As mentioned in #50, then it would be beneficial to implement a check for if the targeted robot controller's RobotWare version is supported by the version of abb_librws used.

PR #63 adds RWSClient::getSignals() to retrieve all signals from a controller. However, it doesn't expose the function in RWSInterface yet. This should still be done.

Quoted from @jontje:

Do you also intend to expose the new function in the more user-friendly RWSInterface class? For example:

* Implementing a `struct` for an IO-signal list item according to the [documentation](http://developercenter.robotstudio.com/blobproxy/devcenter/Robot_Web_Services/html/ios_signals_get_page.html), which contains:
  
  * name: IO-signal name
  * type: Signal type {DO | DI | AO | AI | GI | GO}
  * category: Signals list item
  * lvalue: Signal value
  * lstate: Signals state {simulated | not simulated}

* Parsing the XML document into a vector of such IO-signal list items, similar to [RWSInterface::getRAPIDModulesInfo(...)](https://github.com/ros-industrial/abb_librws/blob/master/src/rws_interface.cpp#L233-L250).

If not, can you open an issue for that?

Can you also update the PR to be in sync with the base branch?

This could be a simple (almost empty) ROS package which find_package(abb_librws REQUIRED) and then attempts to link against it.

I'm using the sample code that jontje, specifically a2_io_signal_node.cpp, and I'm finding that I can correctly retrieve the current IO value, however it does not change upon calling setIOSignal, and a 0 is returned by the function.

Any tips on where to look to correct this?

Being able to use RWS from a Python application would be perfect.

I've titled this issue "Python wrapper" as that could of course be one way to do this. It may however complicate things needlessly.

Searching around, I've been able to find some mentions of using requests to interface with RWS, but I haven't been able to find any proper Python package.

As RWS purports to be a REST based interface: @jontje would you happen to know whether RWS comes with an API spec (OpenAPI, Swagger, RADL, RAML, RSDL, something else) which would make it possible auto-generate (Python) wrappers or runtime code generate them?

I'm not entirely up-to-date on REST and web APIs, but there are definitely more advanced (and convenient) ways of consuming a REST interface than Python requests and composing raw URIs.

Add sections for:

• Structure/class descriptions
• Troubleshooting
• Acknowledgements

As mentioned by @gavanderhoorn in #36 (comment) it would make sense to reuse the official documentation for describing the RAPID data representations in rws_rapid.h

It can be a good idea to use Poco:URI (instead of building the URI from scratch) as mentioned in PR #46 (comment)

hello,
How to handle subscription event asynchronously?
As a library could you give some application examples to show how to use the library to handle the subscription event?
I think it should be handled when subscripted robot resources change? But how ?
Thank you very much!

As per title.

There are many more RWS services that can be made more easily accessible, by implementing specific APIs for them.

For a complete list of available services see the RWS documentation.

This can for example be done by expanding the RWSClient and RWSInterface classes.

Hello,
In the configuration some instance have name attributes, so i can use the command like this curl –digest -u "Default User":robotics -d "name=testinstance" -X POST "http://localhost/rw/cfg/eio/INDUSTRIAL_NETWORK/instances?action=create-default" to create the default instance the Data Params is name, name of instance. Then use the RWS to set the other attributes value, use the command like this curl –digest - u "Default User" : robotics -d "Simulated=True" - X POST "http://localhost/rw/cfg/eio/INDUSTRIAL_NETWORK/instances/testinstance?action=set" . . But about the instance of Automatic loading of Modules in the configuration, it no have the name attributes, so even i success to create the default instance, the file attributes value is blank, the result is shown below.

So if i want use rws to realize the automatic load the module file features and bind the specific task, Just like the use RobotStudio to set the configuration instance value. what i should do.

Thank you very much!

Hi community,
I'm a newbie of ROS and i'm working on a project which involves a robot ABB Yumi (IRB 14000) and i'm using this library: library link. In order to control the camera i have seen that is needed the RWS library and i found this repository associated to that. So i cloned the in the src folder this package and i tried catkin build and catkin_make_isolated and i had errors like the one reported. How can i solve?
I'm using ROS Kinetic Kame with Ubuntu 16.04 Xenial.

kappa95@kappa95-VivoBook-ASUS-Laptop-X505ZA-X505ZA:~/yumi_depends_ws$ catkin build
------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/kinetic
Workspace:                   /home/kappa95/yumi_depends_ws
------------------------------------------------------------------
Build Space:        [exists] /home/kappa95/yumi_depends_ws/build
Devel Space:        [exists] /home/kappa95/yumi_depends_ws/devel
Install Space:      [unused] /home/kappa95/yumi_depends_ws/install
Log Space:          [exists] /home/kappa95/yumi_depends_ws/logs
Source Space:       [exists] /home/kappa95/yumi_depends_ws/src
DESTDIR:            [unused] None
------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
------------------------------------------------------------------
Workspace configuration appears valid.
------------------------------------------------------------------
[build] Found '27' packages in 0.0 seconds.                                    
[build] Updating package table.                                                
Starting  >>> abb_irb2400_moveit_plugins                                       
Starting  >>> abb_irb2400_support                                              
Starting  >>> abb_irb5400_support                                              
Starting  >>> abb_irb6600_support                                              
Starting  >>> abb_irb6640_support                                              
Starting  >>> abb_librws                                                       
Starting  >>> gazebo_mimic                                                     
Starting  >>> industrial_deprecated                                            
Finished  <<< abb_irb6600_support                          [ 0.2 seconds ]     
Starting  >>> industrial_msgs                                                  
Finished  <<< abb_irb6640_support                          [ 0.2 seconds ]     
Starting  >>> industrial_trajectory_filters                                    
Finished  <<< abb_irb2400_moveit_plugins                   [ 0.3 seconds ]     
Starting  >>> industrial_utils                                                 
Finished  <<< gazebo_mimic                                 [ 0.2 seconds ]     
Starting  >>> yumi_cameras                                                     
Finished  <<< abb_irb2400_support                          [ 0.2 seconds ]     
Starting  >>> yumi_description                                                 
Finished  <<< industrial_deprecated                        [ 0.1 seconds ]     
Starting  >>> yumi_moveit_demos                                                
Finished  <<< abb_irb5400_support                          [ 0.2 seconds ]     
Starting  >>> yumi_support                                                     
Finished  <<< industrial_trajectory_filters                [ 0.2 seconds ]     
Finished  <<< industrial_utils                             [ 0.2 seconds ]     
Finished  <<< yumi_cameras                                 [ 0.2 seconds ]     
Finished  <<< yumi_description                             [ 0.2 seconds ]     
Starting  >>> yumi_test_controllers                                            
Starting  >>> yumi_control                                                     
Starting  >>> yumi_moveit_config                                               
Finished  <<< yumi_moveit_demos                            [ 0.2 seconds ]     
Finished  <<< industrial_msgs                              [ 0.7 seconds ]     
Starting  >>> simple_message                                                   
Finished  <<< yumi_support                                 [ 0.2 seconds ]     
Finished  <<< yumi_control                                 [ 0.2 seconds ]     
Finished  <<< yumi_test_controllers                        [ 0.2 seconds ]     
Finished  <<< yumi_moveit_config                           [ 0.2 seconds ]     
_______________________________________________________________________________
Errors     << abb_librws:make /home/kappa95/yumi_depends_ws/logs/abb_librws/build.make.000.log
In file included from /home/kappa95/yumi_depends_ws/src/abb_librws/include/abb_librws/rws_client.h:48:0,
                 from /home/kappa95/yumi_depends_ws/src/abb_librws/src/rws_client.cpp:41:
/home/kappa95/yumi_depends_ws/src/abb_librws/include/abb_librws/rws_poco_client.h:42:38: fatal error: Poco/Net/HTTPCredentials.h: File o directory non esistente
In file included from /home/kappa95/yumi_depends_ws/src/abb_librws/src/rws_poco_client.cpp:43:0:
/home/kappa95/yumi_depends_ws/src/abb_librws/include/abb_librws/rws_poco_client.h:42:38: fatal error: Poco/Net/HTTPCredentials.h: File o directory non esistente
In file included from /home/kappa95/yumi_depends_ws/src/abb_librws/include/abb_librws/rws_client.h:48:0,
                 from /home/kappa95/yumi_depends_ws/src/abb_librws/include/abb_librws/rws_interface.h:40,
                 from /home/kappa95/yumi_depends_ws/src/abb_librws/src/rws_interface.cpp:40:
/home/kappa95/yumi_depends_ws/src/abb_librws/include/abb_librws/rws_poco_client.h:42:38: fatal error: Poco/Net/HTTPCredentials.h: File o directory non esistente
compilation terminated.
compilation terminated.
compilation terminated.
make[2]: *** [CMakeFiles/abb_librws.dir/src/rws_interface.cpp.o] Errore 1
make[2]: *** Attesa per i processi non terminati....
make[2]: *** [CMakeFiles/abb_librws.dir/src/rws_client.cpp.o] Errore 1
make[2]: *** [CMakeFiles/abb_librws.dir/src/rws_poco_client.cpp.o] Errore 1
make[1]: *** [CMakeFiles/abb_librws.dir/all] Errore 2
make: *** [all] Errore 2
cd /home/kappa95/yumi_depends_ws/build/abb_librws; catkin build --get-env abb_librws | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed     << abb_librws:make                              [ Exited with code 2 ]
Failed    <<< abb_librws                                   [ 1.7 seconds ]     
Abandoned <<< abb_irb2400_moveit_config                    [ Unrelated job failed ]
Abandoned <<< abb_irb6640_moveit_config                    [ Unrelated job failed ]
Abandoned <<< industrial_robot_client                      [ Unrelated job failed ]
Abandoned <<< industrial_robot_simulator                   [ Unrelated job failed ]
Abandoned <<< yumi_hw                                      [ Unrelated job failed ]
Abandoned <<< yumi_launch                                  [ Unrelated job failed ]
Finished  <<< simple_message                               [ 0.3 seconds ]     
[build] Summary: 18 of 25 packages succeeded.                                  
[build]   Ignored:   2 packages were skipped or are blacklisted.               
[build]   Warnings:  None.                                                     
[build]   Abandoned: 6 packages were abandoned.                                
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 2.1 seconds total.                                            
[build] Note: Workspace packages have changed, please re-source setup files to use them.

As per title (wherever it is reasonable)

For example, as mentioned in PR #96 (comment)

In order to streamline community contributions, we need to add contribution guidelines.

This would be similar to #16, but specific to this repository.

Hi,
I have a problem and would appreciate any help, Whenever i perform a request, for example like the below code snippet :

#include "abb_librws/rws_state_machine_interface.h"
using namespace abb;
using namespace rws;
using namespace std;

int main()
{
string ip_address = "192.xxx.xxx.xxx";
RWSStateMachineInterface IRB_120(ip_address);
TriBool State;
State = IRB_120.isRAPIDRunning();
return 0;
}

I get 500 Internal Server Error

here's the output from wireShark:

I have basic robotstudio version 6.07, robotware 6.08.01
I am using the state machine Add-In.

Duplicate of ros-industrial/abb_libegm#92, but for abb_librws.

The FindPoco.cmake provided by cmake_modules doesn't set the required variables for CMake to actually verify that it found the requested version of libpoco. At the moment the find_package(Poco .. 1.4.3 ..) is thus not enforced. This can lead to build issues on systems where libpoco-dev is installed, but not the right version.

This should be fixed by adapting FindPoco.cmake to also extract the version of the found libpoco-dev, and then shipping that version of the find script with the sources.

This would make it possible to verify that certain RobotWare option(s) and RAPID module(s) are present in the robot controller system. This is useful for applications which assume that certain options and/or modules exist in the robot controller system.

The current implementation for using RWS subscriptions is a bit unwieldy. This can be made more user friendly.

As it is right now, when a subscription event occurs, then the user is required to handle a XML document and process it themselves. Also, if the event content is inconsequential, then the XML document handling is just in the way.

Simple example (for the latter case)
Robot controller (RC): Requests an external computer to do some work when needed
External computer (EC): Performs some computational heavy calculations (e.g. image processing)

1. The EC can register a RWS subscription (e.g. on a IO-signal), and wait for a subscription event.
2. At some later time the RC sends a notification (e.g. triggered by the RAPID program), and continues with some other task until the results from the EC are really needed.
3. The EC receives a subscription event and performs its task, and then it can send the results back to the RC (e.g. via the methods for writing to RAPID variables). The EC can then start waiting for a new subscription event.
4. Finally, the RC processes the results and continue with its program.

Hi,
When subscribe to digital output signal , if only wanna to monitor up edge(from 0 to 1) but not down edge (from 1 to 0), it seems no such option? Which means every time signal changes, from 0 to 1 and from 1 to 0, the event will trigger?

Thank you!

There are several methods with ambiguous comments about the meaning of the returned values. They should be clarified.

I can't subscription to the "ValueChanged event" of the "RapidData" instance,when i begun to subscribed;
In the virtual controller of 6.06,this is perfect;
But in the actual matching of version "6.01",it failed, i bought "pc interface" module from abb,but it does not work too;
when i debug the info,i find that the web socket that used to listen to the subscriptions is not
set up.

_abb::rws::RWSClient::SubscriptionResources subscription_resources;
subscription_resources.addIOSignal(io_signal, abb::rws::RWSClient::SubscriptionResources::HIGH);
subscription_resources.add("/rw/rapid/execution;ctrlexecstate", abb::rws::RWSClient::SubscriptionResources::MEDIUM);

if I subscribe two resources, one is io singal and other is rapid state like above code , but sometimes when I exit program and then try to run it again, it will have error of "failed to subription".
But if tried to subscribe to two io_signal when restart my program , no such issue.
Could you try it on your computer the above code and restart test programs several times to reproduce the issue?
Thanks!

As #76 highlighted, we need to start adding tests to important parts of the library to avoid regressions.

Initially I would suggest we focus on serialisation and deserialisation interfacing code, to document our expectations about the RWS msgs and make sure code layered on-top doesn't break when those messages change.

The robot controller sends out ping messages every 30 seconds, and currently the receive timeout is set to 10 seconds for the WebSocket connections. This makes the implementation think that the connection is lost, since it doesn't wait long enough.

E.g. C++11 and start using std::shared_ptr instead of Poco::AutoPtr

New issue for @ScottYang1982's follow-up question in #64 (comment), about how to access RAPID arrays.

Currently, the RWSInteface class has no function implemented to parse a RAPID array. However, it is possible to directly use the base class RWSClient instead.

Rough example:

void main()
{
  abb::rws::RWSClient::RWSResult rws_result;
  std::string value;

  // Note: This example assume the following:
  // - The RAPID task "T_ROB1" exists.
  // - The task has a module named "TRobMain".
  // - The module has a RAPID num array, of size 5, declared as "VAR num my_num_array{5};".
  abb::rws::RWSClient::RAPIDResource rapid_resource("T_ROB1", "TRobMain", "my_num_array");

  abb::rws::RWSClient rws_client("127.0.0.1");

  //--------------------------------------------------------------
  // Get the RAPID array
  //--------------------------------------------------------------
  rws_result = rws_client.getRAPIDSymbolData(rapid_resource);
  value = abb::rws::xmlFindTextContent(rws_result.p_xml_document, abb::rws::SystemConstants::RWS::XMLAttributes::CLASS_VALUE);
  
  std::cout << value << "\n";

  //--------------------------------------------------------------
  // Set the RAPID array
  // Note: Important to have the correct number of elements.
  //       Here it is assumed that the array has a size of 5.
  //--------------------------------------------------------------
  rws_result = rws_client.setRAPIDSymbolData(rapid_resource, "[1, 2, 3, 4, 5]");

  //--------------------------------------------------------------
  // Get the RAPID array
  //--------------------------------------------------------------
  rws_result = rws_client.getRAPIDSymbolData(rapid_resource);
  value = abb::rws::xmlFindTextContent(rws_result.p_xml_document, abb::rws::SystemConstants::RWS::XMLAttributes::CLASS_VALUE);

  std::cout << value << "\n";
}

The output should be something like this:

[0,0,0,0,0]
[1,2,3,4,5]

As per title.

The getLogText(...) method is useful for debugging, but it is clunky when only the most recent event is of interest.

Reading in the Applicaiton manual - Controller software IRC5 I find the table below presenting an EGM system parameter called "level". As we are working towards real-time control of an ABB IRB14000 we are looking for ways to reduce latency. In this context, it would be interesting to experiment with level 0 control.

Is it possible to configure for EGM level 0 control, if so, how can it be done?

Apologies if this issue belongs at abb_libegm

On Ubuntu Xenial I can only build the project after installing libpoco-dev from ppa:gezakovacs/poco.

Looking at packages.ubuntu.com/search?keywords=libpoco-dev it appears that only Artful and up have a recent enough libpoco-dev available:

• Trusty: 1.3.6
• Xenial: 1.3.6
• Artful: 1.7.8
• Bionic: 1.8.0

For Debian it's Stretch and newer (search).

HI there,
Just like title , it's not possible to read robot system configuration data? can not find interface function.

Hi,
How to set the below header when run httpPost? Do not see any setting.

Headers 
Content-Type=application/x-www-form-urlencoded;v=1.0

"v" represents API version, which can vary. 

There is a memory leak in rws_common.cpp (line 104 and 134) where dynamically allocated memory is not released. I.e. when using Poco::XML::Node::childNodes() and Poco::XML::Node::attributes().

See documentation at: https://pocoproject.org/docs/Poco.XML.Node.html

Poco::AutoPtr can be used to take care of this.

A RAPID module builder/generator would be quite useful. This could for example be used to execute a path in RAPID code.

Example:
From a vector of abb:rws::JointTarget elements, and some additional specifications, it is straight forward to generate a RAPID module like this:

MODULE <module_name>
   CONST jointtarget jt1 := <values>;
   CONST jointtarget jt2 := <values>;
   ...

   PROC <path_name>()
       MoveAbsJ jt1, <speed>, <zone>, <tool>;
       MoveAbsJ jt2, <speed>, <zone>, <tool>;
       ...
   ENDPROC
ENDMODULE

RWS can then be used to transfer the module to the controller, load it into a RAPID task, and then request the execution of the path.

The class could also be expanded to generate other types of modules (e.g. Cartesian motions, or a specific process including control of a tool, etc.).

Adapt CMakeLists.txt so we can accomodate building the library without Catkin / in a non-ROS (build) environment.

As per subject.

This would enable CI for this repository.

Create samples to showcase how to use the interface classes, including:

• C++ code
• RAPID code (and possibly a RobotStudio Pack&Go file for a simulation setup)
• Instructions

Hi,
why "abb_librws_export.h" is not available but referenced in "rws_commn.h"?????

Right now the code contains several "A constructor" or "A default constructor" descriptions. It would be nicer to have more descriptive documentation.

Using a proxy to work-around the HTTP 500 Internal Server Error problems (#47) is OK, but it might be better to use white-listing of IPs which are allowed to access the RWS server instead.

While both options will allow access to the machine which is running the Virtual Controller in RS, the proxy approach essentially allows any remote host access, while the white-list will allow only the IPs / hosts which are listed access.

This is more fine-grained and easier to setup as well.

The general procedure is described in Using RobotWebServices to access a remote Virtual Controller on the RS forum.

It would be good to duplicate the steps for this procedure here locally in this repository to avoid depending on external resources (which may go off-line at any moment).

Hi,

I am using the library againts a ABB IRB14000 YuMi and are experienceing issues using the Smart Gripper services supplied in rws_state_machine_interface.h. The robot have both the SmartGripper Add-In and Statemachine Add-In installed.

Have successfully interfaced against the robot controller with services supplied by rws_state_machine interface.h and other parts of the library. Robot is in auto mode with motors on. Tests performed both with the StateMachine running and stopped. Computer configured to use ip "192.168.125.50". Can read information about robot using http://192.168.125.1/rw?debug=1 succesfully.

As no hints or sample code is supplied for interfacing against the Smart Grippers I am unsure where my mistake is located. Would it be possible to supply sample code on how to interface against the Smart Grippers?

As per title

When attempting to build an application which depends on abb_librws with CMake, the build is aborted with the following error:

CMake Error at /usr/share/cmake-3.5/Modules/CMakeFindDependencyMacro.cmake:45 (message):
  Invalid arguments to find_dependency
Call Stack (most recent call first):
  /home/user/ros_ws/devel/share/abb_librws/abb_librwsConfig.cmake:10 (find_dependency)
  CMakeLists.txt:39 (find_package)

This happens on an up-to-date Ubuntu Xenial, with CMake 3.5.1.

I'm looking to use this library to issue commands to a controller remotely in ways that are not explicitly supported by the RWSClient or RWSInterface but which are specifiable by HTTP request (such as dynamically loading/unloading modules from the file system, setting the program pointer to certain procedures, etc.). What is the recommended way of extending the capability of this library to do actions supported by RWS that are not implemented in either abstraction class?

I could use the POCOClient directly, but I would rather get something like an RWSResult back from these actions. My current approach makes the parseMessage, checkAcceptedOutcomes, and evaluatePOCOResult public members of the RWSClient class, posts "custom" HTTP requests using httpPost, and checks the result with those functions. I wonder if those functions should be static methods, separate function utilities, or if RWSClient should wrap HTTP posting/putting/getting and return an RWSResult. Or should I be going about this some other way? Any advice you could give would be helpful

The RWSSimpleStateMachineInterface class is obsolete and needs to be reworked.

The new class will be called RWSStateMachineInterface and it will be designed to interact with a RobotWare AddIn called StateMachine AddIn. For example, if the AddIn is included during system installation, then it will load several RAPID modules and configurations based on the system specifications. This is to simply the setup of an ABB robot controller, so it can more easily be used together with external systems (e.g. systems based on ROS).

As per title.

First of all, thanks for the library. Very useful :)

When using subscriptions, it is necessary to call waitForSubscriptionEvent(), likely in a loop. However, since this can block arbitrarily long, it generally has to be put in a separate thread from a different event loop like ros::spin().

When it's time to quit the program, it becomes necessary to stop the background thread. However, from what I gathered, I don't think there is a thread safe way to do this.

Firstly, both waitForSubscriptionEvent() and endSubscription() mutate a member evaluation_conditions_. So they can't safely be called from different threads at the same time. I didn't look further, but it could be that webSocketRecieveFrame() called from waitForSubscriptionEvent() does more thread unsafe things.

Secondly, endSubscription() only seems to ask the robot controller to remove the subscription. It doesn't do anything to stop waitForSubscriptionEvent(). Should communication with the controller be broken at this point, it may take arbitrarily long for waitForSubscriptionEvent() to return. Also, I'm not sure if the robot controller closes the websocket connection at all when the subscriptions are deleted. The documentation doesn't say anything on the subject.

Note that maybe endSubscription() shouldn't interrupt a running waitForSubscriptionEvent(). But then another function to do so would be very useful to cleanly terminate an application. Doing it in a separate function allows to limit thread safety guarantees to the interrupt function only, which wouldn't necessarily have to do an HTTP request. So that might keep things easier.

Hi,
In the document describing EGM motion (Position Guidance) and control loop there are two main control parameters that i can control, one is the Low Pass Filter the other is Proportional Position Gain, but i can't seem to find any way to control Proportion Position Gain while the code is running, is the only way to change it through hard coding in RobotStudio?, isn't there anyway to change it using abb_librws?

Here is the part where it's mentioned:

Also is it the "K-factor" in these descriptions?

Side Note : There's another parameter called Position Correction Gain that varies from (0 to 1), that's not the one I'm talking about.

Thanks.

Change some arguments to be passed by references instead of value. This is to avoid copying.

As per title