Added support for retrieving present options and modules

include/abb_librws/rws_client.h

@@ -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.
    * 
@@ -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.
    * 
@@ -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.
    *

include/abb_librws/rws_common.h

@@ -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.
        */
@@ -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.
        */
@@ -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.
        */
@@ -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.
        */
@@ -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.
@@ -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.
        */
@@ -576,6 +616,11 @@ struct SystemConstants
        */
       static const std::string ROBTARGET;
 
+      /**
+       * \brief Configurations.
+       */
+      static const std::string RW_CFG;
+
       /**
        * \brief Signals.
        */
@@ -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.
        */

include/abb_librws/rws_interface.h

@@ -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)
@@ -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.
@@ -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.
    *
@@ -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.
@@ -511,4 +580,4 @@ class RWSInterface
 } // end namespace rws
 } // end namespace abb
 
-#endif
+#endif

src/rws_client.cpp

@@ -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);
@@ -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;
@@ -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;