Swing URCap Toolbar Contributions

Universal Robots A/S

Version 1.14.0

Abstract
As of URCap API version 1.4, support for URCap toolbar contributions with a Swing-
based user interface is introduced for version 5.0.0 of PolyScope. This document will de-
scribe how to contribute a toolbar view to the toolbar in PolyScope for a URCap.

Copyright c 2009-2023 by Universal Robots A/S, all rights reserved

Toolbar Contributions 1 Version 1.14.0

0 Contents

Contents

1 Introduction 3

2 Purpose of Toolbar Contributions 3

3 Contribution of a Panel to the Toolbar 3

3.1 Creating the Contributed Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
3.2 Making the Toolbar Contribution available to PolyScope . . . . . . . . . . . . . . 5
3.3 Layout of Toolbar Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Copyright c 2009-2023 by Universal Robots A/S, all rights reserved

Toolbar Contributions 2 Version 1.14.0

3 Contribution of a Panel to the Toolbar

1 Introduction
This document describes the purpose of URCap toolbar contributions in PolyScope and how to
work with them through the URCap API.

2 Purpose of Toolbar Contributions

For an advanced user interface (UI), it can be an advantage to be able to display information
from the URCap in a toolbar panel of its own. The panel can contain information retrieved
from the URCap, e.g. gripper status or it could be buttons bound to URCap actions like ”start
welding”.

Multiple URCaps from different providers can be installed on the robot at the same time and
the toolbar functionality will allow URCaps to provide toolbar panels that will coexists with
panels from other URCaps.

The individual panels are Swing JPanels and PolyScope provides functionality to bind these
panels together and make them available via a toolbar of contributed URCap panels.

3 Contribution of a Panel to the Toolbar

Copyright c 2009-2023 by Universal Robots A/S, all rights reserved

A URCap can contribute one or more panels, available via the toolbar. Each panel is a Swing
JPanel customizable by the URCap provider by means of other Java Swing GUI components.

3.1 Creating the Contributed Panel

To contribute a panel to the URCap, implement the SwingToolbarContribution interface. The
interface has three methods that must be implemented:

• void buildUI(JPanel): Called once at start up. The UI is built on the provided JPanel. List-
ing 1 shows how Swing GUI components are added to the JPanel to form the contribution.
The provided panel will have a Swing UI manager already set, meaning that components
without additional styling will look as native PolyScope ones including the correct font
types. In order to resemble PolyScope the components should therefore only use limited
styling, such as font sizes or component sizes (if the applied ones are not suitable). Note:
PolyScope will restrict the given JPanel in some ways to prevent a URCap from breaking
the PolyScope UI and help the URCap provider to align with PolyScope UI styling.

• void openView(): Called each time the user selects this URCap toolbar contribution in the
toolbar
• void closeView(): Called each time the user exits this URCap toolbar contribution in the
toolbar

Listing 1: MyToolbar toolbar contribution

1 package com . ur . urcap . examples . mytoolbar ;
2
3 import com . ur . urcap . api . contribution . toolbar . Tool barConte xt ;
4 import com . ur . urcap . api . contribution . toolbar . swing . S w i n g T o o l b a r C o n t r i b u t i o n ;
5
6 import javax . swing . BorderFactory ;

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3 Contribution of a Panel to the Toolbar

7 import javax . swing . Box ;

8 import javax . swing . BoxLayout ;
9 import javax . swing . JLabel ;
10 import javax . swing . JPanel ;
11 import java . awt . Component ;
12 import java . awt . Dimension ;
13 import java . awt . Font ;
14 import java . util . Date ;
15 import java . util . Locale ;
16 import java . util . Random ;
17
18 class M y T o o l b a r C o n t r i b u t i o n implements S w i n g T o o l b a r C o n t r i b u t i o n {
19 private static final int VERTIC AL_SPACE = 10;
20 private static final int H E A DE R _ F O N T _ S I Z E = 24;
21
22 private final Toolba rContex t context ;
23 private JLabel demo ToolStat us ;
24
25 M y T o o l b a r C o n t r i b u t i o n ( T oolbarCo ntext context ) {
26 this . context = context ;
27 }
28
29 @Override
30 public void openView () {
31 demoT oolStat us . setText ( " < HTML > " + g e t 3 r d P a r t y S t a t u s () + " </ HTML > " ) ;
32 }
33
34 @Override

Copyright c 2009-2023 by Universal Robots A/S, all rights reserved

35 public void closeView () {
36 }
37
38 public void buildUI ( JPanel jPanel ) {
39 jPanel . setLayout ( new BoxLayout ( jPanel , BoxLayout . Y_AXIS ) ) ;
40
41 jPanel . add ( createHeader () ) ;
42 jPanel . add ( c r e a t e V e r t i c a l S p a c e () ) ;
43 jPanel . add ( createInfo () ) ;
44 }
45
46 private Box createHeader () {
47 Box headerBox = Box . c r e a t e H o r i z o n t a l B o x () ;
48 headerBox . setAlignmentX ( Component . C E N T E R _A L I G N M E N T ) ;
49
50 JLabel header = new JLabel ( " My Swing Toolbar " ) ;
51 header . setFont ( header . getFont () . deriveFont ( Font . BOLD , H E A D E R _ F ON T _ S I Z E ) ) ;
52 headerBox . add ( header ) ;
53 return headerBox ;
54 }
55
56 private Box createInfo () {
57 Box infoBox = Box . c r e a t e V e r t i c a l B o x () ;
58 infoBox . setAlignmentX ( Component . C E N T E R _ A L I G N ME N T ) ;
59 JLabel pane1 = new JLabel () ;
60 pane1 . setBorder ( BorderFactory . c r e a t e E m p t y B o r d e r (5 , 5 , 5 , 5) ) ;
61 pane1 . setText ( " < HTML > This is a sample URCap Toolbar contribution . Feel
free to use this as an example for creating new contributions . </ HTML > "
);
62 pane1 . setBackground ( infoBox . getBackground () ) ;
63 infoBox . add ( pane1 ) ;
64
65 JLabel pane2 = new JLabel () ;
66 Locale locale = context . get APIProvi der () . getSystemAPI () . g e t S y s t e m S e t t i n g s
() . g e tL oc al i za ti on () . getLocale () ;
67 pane2 . setBorder ( BorderFactory . c r e a t e E m p t y B o r d e r (5 , 5 , 5 , 5) ) ;

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3 Contribution of a Panel to the Toolbar

68 pane2 . setText ( " < HTML > Currently , the robot is configured to use the Locale :
" + locale . ge tDisplay Name () + " </ HTML > " ) ;
69 infoBox . add ( pane2 ) ;
70
71 demo ToolStat us = new JLabel () ;
72 demo ToolStat us . setText ( " < HTML > " + g e t 3 r d P a r t y S t a t u s () + " </ HTML > " ) ;
73 demo ToolStat us . setBorder ( BorderFactory . c r e a t e E m p t y B o r d e r (5 , 5 , 5 , 5) ) ;
74 infoBox . add ( demoToo lStatus ) ;
75 return infoBox ;
76 }
77
78 private Component c r e a t e V e r t i c a l S p a c e () {
79 return Box . c re a te Ri gi d Ar ea ( new Dimension (0 , V ERTICAL _SPACE ) ) ;
80 }
81
82 private String g e t 3 r d P a r t y S t a t u s () {
83 Date now = new Date () ;
84 int number = new Random () . nextInt (10) + 20;
85 return String . format ( " Tool status reading : %d , read at % tF % tT . " , number ,
now , now ) ;
86 }
87 }

3.2 Making the Toolbar Contribution available to PolyScope

To hook the toolbar panel into PolyScope, implement the SwingToolbarService interface. It pro-

Copyright c 2009-2023 by Universal Robots A/S, all rights reserved

vides means to attach an icon to identify the panel in the toolbar and configure the contribution:

• Icon getIcon(): Returns the icon for visual identification of the contributed panel in the
toolbar
• void configureContribution(ToolbarConfiguration): Use the argument supplied to configure
the contribution. The configuration will already have default values for its properties (see
default values in the Javadoc). If the default values are appropriate, leave this method
empty. The values of the ToolbarConfiguration will be read once immediately after this
method call.
• SwingToolbarContribution createToolbar(ToolbarContext): Creates a new toolbar contribution
instance. The ToolbarContext object gives access to services and APIs provided by PolyScope
relevant to the toolbar contribution.

All methods are only called once on startup.

The SwingToolbarService needs to be registered in the OSGi BundleContext in a bundle activator.

Listing 2 shows an implementaion of a SwingToolbarService.

Listing 2: MyToolbar toolbar contribution service

1 package com . ur . urcap . examples . mytoolbar ;
2
3 import com . ur . urcap . api . contribution . toolbar . T o o l b a r C o n f i g u r a t i o n ;
4 import com . ur . urcap . api . contribution . toolbar . Tool barConte xt ;
5 import com . ur . urcap . api . contribution . toolbar . swing . S w i n g T o o l b a r C o n t r i b u t i o n ;
6 import com . ur . urcap . api . contribution . toolbar . swing . S w i n g T o o l b a r S e r v i c e ;
7
8 import javax . swing . Icon ;
9 import javax . swing . ImageIcon ;
10

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3 Contribution of a Panel to the Toolbar

11 public class M y T o o l b a r S e r v i c e implements S w i n g T o o l b a r S e r v i c e {

12
13 @Override
14 public Icon getIcon () {
15 return new ImageIcon ( getClass () . getResource ( " / icons / acme_logo . png " ) ) ;
16 }
17
18 @Override
19 public void c o n f i g u r e C o n t r i b u t i o n ( T o o l b a r C o n f i g u r a t i o n configuration ) {
20 configuration . s e t T o o l b a r H e i g h t (200) ;
21 }
22
23 @Override
24 public S w i n g T o o l b a r C o n t r i b u t i o n createToolbar ( ToolbarC ontext context ) {
25 return new M y T o o l b a r C o n t r i b u t i o n ( context ) ;
26 }
27 }

3.3 Layout of Toolbar Contributions

The layout of the content in the contributed toolbar panel must conform to the Universal
Robot style guide to receive UR+ certification. The panel has a fixed width of 400px. The
height must be in the range 48px to 600px and is set via the setToolbarHeight() method in the
ToolbarConfiguration interface.

Copyright c 2009-2023 by Universal Robots A/S, all rights reserved

The toolbar contribution is accessed via the toolbar and this toolbar is accessed via the UR+
toggle button. When the UR+ toggle button is disabled, none of the toolbar contributions will
be shown as depicted in figure 1.

Figure 1: URCap toolbar not enabled

When enabled, the provided toolbar panels will be accessible via a tabbed toolbar panel over-
laying the right hand side of PolyScope.

Figure 2: URCap toolbar enabled with multiple toolbar contributions

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3 Contribution of a Panel to the Toolbar

Pressing the icon identifying the individual toolbar in the tabbed panel will display the con-
tributed toolbar panel. Figure 2 shows a toolbar with multiple toolbar contributions.

Like the content of the toolbar panel, the icons used to identify the panels in the toolbar should
conform to the Universal Robots style guide. The icons are restricted to a width of 89px and a
height of 30px.

Figure 3: Logo dimensions

Copyright c 2009-2023 by Universal Robots A/S, all rights reserved

Toolbar Contributions 7 Version 1.14.0