StartStopSwitchUI.java

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package grl;

import java.util.ArrayList;
import java.util.List;

import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import com.kuka.roboticsAPI.uiModel.userKeys.IUserKeyBar;
import com.kuka.roboticsAPI.uiModel.userKeys.IUserKeyListener;
import com.kuka.roboticsAPI.uiModel.userKeys.IUserKey;
import com.kuka.roboticsAPI.uiModel.userKeys.UserKeyAlignment;
import com.kuka.roboticsAPI.uiModel.userKeys.UserKeyEvent;

public class StartStopSwitchUI {

    private RoboticsAPIApplication  _app;
    // configurable toolbars
    private List<IUserKeyBar> generalKeyBars = new ArrayList<IUserKeyBar>();
    private List<IUserKey> generalKeys = new ArrayList<IUserKey>();
    private List<IUserKeyListener> generalKeyLists = new ArrayList<IUserKeyListener>();
    
    // gravity compensation stuff
    private IUserKeyBar startstopKeybar;
    private IUserKey startstopKey;
    private IUserKeyListener startstopKeyList;
    private boolean startstopEnabled = false;
    private boolean startstopSwitched = false;

public StartStopSwitchUI(RoboticsAPIApplication app)
{
    _app = app;


    // gravity compensation - only in ROSMonitor for safety
    startstopKeybar = _app.getApplicationUI().createUserKeyBar("startstop");
    startstopKeyList = new IUserKeyListener() {
        @Override
        public void onKeyEvent(IUserKey key, com.kuka.roboticsAPI.uiModel.userKeys.UserKeyEvent event) {
            if (event == UserKeyEvent.FirstKeyDown) {
                startstopEnabled = true;
                startstopSwitched = true;
            } else if (event == UserKeyEvent.SecondKeyDown) {
                startstopEnabled = false;
                startstopSwitched = true;
            }
        }
    };
    startstopKey = startstopKeybar.addDoubleUserKey(0, startstopKeyList, true);
    startstopKey.setText(UserKeyAlignment.TopMiddle, "ON");
    startstopKey.setText(UserKeyAlignment.BottomMiddle, "OFF");
    startstopKeybar.publish();
}

public boolean is_stopped()
{
    return startstopEnabled;
}

}