(cause.toString());
            }

        } catch (Throwable cause) {
            System.out.println(cause.toString());
        }
    }

    public void dispose() {
        /* Release arm control authority */
        try {
            m_client.Robot_Execute(hRob, "Givearm", null);
            if (hRob != 0) {
                /* Release robot handle */
                m_client.Robot_Release(hRob);
            }

            if (hCtrl != 0) {
                /* Disconnect controller */
                m_client.Controller_Disconnect(hCtrl);
            }

            m_client.Service_Stop();
            m_client.Release();
        } catch (Throwable cause) {
            System.out.println(cause.toString());
        }

    }

    public void offMotor() {
        /* Motor off */
        try {
            m_client.Robot_Execute(hRob, "Motor", false);
        } catch (Throwable cause) {
            System.out.println(cause.toString());
        }
    }

    public void moveTo(String positionStr) {

        /* Move to first pose */
        try {
            m_client.Robot_Move(hRob, 1, positionStr, "");
        } catch (Throwable cause) {
            System.out.println(cause.toString());
        }
    }

    public void setSpeed(Object[] speed) {

        /* Speed */
        try {
            m_client.Robot_Speed(50, 25, 25.0f);
        } catch (Throwable cause) {
            System.out.println(cause.toString());
        }
    }

    public void onMotor() {

        /* Motor on */
        try {
            m_client.Robot_Execute(hRob, "Motor", true);
        } catch (Throwable cause) {
            System.out.println(cause.toString());
        }
    }

    public void halt() {
        try {
            m_client.Robot_Halt(hRob, "");
        } catch (Throwable cause) {
            System.out.println(cause.toString());
        }
    }

    public void clearError() {
        try {
            m_client.Controller_Execute(hCtrl,"ClearError",new Object[]{1});
        } catch (Throwable throwable) {
            throwable.printStackTrace();
        }
    }

    public void demo1() throws InterruptedException {
        boolean isLego = true;
    //                          Simple Pick and Place
    //        try {
    //            this.setSpeed(new Object[]{50, 25, 25.0f});
    //            //Initialize, go to HOME location and open the grip
    //            m_client.Controller_Execute(hCtrl, "HandMoveA", new Object[]{ 25,50});
    //            Thread.sleep(100);
    //            m_client.Robot_Move(hRob, 1, "@P P50", "");
    //            Thread.sleep(100);
    //            m_client.Robot_Move(hRob, 1, "@P P51", "");
    //            Thread.sleep(100);
    //            m_client.Robot_Move(hRob, 1, "@P P52", "");
    //            Thread.sleep(100);
    //            m_client.Controller_Execute(hCtrl, "HandMoveA", new Object[]{ 17,50});
    //            Thread.sleep(100);
    //            m_client.Robot_Move(hRob, 1, "@P P53", "");
    //            Thread.sleep(100);
    //            m_client.Robot_Move(hRob, 1, "@P P54", "");
    //            Thread.sleep(100);
    //            m_client.Controller_Execute(hCtrl, "HandMoveA", new Object[]{ 25,50});
    //            Thread.sleep(100);
    //            m_client.Robot_Move(hRob, 1, "@P P54", "");
    //            this.offMotor();
    //        } catch (Throwable throwable) {
    //            throwable.printStackTrace();
    //        }

    //                              Inspect and Classify
          try {
            this.setSpeed(new Object[]{50, 25, 25.0f});
            //Initialize, go to HOME location and open the grip
            m_client.Controller_Execute(hCtrl, "HandMoveA", new Object[]{ 25,50});
            Thread.sleep(100);
            m_client.Robot_Move(hRob, 1, "@P P50", "");
            Thread.sleep(100);
            m_client.Robot_Move(hRob, 1, "@P P51", "");
            Thread.sleep(100);
            //Go to pick up area
            m_client.Robot_Move(hRob, 1, "@P P60", "");
            Thread.sleep(100);
            //Grip the container
            m_client.Controller_Execute(hCtrl, "HandMoveA", new Object[]{ 2,50});
            Thread.sleep(100);
            //Go to inspection area
            m_client.Robot_Move(hRob, 1, "@P P61", "");
            Thread.sleep(2000);

            if (isLego == true) {
                //Go to above landing Zone
                m_client.Robot_Move(hRob, 1, "@P P62", "");
                Thread.sleep(100);
                //Drop item to landing zone
                m_client.Robot_Move(hRob, 1, "@P P63", "");
                Thread.sleep(100);
                //Back to above landing zone
                m_client.Robot_Move(hRob, 1, "@P P62", "");
                Thread.sleep(100);
                m_client.Robot_Move(hRob, 1, "@P P61", "");
                Thread.sleep(100);
            }
            else {
                //Go to above landing Zone
                m_client.Robot_Move(hRob, 1, "@P P64", "");
                Thread.sleep(100);
                //Drop item to landing zone
                m_client.Robot_Move(hRob, 1, "@P P65", "");
                Thread.sleep(100);
                //Back to above landing zone
                m_client.Robot_Move(hRob, 1, "@P P64", "");
                Thread.sleep(100);
                m_client.Robot_Move(hRob, 1, "@P P61", "");
                Thread.sleep(100);
            }

            //Leave the container back at pick up area
            m_client.Robot_Move(hRob, 1, "@P P60", "");
            Thread.sleep(100);
            m_client.Controller_Execute(hCtrl, "HandMoveA", new Object[]{ 25,50});
            Thread.sleep(100);

            //Go back to home position
            m_client.Robot_Move(hRob, 1, "@P P51", "");
            this.offMotor();

        } catch (Throwable throwable) {
            throwable.printStackTrace();
        }


    }
}