Unexpected results when retrieving EGM settings when sm_addin/rapid is not running

[dave992]

I am trying to automate starting an EGM session using the abb_robot_driver. To make sure I write valid EGM settings, I first retrieve the current settings and then rewrite the fields I am interested in.

Depending on the timing of my request to the /rws/sm_addin/get_egm_settings service to retrieve the current EGM setting I get different results. If I request the settings before RAPID is running (and therefore the state machine addin), I get back 'empty' settings.

The service result does however return a result code of result_code: 1, indicating the service call was successful. This is not the case if I for example provide it with the wrong task name, then I do get an indication that something went wrong via the result_code but I also receive the 'empty' settings.

Invalid EGM settings returned via service

allow_egm_motions: False
use_presync: False
setup_uc: 
  use_filtering: False
  comm_timeout: 0.0
activate: 
  tool: 
    robhold: False
    tframe: 
      trans: 
        x: 0.0
        y: 0.0
        z: 0.0
      rot: 
        q1: 0.0
        q2: 0.0
        q3: 0.0
        q4: 0.0
    tload: 
      mass: 0.0
      cog: 
        x: 0.0
        y: 0.0
        z: 0.0
      aom: 
        q1: 0.0
        q2: 0.0
        q3: 0.0
        q4: 0.0
      ix: 0.0
      iy: 0.0
      iz: 0.0
  wobj: 
    robhold: False
    ufprog: False
    ufmec: ''
    uframe: 
      trans: 
        x: 0.0
        y: 0.0
        z: 0.0
      rot: 
        q1: 0.0
        q2: 0.0
        q3: 0.0
        q4: 0.0
    oframe: 
      trans: 
        x: 0.0
        y: 0.0
        z: 0.0
      rot: 
        q1: 0.0
        q2: 0.0
        q3: 0.0
        q4: 0.0
  correction_frame: 
    trans: 
      x: 0.0
      y: 0.0
      z: 0.0
    rot: 
      q1: 0.0
      q2: 0.0
      q3: 0.0
      q4: 0.0
  sensor_frame: 
    trans: 
      x: 0.0
      y: 0.0
      z: 0.0
    rot: 
      q1: 0.0
      q2: 0.0
      q3: 0.0
      q4: 0.0
  cond_min_max: 0.0
  lp_filter: 0.0
  sample_rate: 0
  max_speed_deviation: 0.0
run: 
  cond_time: 0.0
  ramp_in_time: 0.0
  offset: 
    trans: 
      x: 0.0
      y: 0.0
      z: 0.0
    rot: 
      q1: 0.0
      q2: 0.0
      q3: 0.0
      q4: 0.0
  pos_corr_gain: 0.0
stop: 
  ramp_out_time: 0.0

Adjusting these settings and writing them back to the controller does not allow to start the EGM session (also without any indication).

If I delay my call of /rws/sm_addin/get_egm_settings till the State Machine Addin is running, I do get back valid results that I can use to write my own settings.

Would it be possible for the /rws/sm_addin/get_egm_settings service to indicate if it is called in an invalid state (e.g. the State Machine Addin is not running)?

[gavanderhoorn]

Would it be possible for the /rws/sm_addin/get_egm_settings service to indicate if it is called in an invalid state

seems like something that could be added.

The code already checks a few pre-conditions though (here). We'd need to make sure it's not already checking the sm runtime state.