Split the urscript into a header and a control loop.

README.md

@@ -16,3 +16,22 @@ To enable external control of a UR robot from a remote PC, this URcap must be in
 	* Add this URcap to a program by selecting it from the side menu under the tab _URcap_.
 	* Execute the program by pressing the _play_ button in the _Program_ tab of Polyscope.
 
+### Multiple URCap nodes
+To use this URCap node multiple times in a ur program, the control script is divided into two
+scripts. After receiving the script, it is divided into a header part and a control loop part. The
+header part consist of all the function deffinitions. The header is only inserted once in the 
+program, while the control loop is inserted for each URCap node in the program tree.
+
+To be able to distinguish between header and control loop, the header part of the script should be
+encapsulated in:
+```bash
+# HEADER_BEGIN
+Here goes the header code
+# HEADER_END
+
+# NODE_CONTROL_LOOP_BEGINS
+Here goes the control loop code
+# NODE_CONTROL_LOOP_ENDS
+```
+If its not possible to find either `# HEADER_BEGIN` or `# HEADER_END`, the script will not be
+divided into two scripts and it will not be possible to have multiple URCap nodes in one program.

src/main/java/com/fzi/externalcontrol/impl/ExternalControlInstallationNodeContribution.java

@@ -37,13 +37,14 @@ public class ExternalControlInstallationNodeContribution implements Installation
   private static final String HOST_IP = "host_ip";
   private static final String PORT_NR = "port_nr";
   private static final String NAME = "name";
-  private String urScriptProgram = "";
   private static final String DEFAULT_IP = "192.168.56.1";
   private static final String DEFAULT_PORT = "50002";
   private static final String DEFAULT_NAME = DEFAULT_IP;
   private DataModel model;
   private final ExternalControlInstallationNodeView view;
   private final KeyboardInputFactory keyboardFactory;
+  private RequestProgram sender;
+  private boolean programRequested;
 
   public ExternalControlInstallationNodeContribution(InstallationAPIProvider apiProvider,
       ExternalControlInstallationNodeView view, DataModel model) {
@@ -65,8 +66,7 @@ public boolean isDefined() {
 
   @Override
   public void generateScript(ScriptWriter writer) {
-    // Make sure the program gets requested at least once
-    urScriptProgram = "";
+    programRequested = false;
   }
 
   // IP helper functions
@@ -168,11 +168,17 @@ public void onOk(String value) {
     };
   }
 
-  public String getUrScriptProgram() {
-	if (urScriptProgram == "") {
-	  RequestProgram sender = new RequestProgram(getHostIP(), getCustomPort());
-	  urScriptProgram = sender.sendCommand("request_program\n");
-	}
-    return urScriptProgram;
+  public String getControlLoop(ScriptWriter writer) {
+    if (programRequested == false) {
+      // Request and split the program
+      sender = new RequestProgram(getHostIP(), getCustomPort());
+      sender.requestAndSplitProgram();
+
+      // Append header to the ur program.
+      writer.appendRaw(sender.getHeader());
+
+      programRequested = true;
+    }
+    return sender.getControlLoop();
   }
 }

src/main/java/com/fzi/externalcontrol/impl/ExternalControlProgramNodeContribution.java

@@ -79,8 +79,8 @@ public boolean isDefined() {
 
   @Override
   public void generateScript(ScriptWriter writer) {
-    String urScriptProgram = getInstallation().getUrScriptProgram();
-    writer.appendRaw(urScriptProgram);
+    String controlLoop = getInstallation().getControlLoop(writer);
+    writer.appendRaw(controlLoop);
   }
 
   private ExternalControlInstallationNodeContribution getInstallation() {

src/main/java/com/fzi/externalcontrol/impl/RequestProgram.java

@@ -37,13 +37,33 @@ public class RequestProgram {
   private final String hostIp;
   // custom port
   private final int portNr;
+  // header of the requested program
+  private String header;
+  // control loop of the requested program
+  private String controlLoop;
 
   /*
    * Default constructor
    */
   public RequestProgram(String hostIp, String portNr) {
     this.hostIp = hostIp;
     this.portNr = Integer.parseInt(portNr);
+    this.header = "";
+    this.controlLoop = "";
+  }
+
+  public void requestAndSplitProgram() {
+    String program = sendCommand("request_program\n");
+    // Split program into header and control loop
+    splitProgram(program);
+  }
+
+  public String getHeader() {
+    return this.header;
+  }
+
+  public String getControlLoop() {
+    return this.controlLoop;
   }
 
   public String sendCommand(String command) {
@@ -89,4 +109,36 @@ public String sendCommand(String command) {
     }
     return result;
   }
+
+  public void splitProgram(String program) {
+    this.header = "";
+    this.controlLoop = "";
+    Boolean headerEndFound = false;
+    Boolean headerBeginFound = false;
+    String[] programArray = program.split("\n");
+
+    for (int it = 0; it < programArray.length; ++it) {
+      if (programArray[it].matches("(\\p{Zs}*)# HEADER_BEGIN(\\p{Zs}*)")) {
+        headerBeginFound = true;
+        this.header += programArray[it] + "\n";
+      }
+      else if (programArray[it].matches("(\\p{Zs}*)# HEADER_END(\\p{Zs}*)") && headerBeginFound) {
+        headerEndFound = true;
+        headerBeginFound = false;
+        this.header += programArray[it] + "\n";
+      }
+      else if (headerBeginFound) {
+        this.header += programArray[it] + "\n";
+      }
+      else if (headerEndFound) {
+        this.controlLoop += programArray[it] + "\n";
+      }
+    }
+
+    if (headerEndFound == false) {
+      System.out.println("Unable to find anchors defining header, the program will not be split");
+      this.header = "";
+      this.controlLoop = program;
+    }
+  }
 }