From 7b732fdcb989a882a3aea65e891b8b9f917b337f Mon Sep 17 00:00:00 2001
From: dorianleveque <dorian.leveque@outlook.fr>
Date: Mon, 23 Nov 2020 11:01:03 +0100
Subject: [PATCH 1/3] lead-through methods added

---
 include/abb_librws/rws_client.h    | 19 +++++++++++++++++++
 include/abb_librws/rws_common.h    | 30 ++++++++++++++++++++++++++++++
 include/abb_librws/rws_interface.h | 27 +++++++++++++++++++++++++++
 src/rws_client.cpp                 | 23 +++++++++++++++++++++++
 src/rws_common.cpp                 |  6 ++++++
 src/rws_interface.cpp              | 17 +++++++++++++++++
 6 files changed, 122 insertions(+)

diff --git a/include/abb_librws/rws_client.h b/include/abb_librws/rws_client.h
index a1b3743e..580b56c4 100644
--- a/include/abb_librws/rws_client.h
+++ b/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.
    *
diff --git a/include/abb_librws/rws_common.h b/include/abb_librws/rws_common.h
index 52b823e4..6e7d77d0 100644
--- a/include/abb_librws/rws_common.h
+++ b/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.
        */
diff --git a/include/abb_librws/rws_interface.h b/include/abb_librws/rws_interface.h
index 26806709..031c8275 100644
--- a/include/abb_librws/rws_interface.h
+++ b/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.
    *
diff --git a/src/rws_client.cpp b/src/rws_client.cpp
index 256caf70..417c9e0e 100644
--- a/src/rws_client.cpp
+++ b/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;
diff --git a/src/rws_common.cpp b/src/rws_common.cpp
index 56a37c8f..5913b32a 100644
--- a/src/rws_common.cpp
+++ b/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);
diff --git a/src/rws_interface.cpp b/src/rws_interface.cpp
index b964aee9..d2ef3841 100644
--- a/src/rws_interface.cpp
+++ b/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;

From 20380cb9dff7c4f9501d9dbb3bbe2e3cd2c81b4c Mon Sep 17 00:00:00 2001
From: dorianleveque <dorian.leveque@outlook.fr>
Date: Mon, 23 Nov 2020 11:35:36 +0100
Subject: [PATCH 2/3] load module methods added

---
 include/abb_librws/rws_client.h    | 33 +++++++++++++-------
 include/abb_librws/rws_common.h    | 50 ++++++++++++------------------
 include/abb_librws/rws_interface.h | 26 ++++++----------
 src/rws_client.cpp                 | 30 +++++++++++-------
 src/rws_common.cpp                 | 10 +++---
 src/rws_interface.cpp              | 15 +++------
 6 files changed, 78 insertions(+), 86 deletions(-)

diff --git a/include/abb_librws/rws_client.h b/include/abb_librws/rws_client.h
index 580b56c4..122ac3d4 100644
--- a/include/abb_librws/rws_client.h
+++ b/include/abb_librws/rws_client.h
@@ -593,23 +593,25 @@ class RWSClient : public POCOClient
   RWSResult setSpeedRatio(unsigned int ratio);
 
   /**
-   * \brief A method for retrieving the lead-through state of the controller.
+   * \brief A method for loading a module to the robot controller.
+   *
+   * \param task specifying the RAPID task.
+   * \param resource specifying the file's directory and name.
+   * \param replace indicating if the actual module into the controller must be replaced by the new one or not.
    *
-   * \param mechunit for the mechanical unit's name.
-   *   
    * \return RWSResult containing the result.
-   */  
-  RWSResult getLeadThrough(const std::string& mechunit);
-
+   */ 
+  RWSResult loadModuleIntoTask(const std::string& task, const FileResource& resource, const bool replace = false);
+  
   /**
-   * \brief A method for setting the lead-through state of the controller.
+   * \brief A method for unloading a module to the robot controller.
    *
-   * \param mechunit for the mechanical unit's name.
-   * \param value for the lead-through new value.
+   * \param task specifying the RAPID task.
+   * \param resource specifying the file's directory and name.
    *
    * \return RWSResult containing the result.
-   */  
-  RWSResult setLeadThrough(const std::string& mechunit, const std::string& value);
+   */ 
+  RWSResult unloadModuleFromTask(const std::string& task, const FileResource& resource);
 
   /**
    * \brief A method for retrieving a file from the robot controller.
@@ -844,6 +846,15 @@ class RWSClient : public POCOClient
    */
   std::string generateFilePath(const FileResource& resource);
 
+  /**
+   * \brief Method for generating a task resource URI path.
+   *
+   * \param task for the task name.
+   *
+   * \return std::string containing the path.
+   */
+  std::string generateRAPIDTasksPath(const std::string& task);
+
   /**
    * \brief Static constant for the log's size.
    */
diff --git a/include/abb_librws/rws_common.h b/include/abb_librws/rws_common.h
index 6e7d77d0..fb93f137 100644
--- a/include/abb_librws/rws_common.h
+++ b/include/abb_librws/rws_common.h
@@ -161,11 +161,6 @@ struct SystemConstants
    */
   struct ABB_LIBRWS_EXPORT ContollerStates
   {
-    /**
-     * \brief Robot controller active state.
-     */
-    static const std::string ACTIVE;
-
     /**
      * \brief Robot controller motor on.
      */
@@ -497,11 +492,6 @@ struct SystemConstants
        */
       static const XMLAttribute CLASS_STATE;
 
-      /**
-       * \brief Class & status.
-       */
-      static const XMLAttribute CLASS_STATUS;
-
       /**
        * \brief Class & sys-option-li.
        */
@@ -588,11 +578,6 @@ struct SystemConstants
        */
       static const std::string HOME_DIRECTORY;
 
-      /**
-       * \brief Inactive type.
-       */
-      static const std::string INACTIVE;
-
       /**
        * \brief IO signal.
        */
@@ -613,6 +598,16 @@ struct SystemConstants
        */
       static const std::string MOC;
 
+      /**
+       * \brief Module name.
+       */
+      static const std::string MODULE;
+
+      /**
+       * \brief Module path.
+       */
+      static const std::string MODULEPATH;
+
       /**
        * \brief Motion task.
        */
@@ -668,11 +663,6 @@ struct SystemConstants
        */
       static const std::string STATE;
 
-      /**
-       * \brief Status.
-       */
-      static const std::string STATUS;
-
       /**
        * \brief Controller topic in the system configurations (abbreviated as sys).
        */
@@ -714,6 +704,11 @@ struct SystemConstants
      */
     struct ABB_LIBRWS_EXPORT Queries
     {
+      /**
+       * \brief Load module action query.
+       */
+      static const std::string ACTION_LOAD_MODULE;
+
       /**
        * \brief Release action query.
        */
@@ -729,11 +724,6 @@ 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.
        */
@@ -744,11 +734,6 @@ 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.
        */
@@ -764,6 +749,11 @@ struct SystemConstants
        */
       static const std::string ACTION_STOP;
 
+      /**
+       * \brief Unload module action query.
+       */
+      static const std::string ACTION_UNLOAD_MODULE;
+
       /**
        * \brief Task query.
        */
diff --git a/include/abb_librws/rws_interface.h b/include/abb_librws/rws_interface.h
index 031c8275..74150769 100644
--- a/include/abb_librws/rws_interface.h
+++ b/include/abb_librws/rws_interface.h
@@ -763,31 +763,25 @@ class RWSInterface
   bool setSpeedRatio(unsigned int ratio);
 
   /**
-   * \brief A method for turning on the lead-through modes.
+   * \brief A method for loading a module to the robot controller.
    *
-   * \param mechunit for the mechanical unit's name.
+   * \param task specifying the RAPID task.
+   * \param resource specifying the file's directory and name.
+   * \param replace indicating if the actual module into the controller must be replaced by the new one or not.
    *
    * \return bool indicating if the communication was successful or not.
-   */  
-  bool setLeadThroughOn(const std::string& mechunit);
+   */ 
+  bool loadModuleIntoTask(const std::string& task, const RWSClient::FileResource& resource, const bool replace = false);
   
   /**
-   * \brief A method for turning off the lead-through modes.
+   * \brief A method for unloading a module to the robot controller.
    *
-   * \param mechunit for the mechanical unit's name.
+   * \param task specifying the RAPID task.
+   * \param resource specifying the file's directory and 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);
+  bool unloadModuleFromTask(const std::string& task, const RWSClient::FileResource& resource);
 
   /**
    * \brief A method for retrieving a file from the robot controller.
diff --git a/src/rws_client.cpp b/src/rws_client.cpp
index 417c9e0e..2f43358a 100644
--- a/src/rws_client.cpp
+++ b/src/rws_client.cpp
@@ -474,26 +474,27 @@ RWSClient::RWSResult RWSClient::setSpeedRatio(unsigned int ratio)
   return evaluatePOCOResult(httpPost(uri, content), evaluation_conditions);
 }
 
-RWSClient::RWSResult RWSClient::getLeadThrough(const std::string& mechunit)
+RWSClient::RWSResult RWSClient::loadModuleIntoTask(const std::string& task, const FileResource& resource, const bool replace)
 {
-  std::string uri = generateMechanicalUnitPath(mechunit) + "?" + Queries::RESOURCE_LEAD_THROUGH;
-  
+  std::string uri = generateRAPIDTasksPath(task) + "?" + Queries::ACTION_LOAD_MODULE;
+  std::string content = Identifiers::MODULEPATH + "=" + generateFilePath(resource) + "&replace=" + ((replace) ? "true" : "false");
+      
   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);
+  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::setLeadThrough(const std::string& mechunit, const std::string& value)
+RWSClient::RWSResult RWSClient::unloadModuleFromTask(const std::string& task, const FileResource& resource)
 {
-  std::string uri = generateMechanicalUnitPath(mechunit) + "?" + Queries::ACTION_SET_LEAD_THROUGH;
-  std::string content = Identifiers::STATUS + "=" + value;
-  
+  std::string uri = generateRAPIDTasksPath(task) + "?" + Queries::ACTION_UNLOAD_MODULE;
+  std::string content = Identifiers::MODULE + "=" + resource.filename;
+
   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);
 }
 
@@ -821,5 +822,10 @@ std::string RWSClient::generateFilePath(const FileResource& resource)
   return Services::FILESERVICE + "/" + resource.directory + "/" + resource.filename;
 }
 
+std::string RWSClient::generateRAPIDTasksPath(const std::string& task)
+{
+  return Resources::RW_RAPID_TASKS + "/" + task;
+}
+
 } // end namespace rws
 } // end namespace abb
diff --git a/src/rws_common.cpp b/src/rws_common.cpp
index 5913b32a..3c1f0bfe 100644
--- a/src/rws_common.cpp
+++ b/src/rws_common.cpp
@@ -213,7 +213,6 @@ 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";
@@ -268,13 +267,14 @@ 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";
 const std::string Identifiers::MECHANICAL_UNIT                = "mechanical_unit";
 const std::string Identifiers::MECHANICAL_UNIT_GROUP          = "mechanical_unit_group";
 const std::string Identifiers::MOC                            = "moc";
+const std::string Identifiers::MODULE                         = "module";
+const std::string Identifiers::MODULEPATH                     = "modulepath";
 const std::string Identifiers::MOTIONTASK                     = "motiontask";
 const std::string Identifiers::NAME                           = "name";
 const std::string Identifiers::OPMODE                         = "opmode";
@@ -285,7 +285,6 @@ 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";
@@ -294,16 +293,16 @@ const std::string Identifiers::TYPE                           = "type";
 const std::string Identifiers::VALUE                          = "value";
 const std::string Identifiers::CLASS                          = "class";
 const std::string Identifiers::OPTION                         = "option";
+const std::string Queries::ACTION_LOAD_MODULE                 = "action=loadmod";
 const std::string Queries::ACTION_RELEASE                     = "action=release";
 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::ACTION_UNLOAD_MODULE               = "action=unloadmod";
 const std::string Queries::TASK                               = "task=";
 const std::string Services::CTRL                              = "/ctrl";
 const std::string Services::FILESERVICE                       = "/fileservice";
@@ -344,7 +343,6 @@ 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);
diff --git a/src/rws_interface.cpp b/src/rws_interface.cpp
index d2ef3841..5a86635f 100644
--- a/src/rws_interface.cpp
+++ b/src/rws_interface.cpp
@@ -978,21 +978,14 @@ 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)
+bool RWSInterface::loadModuleIntoTask(const std::string& task, const RWSClient::FileResource& resource, const bool replace)
 {
-  return rws_client_.setLeadThrough(mechunit, Identifiers::ACTIVE).success;
+  return rws_client_.loadModuleIntoTask(task, resource, replace).success;
 }
 
-bool RWSInterface::setLeadThroughOff(const std::string& mechunit)
+bool RWSInterface::unloadModuleFromTask(const std::string& task, const RWSClient::FileResource& resource)
 {
-  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);
+  return rws_client_.unloadModuleFromTask(task, resource).success;
 }
 
 bool RWSInterface::getFile(const RWSClient::FileResource& resource, std::string* p_file_content)

From a04cfa967a844cb9358e87e8bcf31f6612d447a9 Mon Sep 17 00:00:00 2001
From: dorianleveque <dorian.leveque@outlook.fr>
Date: Mon, 23 Nov 2020 11:55:03 +0100
Subject: [PATCH 3/3] load program methods added

---
 include/abb_librws/rws_client.h    | 20 ++++++++++++++------
 include/abb_librws/rws_common.h    | 28 ++++++++++++++--------------
 include/abb_librws/rws_interface.h | 13 ++++++-------
 src/rws_client.cpp                 | 19 ++++++++++++-------
 src/rws_common.cpp                 |  8 ++++----
 src/rws_interface.cpp              |  8 ++++----
 6 files changed, 54 insertions(+), 42 deletions(-)

diff --git a/include/abb_librws/rws_client.h b/include/abb_librws/rws_client.h
index 122ac3d4..2c92f61b 100644
--- a/include/abb_librws/rws_client.h
+++ b/include/abb_librws/rws_client.h
@@ -593,25 +593,24 @@ class RWSClient : public POCOClient
   RWSResult setSpeedRatio(unsigned int ratio);
 
   /**
-   * \brief A method for loading a module to the robot controller.
+   * \brief A method for loading a program to the robot controller.
    *
    * \param task specifying the RAPID task.
    * \param resource specifying the file's directory and name.
-   * \param replace indicating if the actual module into the controller must be replaced by the new one or not.
+   * \param replace indicating if the actual program into the controller must be replaced by the new one or not.
    *
    * \return RWSResult containing the result.
    */ 
-  RWSResult loadModuleIntoTask(const std::string& task, const FileResource& resource, const bool replace = false);
+  RWSResult loadProgramIntoTask(const std::string& task, const FileResource& resource, const bool replace = false);
   
   /**
-   * \brief A method for unloading a module to the robot controller.
+   * \brief A method for unloading a program to the robot controller.
    *
    * \param task specifying the RAPID task.
-   * \param resource specifying the file's directory and name.
    *
    * \return RWSResult containing the result.
    */ 
-  RWSResult unloadModuleFromTask(const std::string& task, const FileResource& resource);
+  RWSResult unloadProgramFromTask(const std::string& task);
 
   /**
    * \brief A method for retrieving a file from the robot controller.
@@ -854,6 +853,15 @@ class RWSClient : public POCOClient
    * \return std::string containing the path.
    */
   std::string generateRAPIDTasksPath(const std::string& task);
+  
+  /**
+   * \brief Method for generating a task program resource URI path.
+   *
+   * \param task for the task name.
+   *
+   * \return std::string containing the path.
+   */
+  std::string generateRAPIDTasksProgramPath(const std::string& task);
 
   /**
    * \brief Static constant for the log's size.
diff --git a/include/abb_librws/rws_common.h b/include/abb_librws/rws_common.h
index fb93f137..064d5b64 100644
--- a/include/abb_librws/rws_common.h
+++ b/include/abb_librws/rws_common.h
@@ -598,16 +598,6 @@ struct SystemConstants
        */
       static const std::string MOC;
 
-      /**
-       * \brief Module name.
-       */
-      static const std::string MODULE;
-
-      /**
-       * \brief Module path.
-       */
-      static const std::string MODULEPATH;
-
       /**
        * \brief Motion task.
        */
@@ -633,6 +623,11 @@ struct SystemConstants
        */
       static const std::string PRESENT_OPTIONS;
 
+      /**
+       * \brief Program path.
+       */
+      static const std::string PROGRAM_PATH;
+
       /**
        * \brief RAPID module info list item.
        */
@@ -705,9 +700,9 @@ struct SystemConstants
     struct ABB_LIBRWS_EXPORT Queries
     {
       /**
-       * \brief Load module action query.
+       * \brief Load program action query.
        */
-      static const std::string ACTION_LOAD_MODULE;
+      static const std::string ACTION_LOAD_PROGRAM;
 
       /**
        * \brief Release action query.
@@ -750,9 +745,9 @@ struct SystemConstants
       static const std::string ACTION_STOP;
 
       /**
-       * \brief Unload module action query.
+       * \brief Unload program action query.
        */
-      static const std::string ACTION_UNLOAD_MODULE;
+      static const std::string ACTION_UNLOAD_PROGRAM;
 
       /**
        * \brief Task query.
@@ -780,6 +775,11 @@ struct SystemConstants
        */
       static const std::string LOGOUT;
 
+      /**
+       * \brief RAPID tasks program.
+       */
+      static const std::string PROGRAM;  
+
       /**
        * \brief Robtarget.
        */
diff --git a/include/abb_librws/rws_interface.h b/include/abb_librws/rws_interface.h
index 74150769..2ffa0ba9 100644
--- a/include/abb_librws/rws_interface.h
+++ b/include/abb_librws/rws_interface.h
@@ -763,26 +763,25 @@ class RWSInterface
   bool setSpeedRatio(unsigned int ratio);
 
   /**
-   * \brief A method for loading a module to the robot controller.
+   * \brief A method for loading a program to the robot controller.
    *
    * \param task specifying the RAPID task.
    * \param resource specifying the file's directory and name.
-   * \param replace indicating if the actual module into the controller must be replaced by the new one or not.
+   * \param replace indicating if the actual program into the controller must be replaced by the new one or not.
    *
    * \return bool indicating if the communication was successful or not.
    */ 
-  bool loadModuleIntoTask(const std::string& task, const RWSClient::FileResource& resource, const bool replace = false);
+  bool loadProgramIntoTask(const std::string& task, const RWSClient::FileResource& resource, const bool replace = false);
   
   /**
-   * \brief A method for unloading a module to the robot controller.
+   * \brief A method for unloading a program to the robot controller.
    *
    * \param task specifying the RAPID task.
-   * \param resource specifying the file's directory and name.
    *
    * \return bool indicating if the communication was successful or not.
    */ 
-  bool unloadModuleFromTask(const std::string& task, const RWSClient::FileResource& resource);
-
+  bool unloadProgramFromTask(const std::string& task);
+  
   /**
    * \brief A method for retrieving a file from the robot controller.
    *
diff --git a/src/rws_client.cpp b/src/rws_client.cpp
index 2f43358a..8afc9dce 100644
--- a/src/rws_client.cpp
+++ b/src/rws_client.cpp
@@ -474,11 +474,11 @@ RWSClient::RWSResult RWSClient::setSpeedRatio(unsigned int ratio)
   return evaluatePOCOResult(httpPost(uri, content), evaluation_conditions);
 }
 
-RWSClient::RWSResult RWSClient::loadModuleIntoTask(const std::string& task, const FileResource& resource, const bool replace)
+RWSClient::RWSResult RWSClient::loadProgramIntoTask(const std::string& task, const FileResource& resource, const bool replace)
 {
-  std::string uri = generateRAPIDTasksPath(task) + "?" + Queries::ACTION_LOAD_MODULE;
-  std::string content = Identifiers::MODULEPATH + "=" + generateFilePath(resource) + "&replace=" + ((replace) ? "true" : "false");
-      
+  std::string uri = generateRAPIDTasksProgramPath(task) + "?" + Queries::ACTION_LOAD_PROGRAM;
+  std::string content = Identifiers::PROGRAM_PATH + "=" + generateFilePath(resource) + "&loadmod=" + ((replace) ? "replace" : "add");
+
   EvaluationConditions evaluation_conditions;
   evaluation_conditions.parse_message_into_xml = false;
   evaluation_conditions.accepted_outcomes.push_back(HTTPResponse::HTTP_NO_CONTENT);
@@ -486,10 +486,10 @@ RWSClient::RWSResult RWSClient::loadModuleIntoTask(const std::string& task, cons
   return evaluatePOCOResult(httpPost(uri, content), evaluation_conditions);
 }
 
-RWSClient::RWSResult RWSClient::unloadModuleFromTask(const std::string& task, const FileResource& resource)
+RWSClient::RWSResult RWSClient::unloadProgramFromTask(const std::string& task)
 {
-  std::string uri = generateRAPIDTasksPath(task) + "?" + Queries::ACTION_UNLOAD_MODULE;
-  std::string content = Identifiers::MODULE + "=" + resource.filename;
+  std::string uri = generateRAPIDTasksProgramPath(task) + "?" + Queries::ACTION_UNLOAD_PROGRAM;
+  std::string content = "";
 
   EvaluationConditions evaluation_conditions;
   evaluation_conditions.parse_message_into_xml = false;
@@ -827,5 +827,10 @@ std::string RWSClient::generateRAPIDTasksPath(const std::string& task)
   return Resources::RW_RAPID_TASKS + "/" + task;
 }
 
+std::string RWSClient::generateRAPIDTasksProgramPath(const std::string& task)
+{
+  return generateRAPIDTasksPath(task) + Resources::PROGRAM;
+}
+
 } // end namespace rws
 } // end namespace abb
diff --git a/src/rws_common.cpp b/src/rws_common.cpp
index 3c1f0bfe..4206ea6a 100644
--- a/src/rws_common.cpp
+++ b/src/rws_common.cpp
@@ -273,12 +273,11 @@ const std::string Identifiers::LVALUE                         = "lvalue";
 const std::string Identifiers::MECHANICAL_UNIT                = "mechanical_unit";
 const std::string Identifiers::MECHANICAL_UNIT_GROUP          = "mechanical_unit_group";
 const std::string Identifiers::MOC                            = "moc";
-const std::string Identifiers::MODULE                         = "module";
-const std::string Identifiers::MODULEPATH                     = "modulepath";
 const std::string Identifiers::MOTIONTASK                     = "motiontask";
 const std::string Identifiers::NAME                           = "name";
 const std::string Identifiers::OPMODE                         = "opmode";
 const std::string Identifiers::PRESENT_OPTIONS                = "present_options";
+const std::string Identifiers::PROGRAM_PATH                   = "progpath";
 const std::string Identifiers::RAP_MODULE_INFO_LI             = "rap-module-info-li";
 const std::string Identifiers::RAP_TASK_LI                    = "rap-task-li";
 const std::string Identifiers::ROBOT                          = "robot";
@@ -293,7 +292,7 @@ const std::string Identifiers::TYPE                           = "type";
 const std::string Identifiers::VALUE                          = "value";
 const std::string Identifiers::CLASS                          = "class";
 const std::string Identifiers::OPTION                         = "option";
-const std::string Queries::ACTION_LOAD_MODULE                 = "action=loadmod";
+const std::string Queries::ACTION_LOAD_PROGRAM                = "action=loadprog";
 const std::string Queries::ACTION_RELEASE                     = "action=release";
 const std::string Queries::ACTION_REQUEST                     = "action=request";
 const std::string Queries::ACTION_RESETPP                     = "action=resetpp";
@@ -302,7 +301,7 @@ const std::string Queries::ACTION_SETCTRLSTATE                = "action=setctrls
 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::ACTION_UNLOAD_MODULE               = "action=unloadmod";
+const std::string Queries::ACTION_UNLOAD_PROGRAM              = "action=unloadprog";
 const std::string Queries::TASK                               = "task=";
 const std::string Services::CTRL                              = "/ctrl";
 const std::string Services::FILESERVICE                       = "/fileservice";
@@ -312,6 +311,7 @@ const std::string Services::USERS                             = "/users";
 const std::string Resources::INSTANCES                        = "/instances";
 const std::string Resources::JOINTTARGET                      = "/jointtarget";
 const std::string Resources::LOGOUT                           = "/logout";
+const std::string Resources::PROGRAM                          = "/program";
 const std::string Resources::ROBTARGET                        = "/robtarget";
 const std::string Resources::RW_CFG                           = Services::RW + "/cfg";
 const std::string Resources::RW_IOSYSTEM_SIGNALS              = Services::RW + "/iosystem/signals";
diff --git a/src/rws_interface.cpp b/src/rws_interface.cpp
index 5a86635f..636599bd 100644
--- a/src/rws_interface.cpp
+++ b/src/rws_interface.cpp
@@ -978,14 +978,14 @@ bool RWSInterface::getRAPIDSymbolData(const std::string& task,
   return rws_client_.getRAPIDSymbolData(RWSClient::RAPIDResource(task, symbol), p_data).success;
 }
 
-bool RWSInterface::loadModuleIntoTask(const std::string& task, const RWSClient::FileResource& resource, const bool replace)
+bool RWSInterface::loadProgramIntoTask(const std::string& task, const RWSClient::FileResource& resource, const bool replace)
 {
-  return rws_client_.loadModuleIntoTask(task, resource, replace).success;
+  return rws_client_.loadProgramIntoTask(task, resource, replace).success;
 }
 
-bool RWSInterface::unloadModuleFromTask(const std::string& task, const RWSClient::FileResource& resource)
+bool RWSInterface::unloadProgramFromTask(const std::string &task)
 {
-  return rws_client_.unloadModuleFromTask(task, resource).success;
+  return rws_client_.unloadProgramFromTask(task).success;
 }
 
 bool RWSInterface::getFile(const RWSClient::FileResource& resource, std::string* p_file_content)