Load program feature

include/abb_librws/rws_client.h

@@ -592,6 +592,26 @@ class RWSClient : public POCOClient
    */
   RWSResult setSpeedRatio(unsigned int ratio);
 
+  /**
+   * \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 program into the controller must be replaced by the new one or not.
+   *
+   * \return RWSResult containing the result.
+   */ 
+  RWSResult loadProgramIntoTask(const std::string& task, const FileResource& resource, const bool replace = false);
+
+  /**
+   * \brief A method for unloading a program to the robot controller.
+   *
+   * \param task specifying the RAPID task.
+   *
+   * \return RWSResult containing the result.
+   */ 
+  RWSResult unloadProgramFromTask(const std::string& task);
+
   /**
    * \brief A method for retrieving a file from the robot controller.
    *
@@ -825,6 +845,24 @@ 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 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.
    */

include/abb_librws/rws_common.h

@@ -623,6 +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.
        */
@@ -694,6 +699,11 @@ struct SystemConstants
      */
     struct ABB_LIBRWS_EXPORT Queries
     {
+      /**
+       * \brief Load program action query.
+       */
+      static const std::string ACTION_LOAD_PROGRAM;
+
       /**
        * \brief Release action query.
        */
@@ -734,6 +744,11 @@ struct SystemConstants
        */
       static const std::string ACTION_STOP;
 
+      /**
+       * \brief Unload program action query.
+       */
+      static const std::string ACTION_UNLOAD_PROGRAM;
+
       /**
        * \brief Task query.
        */
@@ -760,6 +775,11 @@ struct SystemConstants
        */
       static const std::string LOGOUT;
 
+      /**
+       * \brief RAPID tasks program.
+       */
+      static const std::string PROGRAM;  
+
       /**
        * \brief Robtarget.
        */

include/abb_librws/rws_interface.h

@@ -762,6 +762,26 @@ class RWSInterface
    */
   bool setSpeedRatio(unsigned int ratio);
 
+  /**
+   * \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 program into the controller must be replaced by the new one or not.
+   *
+   * \return bool indicating if the communication was successful or not.
+   */ 
+  bool loadProgramIntoTask(const std::string& task, const RWSClient::FileResource& resource, const bool replace = false);
+
+  /**
+   * \brief A method for unloading a program to the robot controller.
+   *
+   * \param task specifying the RAPID task.
+   *
+   * \return bool indicating if the communication was successful or not.
+   */ 
+  bool unloadProgramFromTask(const std::string& task);
+
   /**
    * \brief A method for retrieving a file from the robot controller.
    *

src/rws_client.cpp

@@ -474,6 +474,30 @@ RWSClient::RWSResult RWSClient::setSpeedRatio(unsigned int ratio)
   return evaluatePOCOResult(httpPost(uri, content), evaluation_conditions);
 }
 
+RWSClient::RWSResult RWSClient::loadProgramIntoTask(const std::string& task, const FileResource& resource, const bool replace)
+{
+  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);
+
+  return evaluatePOCOResult(httpPost(uri, content), evaluation_conditions);
+}
+
+RWSClient::RWSResult RWSClient::unloadProgramFromTask(const std::string& task)
+{
+  std::string uri = generateRAPIDTasksProgramPath(task) + "?" + Queries::ACTION_UNLOAD_PROGRAM;
+  std::string content = "";
+
+  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;
@@ -798,5 +822,15 @@ 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;
+}
+
+std::string RWSClient::generateRAPIDTasksProgramPath(const std::string& task)
+{
+  return generateRAPIDTasksPath(task) + Resources::PROGRAM;
+}
+
 } // end namespace rws
 } // end namespace abb

src/rws_common.cpp

@@ -277,6 +277,7 @@ 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";
@@ -291,6 +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_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";
@@ -299,6 +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_PROGRAM              = "action=unloadprog";
 const std::string Queries::TASK                               = "task=";
 const std::string Services::CTRL                              = "/ctrl";
 const std::string Services::FILESERVICE                       = "/fileservice";
@@ -308,6 +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";

src/rws_interface.cpp

@@ -978,6 +978,16 @@ bool RWSInterface::getRAPIDSymbolData(const std::string& task,
   return rws_client_.getRAPIDSymbolData(RWSClient::RAPIDResource(task, symbol), p_data).success;
 }
 
+bool RWSInterface::loadProgramIntoTask(const std::string& task, const RWSClient::FileResource& resource, const bool replace)
+{
+  return rws_client_.loadProgramIntoTask(task, resource, replace).success;
+}
+
+bool RWSInterface::unloadProgramFromTask(const std::string &task)
+{
+  return rws_client_.unloadProgramFromTask(task).success;
+}
+
 bool RWSInterface::getFile(const RWSClient::FileResource& resource, std::string* p_file_content)
 {
   return rws_client_.getFile(resource, p_file_content).success;