ATSK-120 fix retries on stopping the robot within controller manager (ros-industrial#62)

* ATSK-0 review fixes

* ATSK-0 quick fix

Author: krzyfre

include/abb_librws/connection_options.h

@@ -11,14 +11,13 @@ namespace abb :: rws
 {
     struct ConnectionOptions
     {
-        ConnectionOptions(std::string const& ip_address,
+        ConnectionOptions(std::string  ip_address,
             unsigned short port,
-            std::string const& username,
+            std::string  username,
             std::string password,
             std::chrono::microseconds connection_timeout = std::chrono::milliseconds {400},
             std::chrono::microseconds send_timeout = std::chrono::milliseconds {400},
-            std::chrono::microseconds receive_timeout = std::chrono::milliseconds {400},
-            std::list<std::chrono::milliseconds> retry_backoff = std::list<std::chrono::milliseconds> {});
+            std::chrono::microseconds receive_timeout = std::chrono::milliseconds {400});
 
         /// \brief Robot controller's IP address.
         std::string ip_address;
@@ -40,8 +39,5 @@ namespace abb :: rws
 
         /// \brief HTTP receive timeout
         std::chrono::microseconds receive_timeout;
-
-        /// \brief HTTP backoff time between retry
-        std::list<std::chrono::milliseconds> retry_backoff;
     };
 }

include/abb_librws/v2_0/rws_client.h

@@ -82,7 +82,7 @@ class RWSClient
    *
    * \throw \a RWSError if something goes wrong.
    */
-  explicit RWSClient(ConnectionOptions const& connection_options);
+  explicit RWSClient(ConnectionOptions  connection_options);
 
   /**
    * \brief Logs out the currently active RWS session.

src/connection_options.cpp

@@ -1,26 +1,26 @@
 #include <abb_librws/connection_options.h>
 
+#include <utility>
+
 
 namespace abb :: rws
 {
     ConnectionOptions::ConnectionOptions(
-        std::string const& ip_address,
+        std::string  ip_address,
         unsigned short port,
-        std::string const& username,
+        std::string  username,
         std::string password,
         std::chrono::microseconds connection_timeout,
         std::chrono::microseconds send_timeout,
-        std::chrono::microseconds receive_timeout,
-        std::list<std::chrono::milliseconds> retry_backoff
+        std::chrono::microseconds receive_timeout
     )
-    :   ip_address {ip_address}
+    :   ip_address {std::move(ip_address)}
     ,   port {port}
-    ,   username {username}
-    ,   password {password}
+    ,   username {std::move(username)}
+    ,   password {std::move(password)}
     ,   connection_timeout {connection_timeout}
     ,   send_timeout {send_timeout}
     ,   receive_timeout {receive_timeout}
-    ,   retry_backoff {retry_backoff}
     {
     }
 }

src/v2_0/rws_client.cpp

@@ -49,15 +49,10 @@
 #include <stdexcept>
 #include <iostream>
 #include <thread>
+#include <utility>
 
 #include <unistd.h>
 
-
-namespace
-{
-static const char EXCEPTION_CREATE_STRING[]{"Failed to create string"};
-}
-
 namespace abb :: rws :: v2_0
 {
 using namespace Poco::Net;
@@ -70,8 +65,8 @@ using namespace Poco::Net;
  * Primary methods
  */
 
-RWSClient::RWSClient(ConnectionOptions const& connection_options)
-: connectionOptions_ {connection_options}
+RWSClient::RWSClient(ConnectionOptions connection_options)
+: connectionOptions_ {std::move(connection_options)}
 , context_ {
     new Poco::Net::Context {
       Poco::Net::Context::CLIENT_USE, "", "", "", Poco::Net::Context::VERIFY_NONE, 9, false, "ALL:!ADH:!LOW:!EXP:!MD5:@STRENGTH"
@@ -326,13 +321,6 @@ POCOResult RWSClient::httpGet(const std::string& uri,
   std::set<Poco::Net::HTTPResponse::HTTPStatus> const& accepted_status)
 {
   POCOResult result = http_client_.httpGet(uri);
-  std::list<std::chrono::milliseconds>::const_iterator it=connectionOptions_.retry_backoff.begin();
-
-  while (result.httpStatus() == HTTPResponse::HTTP_SERVICE_UNAVAILABLE && it != connectionOptions_.retry_backoff.end()){
-    std::this_thread::sleep_for(*(it++));
-    BOOST_LOG_TRIVIAL(warning) << "Received status 503 for " << uri << " doing retry";
-    result = http_client_.httpGet(uri);
-  }
 
   if (accepted_status.find(result.httpStatus()) == accepted_status.end())
   {
@@ -355,14 +343,6 @@ POCOResult RWSClient::httpPost(const std::string& uri, const std::string& conten
   std::set<Poco::Net::HTTPResponse::HTTPStatus> const& accepted_status)
 {
   POCOResult result = http_client_.httpPost(uri, content, content_type);
-  std::list<std::chrono::milliseconds>::const_iterator it=connectionOptions_.retry_backoff.begin();
-
-  while (shouldRetryPost(result.httpStatus()) && it != connectionOptions_.retry_backoff.end()){
-    std::this_thread::sleep_for(*(it++));
-    BOOST_LOG_TRIVIAL(warning) << "Received status " << result.httpStatus()
-    << " for " << uri << " doing retry. Response is: " << result.content();
-    result = http_client_.httpPost(uri, content, content_type);
-  }
 
   if (accepted_status.find(result.httpStatus()) == accepted_status.end())
   {
@@ -385,13 +365,6 @@ POCOResult RWSClient::httpPut(const std::string& uri, const std::string& content
   std::set<Poco::Net::HTTPResponse::HTTPStatus> const& accepted_status)
 {
   POCOResult result = http_client_.httpPut(uri, content, content_type);
-  std::list<std::chrono::milliseconds>::const_iterator it=connectionOptions_.retry_backoff.begin();
-
-  while (result.httpStatus() == HTTPResponse::HTTP_SERVICE_UNAVAILABLE && it != connectionOptions_.retry_backoff.end()){
-    std::this_thread::sleep_for(*(it++));
-    BOOST_LOG_TRIVIAL(warning) << "Received status 503 for " << uri << " doing retry";
-    result = http_client_.httpPut(uri, content, content_type);
-  }
 
   if (accepted_status.find(result.httpStatus()) == accepted_status.end())
   {
@@ -415,13 +388,6 @@ POCOResult RWSClient::httpDelete(const std::string& uri,
   std::set<Poco::Net::HTTPResponse::HTTPStatus> const& accepted_status)
 {
   POCOResult result = http_client_.httpDelete(uri);
-  std::list<std::chrono::milliseconds>::const_iterator it=connectionOptions_.retry_backoff.begin();
-
-  while (result.httpStatus() == HTTPResponse::HTTP_SERVICE_UNAVAILABLE && it != connectionOptions_.retry_backoff.end()){
-    std::this_thread::sleep_for(*(it++));
-    BOOST_LOG_TRIVIAL(warning) << "Received status 503 for " << uri << " doing retry";
-    result = http_client_.httpDelete(uri);
-  }
 
   if (accepted_status.find(result.httpStatus()) == accepted_status.end())
   {
@@ -445,12 +411,4 @@ Poco::Net::WebSocket RWSClient::receiveSubscription(std::string const& subscript
   return http_client_.webSocketConnect("/poll/" + subscription_group_id, "rws_subscription",
     Poco::Net::HTTPSClientSession {connectionOptions_.ip_address, connectionOptions_.port, context_});
 }
-
-
-bool RWSClient::shouldRetryPost(Poco::Net::HTTPResponse::HTTPStatus status)
-{
-  return status == HTTPResponse::HTTP_SERVICE_UNAVAILABLE //Received when robot server is busy and not able to respond now
-    || status == HTTPResponse::HTTP_FORBIDDEN; //Received e.g. when robot is updating rapid data and the resource is held by robot
-                                 //or when rapid execution is stopping and we try to reset PP
-}
 }