Panel service (ros-industrial#19)

* Added v1_0::rw::PanelService class.

* Supported ControllerState subscription for RWS 1.0

* Added ControllerState enum values documentation.

* Supporting subscribing to operation mode.

* Overloaded operator<<() for RAPIDExecutionState

* Moved remaining Panel service functions from RWSClient to PanelService.

* Fixed URL for controller state in RWS 2.0

Author: mkatliar

CMakeLists.txt

@@ -50,11 +50,13 @@ set(
     src/connection_options.cpp
 
     src/common/rw/rapid.cpp
+    src/common/rw/panel.cpp
 
     src/v1_0/rws.cpp
     src/v1_0/rws_client.cpp
     src/v1_0/rws_interface.cpp
     src/v1_0/rw/rapid.cpp
+    src/v1_0/rw/panel.cpp
 
     src/v2_0/rws.cpp
     src/v2_0/rws_client.cpp

include/abb_librws/common/rw/panel.h

@@ -0,0 +1,87 @@
+#pragma once
+
+#include <abb_librws/rws.h>
+
+#include <string>
+
+
+namespace abb :: rws :: rw
+{
+    /**
+     * \brief Robot controller state.
+     *
+     * The documentation strings are taken from https://developercenter.robotstudio.com/api/RWS?urls.primaryName=Panel%20Service
+     */
+    enum class ControllerState
+    {
+        // The robot is starting up. It will shift to state motors off when it has started.
+        init,
+        // The robot is in a standby state where there is no power to the robot's motors.
+        // The state has to be shifted to motors on before the robot can move.
+        motorOff,
+        // The robot is ready to move, either by jogging or by running programs.
+        motorOn,
+        // The robot is stopped because the safety runchain is opened. For instance, a door to the robot's cell might be open.
+        guardStop,
+        // The robot is stopped because emergency stop was activated.
+        emergencyStop,
+        // The robot is ready to leave emergency stop state. The emergency stop is no longer activated, but the state transition isn't yet confirmed.
+        emergencyStopReset,
+        // The robot is in a system failure state. Restart required.
+        sysFail
+    };
+
+
+    std::ostream& operator<<(std::ostream& os, ControllerState state);
+
+
+    /**
+     * \brief Create \a ControllerState from string.
+     *
+     * \param str source string
+     *
+     * \return \a ControllerState matching the value of \a str
+     *
+     * \throw \a std::invalid_argument if \a str is not from the set of valid strings.
+     */
+    ControllerState makeControllerState(std::string const& str);
+
+
+    /**
+     * @brief Robot operation mode.
+     *
+     * The documentation strings are taken from https://developercenter.robotstudio.com/api/rwsApi/panel_opmode_get_page.html
+     */
+    enum class OperationMode
+    {
+        // State init
+        init,
+        // State change request for automatic mode
+        autoCh,
+        // State change request for manual mode & full speed
+        manFCh,
+        // State manual mode & reduced speed
+        manR,
+        // State manual mode & full speed
+        manF,
+        // State automatic mode
+        automatic,
+        // Undefined
+        undef
+    };
+
+
+    std::ostream& operator<<(std::ostream& os, OperationMode mode);
+
+
+    /**
+     * \brief Create \a OperationMode from string.
+     *
+     * \param str source string
+     *
+     * \return \a OperationMode matching the value of \a str
+     *
+     * \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/common/rw/rapid.h

@@ -3,6 +3,7 @@
 #include <abb_librws/rws.h>
 
 #include <string>
+#include <iosfwd>
 
 
 namespace abb :: rws :: rw
@@ -41,6 +42,9 @@ namespace abb :: rws :: rw
     };
 
 
+    std::ostream& operator<<(std::ostream& os, RAPIDExecutionState const& state);
+
+
     /**
      * \brief Create \a RAPIDExecutionState from string.
      *

include/abb_librws/rws_resource.h

@@ -108,13 +108,29 @@ namespace abb :: rws
 
 
   /**
-   * \brief RAPID execution state as a resource
+   * \brief RAPID execution state subscription resource
    */
   struct RAPIDExecutionStateResource
   {
   };
 
 
+  /**
+   * \brief Controller operation mode subscription resource
+   */
+  struct OperationModeResource
+  {
+  };
+
+
+  /**
+   * \brief Controller state subscription resource
+   */
+  struct ControllerStateResource
+  {
+  };
+
+
   /**
    * \brief A class for representing a file resource.
    */

include/abb_librws/rws_subscription.h

@@ -5,6 +5,7 @@
 #include "rws_error.h"
 
 #include <abb_librws/common/rw/rapid.h>
+#include <abb_librws/common/rw/panel.h>
 
 #include <Poco/DOM/DOMParser.h>
 #include <Poco/Net/WebSocket.h>
@@ -95,6 +96,21 @@ namespace abb :: rws
      */
     virtual std::string getResourceURI(RAPIDExecutionStateResource const&) const = 0;
 
+    /**
+     * \brief Get URI for subscribing to controller state
+     *
+     * \return Subscription URI
+     */
+    virtual std::string getResourceURI(ControllerStateResource const&) const = 0;
+
+
+    /**
+     * \brief Get URI for subscribing to operation mode
+     *
+     * \return Subscription URI
+     */
+    virtual std::string getResourceURI(OperationModeResource const&) const = 0;
+
     /**
      * \brief Process subscription event.
      *
@@ -196,6 +212,30 @@ namespace abb :: rws
   };
 
 
+  /**
+   * \brief Event received when controller state changes.
+   */
+  struct ControllerStateEvent
+  {
+    /**
+     * \brief Controller state
+     */
+    rw::ControllerState state;
+  };
+
+
+  /**
+   * \brief Event received when operation mode changes.
+   */
+  struct OperationModeEvent
+  {
+    /**
+     * \brief Operation mode
+     */
+    rw::OperationMode mode;
+  };
+
+
   /**
    * \brief Defines callbacks for different types of RWS subscription events.
    */
@@ -204,6 +244,8 @@ namespace abb :: rws
   public:
     virtual void processEvent(IOSignalStateEvent const& event);
     virtual void processEvent(RAPIDExecutionStateEvent const& event);
+    virtual void processEvent(ControllerStateEvent const& event);
+    virtual void processEvent(OperationModeEvent const& event);
   };
 
 

include/abb_librws/v1_0/rw/panel.h

@@ -0,0 +1,82 @@
+#pragma once
+
+#include <abb_librws/v1_0/rws_client.h>
+
+#include <abb_librws/rws.h>
+#include <abb_librws/common/rw/panel.h>
+
+#include <Poco/DOM/DOMParser.h>
+
+#include <string>
+
+
+namespace abb :: rws :: v1_0 :: rw
+{
+    using namespace rws::rw;
+
+
+    class PanelService
+    {
+    public:
+        explicit PanelService(RWSClient& client);
+
+        /**
+         * \brief A method for retrieving the controller state.
+         *
+         * \return RWSResult containing the result.
+         *
+         * \throw \a RWSError if something goes wrong.
+         */
+        ControllerState getControllerState();
+
+
+        /**
+         * @brief Set controller state
+         *
+         * @param state new controller state
+         *
+         * @throw @a RWSError if something goes wrong.
+         */
+        void setControllerState(ControllerState state);
+
+
+        /**
+         * \brief A method for retrieving the operation mode of the controller.
+         *
+         * \return RWSResult containing the result.
+         *
+         * \throw \a RWSError if something goes wrong.
+         */
+        OperationMode getOperationMode();
+
+
+        /**
+         * \brief A method for retrieving the robot controller's speed ratio for RAPID motions (e.g. MoveJ and MoveL).
+         *
+         * \return RWSResult containing the result.
+         *
+         * \throw \a RWSError if something goes wrong.
+         */
+        unsigned getSpeedRatio();
+
+
+        /**
+         * \brief A method for setting the robot controller's speed ratio for RAPID motions (e.g. MoveJ and MoveL).
+         *
+         * Note: The ratio must be an integer in the range [0, 100] (ie: inclusive).
+         *
+         * \param ratio specifying the new ratio.
+         *
+         * \return RWSResult containing the result.
+         *
+         * \throw std::out_of_range if argument is out of range.
+         * \throw \a RWSError if something goes wrong.
+         */
+        void setSpeedRatio(unsigned int ratio);
+
+    private:
+
+        RWSClient& client_;
+        Poco::XML::DOMParser parser_;
+    };
+}

include/abb_librws/v1_0/rws_client.h

@@ -183,33 +183,6 @@ class RWSClient
    */
   RWSResult getRobotWareSystem();
 
-  /**
-   * \brief A method for retrieving the robot controller's speed ratio for RAPID motions (e.g. MoveJ and MoveL).
-   *
-   * \return RWSResult containing the result.
-   *
-   * \throw \a RWSError if something goes wrong.
-   */
-  RWSResult getSpeedRatio();
-
-  /**
-   * \brief A method for retrieving the controller state.
-   *
-   * \return RWSResult containing the result.
-   *
-   * \throw \a RWSError if something goes wrong.
-   */
-  RWSResult getPanelControllerState();
-
-  /**
-   * \brief A method for retrieving the operation mode of the controller.
-   *
-   * \return RWSResult containing the result.
-   *
-   * \throw \a RWSError if something goes wrong.
-   */
-  RWSResult getPanelOperationMode();
-
   /**
    * \brief A method for setting the value of an IO signal.
    *
@@ -220,36 +193,6 @@ class RWSClient
    */
   void setIOSignal(const std::string& iosignal, const std::string& value);
 
-  /**
-   * \brief A method for turning on the robot controller's motors.
-   *
-   * \throw \a RWSError if something goes wrong.
-   */
-  void setMotorsOn();
-
-  /**
-   * \brief A method for turning off the robot controller's motors.
-   *
-   * \throw \a RWSError if something goes wrong.
-   */
-  void setMotorsOff();
-
-  /**
-   * \brief A method for setting the robot controller's speed ratio for RAPID motions (e.g. MoveJ and MoveL).
-   *
-   * Note: The ratio must be an integer in the range [0, 100] (ie: inclusive).
-   *
-   * \param ratio specifying the new ratio.
-   *
-   * \return RWSResult containing the result.
-   *
-   * \throw std::out_of_range if argument is out of range.
-   * \throw std::runtime_error if failed to create a string from the argument.
-   *
-   * \throw \a RWSError if something goes wrong.
-   */
-  void setSpeedRatio(unsigned int ratio);
-
   /**
    * \brief A method for retrieving a file from the robot controller.
    *
@@ -316,6 +259,8 @@ class RWSClient
   std::string getResourceURI(IOSignalResource const& io_signal) const override;
   std::string getResourceURI(RAPIDResource const& resource) const override;
   std::string getResourceURI(RAPIDExecutionStateResource const&) const override;
+  std::string getResourceURI(ControllerStateResource const&) const override;
+  std::string getResourceURI(OperationModeResource const&) const override;
   void processEvent(Poco::AutoPtr<Poco::XML::Document> content, SubscriptionCallback& callback) const override;