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Merge pull request #46 from jontje/get_present_options_and_modules
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Added support for retrieving present options and modules
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@jontje
jontje authored Jun 14, 2019
2 parents 396ed7b + 4f14e88 commit 8e41199
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Showing 6 changed files with 257 additions and 31 deletions.
31 changes: 30 additions & 1 deletion include/abb_librws/rws_client.h
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Expand Up @@ -347,6 +347,16 @@ class RWSClient : public POCOClient
logout();
}

/**
* \brief A method for retrieving the configuration instances of a type, belonging to a specific configuration topic.
*
* \param topic specifying the configuration topic.
* \param type specifying the type in the configuration topic.
*
* \return RWSResult containing the result.
*/
RWSResult getConfigurationInstances(const std::string topic, const std::string type);

/**
* \brief A method for retrieving the value of an IO signal.
*
Expand Down Expand Up @@ -408,7 +418,16 @@ class RWSClient : public POCOClient
* \return RWSResult containing the result.
*/
RWSResult getRAPIDExecution();


/**
* \brief A method for retrieving information about the RAPID modules of a RAPID task.
*
* \param task specifying the RAPID task.
*
* \return RWSResult containing the result.
*/
RWSResult getRAPIDModulesInfo(const std::string task);

/**
* \brief A method for retrieving the RAPID tasks that are defined in the robot controller system.
*
Expand Down Expand Up @@ -656,6 +675,16 @@ class RWSClient : public POCOClient
*/
RWSResult evaluatePOCOResult(const POCOResult& poco_result, const EvaluationConditions& conditions);

/**
* \brief Method for generating a configuration URI path.
*
* \param topic for the configuration topic.
* \param type for the configuration type (belonging to the topic).
*
* \return std::string containing the path.
*/
std::string generateConfigurationPath(const std::string& topic, const std::string& type);

/**
* \brief Method for generating an IO signal URI path.
*
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54 changes: 52 additions & 2 deletions include/abb_librws/rws_common.h
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Expand Up @@ -353,6 +353,11 @@ struct SystemConstants
*/
struct XMLAttributes
{
/**
* \brief Class & cfg-ia-t-li.
*/
static const XMLAttribute CLASS_CFG_IA_T_LI;

/**
* \brief Class & controller execution state.
*/
Expand Down Expand Up @@ -393,11 +398,16 @@ struct SystemConstants
*/
static const XMLAttribute CLASS_OPMODE;

/**
* \brief Class & rap-module-info-li.
*/
static const XMLAttribute CLASS_RAP_MODULE_INFO_LI;

/**
* \brief Class & rap-task-li.
*/
static const XMLAttribute CLASS_RAP_TASK_LI;

/**
* \brief Class & RobotWare version name.
*/
Expand Down Expand Up @@ -434,11 +444,16 @@ struct SystemConstants
*/
static const std::string CLASS;

/**
* \brief Configuration list item.
*/
static const std::string CFG_IA_T_LI;

/**
* \brief Controller execution state.
*/
static const std::string CTRLEXECSTATE;

/**
* \brief Controller state.
*/
Expand Down Expand Up @@ -479,6 +494,16 @@ struct SystemConstants
*/
static const std::string OPMODE;

/**
* \brief Options present on the controller.
*/
static const std::string PRESENT_OPTIONS;

/**
* \brief RAPID module info list item.
*/
static const std::string RAP_MODULE_INFO_LI;

/**
* \brief RAPID task list item.
*/
Expand All @@ -493,6 +518,11 @@ struct SystemConstants
* \brief State.
*/
static const std::string STATE;

/**
* \brief Controller topic in the system configurations (abbreviated as sys).
*/
static const std::string SYS;

/**
* \brief Sys system list item.
Expand Down Expand Up @@ -554,13 +584,23 @@ struct SystemConstants
* \brief Stop action query.
*/
static const std::string ACTION_STOP;

/**
* \brief Task query.
*/
static const std::string TASK;
};

/**
* \brief RWS resources and queries.
*/
struct Resources
{
/**
* \brief Instances.
*/
static const std::string INSTANCES;

/**
* \brief Jointtarget.
*/
Expand All @@ -576,6 +616,11 @@ struct SystemConstants
*/
static const std::string ROBTARGET;

/**
* \brief Configurations.
*/
static const std::string RW_CFG;

/**
* \brief Signals.
*/
Expand Down Expand Up @@ -606,6 +651,11 @@ struct SystemConstants
*/
static const std::string RW_RAPID_EXECUTION;

/**
* \brief RAPID modules.
*/
static const std::string RW_RAPID_MODULES;

/**
* \brief RAPID symbol data.
*/
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91 changes: 80 additions & 11 deletions include/abb_librws/rws_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -64,19 +64,75 @@ class RWSInterface
*/
std::string system_name;
};

/**
* \brief A struct for containing information about the RAPID tasks defined in the robot controller.
* \brief A struct for containing information about a RobotWare option.
*/
struct RAPIDTask
struct RobotWareOptionInfo
{
/**
* \brief A constructor.
*
* \param name for the name of the option.
* \param description for the description of the option.
*/
RobotWareOptionInfo(std::string name, std::string description)
:
name(name),
description(description)
{}

/**
* \brief The option's name.
*/
std::string name;

/**
* \brief The options's description.
*/
std::string description;
};

/**
* \brief A struct for containing information about a RAPID module.
*/
struct RAPIDModuleInfo
{
/**
* \brief A constructor.
*
* \param name for the name of the module.
* \param type for the type of the module.
*/
RAPIDModuleInfo(std::string name, std::string type)
:
name(name),
type(type)
{}

/**
* \brief The module's name.
*/
std::string name;

/**
* \brief The module's type.
*/
std::string type;
};

/**
* \brief A struct for containing information about a RAPID task.
*/
struct RAPIDTaskInfo
{
/**
* \brief A constructor.
*
* \param name for the name of the task.
* \param is_motion_task indicating if the task is a motion task or not.
*/
RAPIDTask(std::string name, bool is_motion_task)
RAPIDTaskInfo(std::string name, bool is_motion_task)
:
name(name),
is_motion_task(is_motion_task)
Expand All @@ -101,7 +157,7 @@ class RWSInterface
/**
* \brief Information about the defined RAPID tasks.
*/
std::vector<RAPIDTask> rapid_tasks;
std::vector<RAPIDTaskInfo> rapid_tasks;

/**
* \brief System information.
Expand Down Expand Up @@ -204,17 +260,24 @@ class RWSInterface
/**
* \brief A method for collecting runtime information of the robot controller.
*
* \return RuntimeInfo container for the runtime information.
* \return RuntimeInfo containing the runtime information.
*/
RuntimeInfo collectRuntimeInfo();

/**
* \brief A method for collecting static information (at least during runtime) of the robot controller.
*
* \return StaticInfo container for the static information (at least during runtime).
* \return StaticInfo containing the static information (at least during runtime).
*/
StaticInfo collectStaticInfo();


/**
* \brief A method for retrieving the RobotWare options present on the active robot controller system.
*
* \return std::vector<OptionInfo> containing a list of the present RobotWare options.
*/
std::vector<RobotWareOptionInfo> getPresentRobotWareOptions();

/**
* \brief A method for retrieving the value if an IO signal.
*
Expand Down Expand Up @@ -271,13 +334,19 @@ class RWSInterface
bool getRAPIDSymbolData(const std::string task,
const RWSClient::RAPIDSymbolResource symbol,
RAPIDSymbolDataAbstract* p_data);
/**
* \brief A method for retrieving information about the RAPID modules of a RAPID task defined in the robot controller.
*
* \return std::vector<RAPIDModuleInfo> containing the RAPID modules information.
*/
std::vector<RAPIDModuleInfo> getRAPIDModulesInfo(const std::string task);

/**
* \brief A method for retrieving information about the RAPID tasks defined in the robot controller.
*
* \return std::vector<RAPIDTask> container for the RAPID tasks information.
* \return std::vector<RAPIDTaskInfo> containing the RAPID tasks information.
*/
std::vector<RAPIDTask> getRAPIDTasks();
std::vector<RAPIDTaskInfo> getRAPIDTasks();

/**
* \brief A method for retrieving some system information from the robot controller.
Expand Down Expand Up @@ -511,4 +580,4 @@ class RWSInterface
} // end namespace rws
} // end namespace abb

#endif
#endif
27 changes: 27 additions & 0 deletions src/rws_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,17 @@ void RWSClient::SubscriptionResources::add(const std::string resource_uri, const
* Primary methods
*/

RWSClient::RWSResult RWSClient::getConfigurationInstances(const std::string topic, const std::string type)
{
uri_ = generateConfigurationPath(topic, type) + Resources::INSTANCES;

evaluation_conditions_.reset();
evaluation_conditions_.parse_message_into_xml = true;
evaluation_conditions_.accepted_outcomes.push_back(HTTPResponse::HTTP_OK);

return evaluatePOCOResult(httpGet(uri_), evaluation_conditions_);
}

RWSClient::RWSResult RWSClient::getIOSignal(const std::string iosignal)
{
uri_ = generateIOSignalPath(iosignal);
Expand Down Expand Up @@ -146,6 +157,17 @@ RWSClient::RWSResult RWSClient::getRAPIDExecution()
return evaluatePOCOResult(httpGet(uri_), evaluation_conditions_);
}

RWSClient::RWSResult RWSClient::getRAPIDModulesInfo(const std::string task)
{
uri_ = Resources::RW_RAPID_MODULES + "?" + Queries::TASK + task;

evaluation_conditions_.reset();
evaluation_conditions_.parse_message_into_xml = true;
evaluation_conditions_.accepted_outcomes.push_back(HTTPResponse::HTTP_OK);

return evaluatePOCOResult(httpGet(uri_), evaluation_conditions_);
}

RWSClient::RWSResult RWSClient::getRAPIDTasks()
{
uri_ = Resources::RW_RAPID_TASKS;
Expand Down Expand Up @@ -622,6 +644,11 @@ std::string RWSClient::getLogText(const bool verbose)
return ss.str();
}

std::string RWSClient::generateConfigurationPath(const std::string& topic, const std::string& type)
{
return Resources::RW_CFG + "/" + topic + "/" + type;
}

std::string RWSClient::generateIOSignalPath(const std::string& iosignal)
{
return Resources::RW_IOSYSTEM_SIGNALS + "/" + iosignal;
Expand Down
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