Merge pull request ros-industrial#61 from NoMagicAi/GRASP-13822-get-safety-violation-info

GRASP-13822  Call for safety violation info

Author: krzysztof-gomulski

include/abb_librws/common/rw/ctrl.h

@@ -23,4 +23,17 @@ namespace abb :: rws :: rw
     };
 
     std::ostream& operator<<(std::ostream& os, RestartMode mode);
-}
+
+    struct SafetyViolationInfo
+    {
+        // Robot is unsynchronized
+        bool unsynchronized = false;
+        // Robot tool is outside allowed area
+        bool toolPosViolation = false;
+        // Robot arm is outside allowed area
+        bool armViolation = false;
+        //One of the robot axes is outside allowed area
+        bool axisRangeViolation = false;
+    };
+
+}

include/abb_librws/common/rw/panel.h

@@ -84,4 +84,4 @@ namespace abb :: rws :: rw
      * \throw \a std::invalid_argument if \a str is not from the set of valid strings.
      */
     OperationMode makeOperationMode(std::string const& str);
-}
+}

include/abb_librws/v1_0/rw/ctrl.h

@@ -26,4 +26,15 @@ namespace abb :: rws :: v1_0 :: rw :: ctrl
      */
     void restartController(RWSClient& client, RestartMode const& restartMode = RestartMode::restart);
 
-}
+    /**
+     * \brief A function for retrieving the robot controller's info about any safety violation event that potentially is active.
+     *
+     * \param client RWS client
+     *
+     * \return RWSResult containing the result.
+     *
+     * \throw \a RWSError if something goes wrong.
+     */
+    SafetyViolationInfo getSafetyViolationInfo(RWSClient& client);
+
+}

include/abb_librws/v2_0/rw/ctrl.h

@@ -26,4 +26,15 @@ namespace abb :: rws :: v2_0 :: rw :: ctrl
      * \throw \a RWSError if something goes wrong.
      */
     void restartController(RWSClient& client, Mastership const& mastership, RestartMode const& restartMode = RestartMode::restart);
-}
+
+    /**
+     * \brief A function for retrieving the robot controller's info about any safety violation event that potentially is active.
+     *
+     * \param client RWS client
+     *
+     * \return RWSResult containing the result.
+     *
+     * \throw \a RWSError if something goes wrong.
+     */
+    SafetyViolationInfo getSafetyViolationInfo(RWSClient& client);
+}

include/abb_librws/v2_0/rw/panel.h

@@ -99,4 +99,4 @@ namespace abb :: rws :: v2_0 :: rw :: panel
      * \throw \a RWSError if something goes wrong.
      */
     void setSpeedRatio(RWSClient& client, unsigned int ratio);
-}
+}

src/v1_0/rw/ctrl.cpp

@@ -12,4 +12,20 @@ namespace abb :: rws :: v1_0 :: rw :: ctrl
 
         client.httpPost(uri.str(), content.str(), {Poco::Net::HTTPResponse::HTTP_OK});
     }
-}
+
+    SafetyViolationInfo getSafetyViolationInfo(RWSClient& client)
+    {
+        std::stringstream uri;
+        uri << Services::CTRL << "/safety/violation";
+
+        RWSResult rws_result = parseXml(client.httpGet(uri.str()).content());
+        
+        SafetyViolationInfo result;
+        result.unsynchronized = std::stoi(xmlFindTextContent(rws_result, XMLAttribute(Identifiers::CLASS, "unsynchronized"))) != 0;
+        result.toolPosViolation = std::stoi(xmlFindTextContent(rws_result, XMLAttribute(Identifiers::CLASS, "tool-pos-violation-status")))!= 0;
+        result.armViolation = std::stoi(xmlFindTextContent(rws_result, XMLAttribute(Identifiers::CLASS, "upper-arm-violation-status"))) != 0;
+        result.axisRangeViolation = std::stoi(xmlFindTextContent(rws_result, XMLAttribute(Identifiers::CLASS, "axis-range-violation-status"))) != 0;
+
+        return result;
+    }
+}

src/v2_0/rw/ctrl.cpp

@@ -14,4 +14,22 @@ namespace abb :: rws :: v2_0 :: rw :: ctrl
 
         client.httpPost(uri.str(), content.str(), content_type);
     }
-}
+
+
+    SafetyViolationInfo getSafetyViolationInfo(RWSClient& client)
+    {
+        std::stringstream uri;
+        uri << Services::CTRL << "/safety/violation";
+
+        RWSResult rws_result = parseXml(client.httpGet(uri.str()).content());
+        
+        SafetyViolationInfo result;
+        result.unsynchronized = std::stoi(xmlFindTextContent(rws_result, XMLAttribute(Identifiers::CLASS, "unsynchronized"))) != 0;
+        result.toolPosViolation = std::stoi(xmlFindTextContent(rws_result, XMLAttribute(Identifiers::CLASS, "tool-pos-violation-status"))) != 0;
+        result.armViolation = std::stoi(xmlFindTextContent(rws_result, XMLAttribute(Identifiers::CLASS, "upper-arm-violation-status"))) != 0;
+        result.axisRangeViolation = std::stoi(xmlFindTextContent(rws_result, XMLAttribute(Identifiers::CLASS, "axis-range-violation-status"))) != 0;
+
+        return result;
+    }
+
+}