lead-through methods added

include/abb_librws/rws_client.h

@@ -592,6 +592,25 @@ class RWSClient : public POCOClient
    */
   RWSResult setSpeedRatio(unsigned int ratio);
 
+  /**
+   * \brief A method for retrieving the lead-through state of the controller.
+   *
+   * \param mechunit for the mechanical unit's name.
+   *   
+   * \return RWSResult containing the result.
+   */  
+  RWSResult getLeadThrough(const std::string& mechunit);
+
+  /**
+   * \brief A method for setting the lead-through state of the controller.
+   *
+   * \param mechunit for the mechanical unit's name.
+   * \param value for the lead-through new value.
+   *
+   * \return RWSResult containing the result.
+   */  
+  RWSResult setLeadThrough(const std::string& mechunit, const std::string& value);
+
   /**
    * \brief A method for retrieving a file from the robot controller.
    *

include/abb_librws/rws_common.h

@@ -161,6 +161,11 @@ struct SystemConstants
    */
   struct ABB_LIBRWS_EXPORT ContollerStates
   {
+    /**
+     * \brief Robot controller active state.
+     */
+    static const std::string ACTIVE;
+
     /**
      * \brief Robot controller motor on.
      */
@@ -492,6 +497,11 @@ struct SystemConstants
        */
       static const XMLAttribute CLASS_STATE;
 
+      /**
+       * \brief Class & status.
+       */
+      static const XMLAttribute CLASS_STATUS;
+
       /**
        * \brief Class & sys-option-li.
        */
@@ -578,6 +588,11 @@ struct SystemConstants
        */
       static const std::string HOME_DIRECTORY;
 
+      /**
+       * \brief Inactive type.
+       */
+      static const std::string INACTIVE;
+
       /**
        * \brief IO signal.
        */
@@ -653,6 +668,11 @@ struct SystemConstants
        */
       static const std::string STATE;
 
+      /**
+       * \brief Status.
+       */
+      static const std::string STATUS;
+
       /**
        * \brief Controller topic in the system configurations (abbreviated as sys).
        */
@@ -709,6 +729,11 @@ struct SystemConstants
        */
       static const std::string ACTION_RESETPP;
 
+      /**
+       * \brief Get lead-through resource query.
+       */
+      static const std::string RESOURCE_LEAD_THROUGH;
+
       /**
        * \brief Set action query.
        */
@@ -719,6 +744,11 @@ struct SystemConstants
        */
       static const std::string ACTION_SETCTRLSTATE;
 
+      /**
+       * \brief Set lead-through action query.
+       */
+      static const std::string ACTION_SET_LEAD_THROUGH;
+
       /**
        * \brief Set locale.
        */

include/abb_librws/rws_interface.h

@@ -762,6 +762,33 @@ class RWSInterface
    */
   bool setSpeedRatio(unsigned int ratio);
 
+  /**
+   * \brief A method for turning on the lead-through modes.
+   *
+   * \param mechunit for the mechanical unit's name.
+   *
+   * \return bool indicating if the communication was successful or not.
+   */  
+  bool setLeadThroughOn(const std::string& mechunit);
+
+  /**
+   * \brief A method for turning off the lead-through modes.
+   *
+   * \param mechunit for the mechanical unit's name.
+   *
+   * \return bool indicating if the communication was successful or not.
+   */  
+  bool setLeadThroughOff(const std::string& mechunit);
+
+  /**
+   * \brief A method for checking if the lead-through are on.
+   *
+   * \param mechunit for the mechanical unit's name.
+   *   
+   * \return TriBool indicating if the lead-through are on or not or unknown.
+   */ 
+  TriBool isLeadThroughOn(const std::string& mechunit);
+
   /**
    * \brief A method for retrieving a file from the robot controller.
    *

src/rws_client.cpp

@@ -474,6 +474,29 @@ RWSClient::RWSResult RWSClient::setSpeedRatio(unsigned int ratio)
   return evaluatePOCOResult(httpPost(uri, content), evaluation_conditions);
 }
 
+RWSClient::RWSResult RWSClient::getLeadThrough(const std::string& mechunit)
+{
+  std::string uri = generateMechanicalUnitPath(mechunit) + "?" + Queries::RESOURCE_LEAD_THROUGH;
+
+  EvaluationConditions evaluation_conditions;
+  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::setLeadThrough(const std::string& mechunit, const std::string& value)
+{
+  std::string uri = generateMechanicalUnitPath(mechunit) + "?" + Queries::ACTION_SET_LEAD_THROUGH;
+  std::string content = Identifiers::STATUS + "=" + value;
+
+  EvaluationConditions evaluation_conditions;
+  evaluation_conditions.parse_message_into_xml = false;
+  evaluation_conditions.accepted_outcomes.push_back(HTTPResponse::HTTP_NO_CONTENT);
+
+  return evaluatePOCOResult(httpPost(uri, content), evaluation_conditions);
+}
+
 RWSClient::RWSResult RWSClient::getFile(const FileResource& resource, std::string* p_file_content)
 {
   RWSResult rws_result;

src/rws_common.cpp

@@ -213,6 +213,7 @@ typedef SystemConstants::RWS::Resources     Resources;
 typedef SystemConstants::RWS::Services      Services;
 typedef SystemConstants::RWS::XMLAttributes XMLAttributes;
 
+const std::string SystemConstants::ContollerStates::ACTIVE                    = "Active";
 const std::string SystemConstants::ContollerStates::CONTROLLER_MOTOR_ON       = "motoron";
 const std::string SystemConstants::ContollerStates::CONTROLLER_MOTOR_OFF      = "motoroff";
 const std::string SystemConstants::ContollerStates::PANEL_OPERATION_MODE_AUTO = "AUTO";
@@ -267,6 +268,7 @@ const std::string Identifiers::CTRLEXECSTATE                  = "ctrlexecstate";
 const std::string Identifiers::CTRLSTATE                      = "ctrlstate";
 const std::string Identifiers::DATTYP                         = "dattyp";
 const std::string Identifiers::EXCSTATE                       = "excstate";
+const std::string Identifiers::INACTIVE                       = "inactive";
 const std::string Identifiers::IOS_SIGNAL                     = "ios-signal";
 const std::string Identifiers::HOME_DIRECTORY                 = "$home";
 const std::string Identifiers::LVALUE                         = "lvalue";
@@ -283,6 +285,7 @@ const std::string Identifiers::ROBOT                          = "robot";
 const std::string Identifiers::RW_VERSION_NAME                = "rwversionname";
 const std::string Identifiers::SINGLE                         = "single";
 const std::string Identifiers::STATE                          = "state";
+const std::string Identifiers::STATUS                         = "status";
 const std::string Identifiers::SYS                            = "sys";
 const std::string Identifiers::SYS_OPTION_LI                  = "sys-option-li";
 const std::string Identifiers::SYS_SYSTEM_LI                  = "sys-system-li";
@@ -296,9 +299,11 @@ const std::string Queries::ACTION_REQUEST                     = "action=request"
 const std::string Queries::ACTION_RESETPP                     = "action=resetpp";
 const std::string Queries::ACTION_SET                         = "action=set";
 const std::string Queries::ACTION_SETCTRLSTATE                = "action=setctrlstate";
+const std::string Queries::ACTION_SET_LEAD_THROUGH            = "action=set-lead-through";
 const std::string Queries::ACTION_SET_LOCALE                  = "action=set-locale";
 const std::string Queries::ACTION_START                       = "action=start";
 const std::string Queries::ACTION_STOP                        = "action=stop";
+const std::string Queries::RESOURCE_LEAD_THROUGH              = "resource=lead-through";
 const std::string Queries::TASK                               = "task=";
 const std::string Services::CTRL                              = "/ctrl";
 const std::string Services::FILESERVICE                       = "/fileservice";
@@ -339,6 +344,7 @@ const XMLAttribute XMLAttributes::CLASS_RAP_MODULE_INFO_LI(Identifiers::CLASS, I
 const XMLAttribute XMLAttributes::CLASS_RAP_TASK_LI(Identifiers::CLASS       , Identifiers::RAP_TASK_LI);
 const XMLAttribute XMLAttributes::CLASS_RW_VERSION_NAME(Identifiers::CLASS   , Identifiers::RW_VERSION_NAME);
 const XMLAttribute XMLAttributes::CLASS_STATE(Identifiers::CLASS             , Identifiers::STATE);
+const XMLAttribute XMLAttributes::CLASS_STATUS(Identifiers::CLASS            , Identifiers::STATUS);
 const XMLAttribute XMLAttributes::CLASS_SYS_OPTION_LI(Identifiers::CLASS     , Identifiers::SYS_OPTION_LI);
 const XMLAttribute XMLAttributes::CLASS_SYS_SYSTEM_LI(Identifiers::CLASS     , Identifiers::SYS_SYSTEM_LI);
 const XMLAttribute XMLAttributes::CLASS_TYPE(Identifiers::CLASS              , Identifiers::TYPE);

src/rws_interface.cpp

@@ -978,6 +978,23 @@ bool RWSInterface::getRAPIDSymbolData(const std::string& task,
   return rws_client_.getRAPIDSymbolData(RWSClient::RAPIDResource(task, symbol), p_data).success;
 }
 
+bool RWSInterface::setLeadThroughOn(const std::string& mechunit)
+{
+  return rws_client_.setLeadThrough(mechunit, Identifiers::ACTIVE).success;
+}
+
+bool RWSInterface::setLeadThroughOff(const std::string& mechunit)
+{
+  return rws_client_.setLeadThrough(mechunit, Identifiers::INACTIVE).success;
+}
+
+TriBool RWSInterface::isLeadThroughOn(const std::string& mechunit)
+{
+  return compareSingleContent(rws_client_.getLeadThrough(mechunit),
+                              XMLAttributes::CLASS_STATUS,
+                              ContollerStates::ACTIVE);
+}
+
 bool RWSInterface::getFile(const RWSClient::FileResource& resource, std::string* p_file_content)
 {
   return rws_client_.getFile(resource, p_file_content).success;