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Extra error info and getIOSignals() (ros-industrial#5)
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* Extra information is added to exceptions thrown by RWSClient.
* RWSClient constructor sends a request to the server to check connection and initiate authentication.
* Implemented getIOSignals() in RWSInterface.
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@mkatliar
mkatliar authored Feb 23, 2021
1 parent 803aa50 commit 94f5d17
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Showing 5 changed files with 305 additions and 298 deletions.
8 changes: 6 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,9 @@ endif()
# We need at least 1.4.3 because of WebSocket support.
find_package(Poco 1.4.3 REQUIRED COMPONENTS Foundation Net Util XML)

## Find boost exception library
find_package(Boost REQUIRED COMPONENTS exception)

###########
## Build ##
###########
Expand Down Expand Up @@ -56,10 +59,11 @@ target_include_directories(${PROJECT_NAME} PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include;${CMAKE_CURRENT_BINARY_DIR}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include>
${Poco_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME} PUBLIC
${Poco_LIBRARIES}
target_link_libraries(${PROJECT_NAME}
PUBLIC ${Poco_LIBRARIES}
)

if(NOT BUILD_SHARED_LIBS)
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155 changes: 84 additions & 71 deletions include/abb_librws/rws_client.h
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Expand Up @@ -47,11 +47,56 @@
#include "rws_poco_client.h"
#include "rws_resource.h"

#include <boost/exception/info.hpp>


namespace abb
{
namespace rws
{

/**
* \brief Indicates an RWS error
*/
class RWSError
: public std::runtime_error
, public boost::exception
{
public:
RWSError();
};


/**
* \brief Error info containing IO signal name.
*/
using IoSignalErrorInfo = boost::error_info<struct IoSignalErrorInfoTag, std::string>;


/**
* \brief Error info containing HTTPStatus.
*/
using HttpStatusErrorInfo = boost::error_info<struct HttpStatusErrorInfoTag, Poco::Net::HTTPResponse::HTTPStatus>;


/**
* \brief Error info containing an HTTP method.
*/
using HttpMethodErrorInfo = boost::error_info<struct HttpMethodErrorInfoTag, std::string>;


/**
* \brief Error info containing an HTTP response.
*/
using HttpResponseErrorInfo = boost::error_info<struct HttpResponseErrorInfoTag, POCOResult>;


/**
* \brief Error info containing an URI.
*/
using UriErrorInfo = boost::error_info<struct UriErrorInfoTag, std::string>;


/**
* \brief A struct for containing an evaluated communication result.
*/
Expand Down Expand Up @@ -92,13 +137,7 @@ class RWSClient : public POCOClient
*
* \throw \a std::exception if something goes wrong.
*/
RWSClient(const std::string& ip_address)
:
POCOClient(ip_address,
SystemConstants::General::DEFAULT_PORT_NUMBER,
SystemConstants::General::DEFAULT_USERNAME,
SystemConstants::General::DEFAULT_PASSWORD)
{}
RWSClient(const std::string& ip_address);

/**
* \brief A constructor.
Expand All @@ -109,13 +148,7 @@ class RWSClient : public POCOClient
*
* \throw \a std::exception if something goes wrong.
*/
RWSClient(const std::string& ip_address, const std::string& username, const std::string& password)
:
POCOClient(ip_address,
SystemConstants::General::DEFAULT_PORT_NUMBER,
username,
password)
{}
RWSClient(const std::string& ip_address, const std::string& username, const std::string& password);

/**
* \brief A constructor.
Expand All @@ -125,13 +158,7 @@ class RWSClient : public POCOClient
*
* \throw \a std::exception if something goes wrong.
*/
RWSClient(const std::string& ip_address, const unsigned short port)
:
POCOClient(ip_address,
port,
SystemConstants::General::DEFAULT_USERNAME,
SystemConstants::General::DEFAULT_PASSWORD)
{}
RWSClient(const std::string& ip_address, const unsigned short port);

/**
* \brief A constructor.
Expand All @@ -146,13 +173,7 @@ class RWSClient : public POCOClient
RWSClient(const std::string& ip_address,
const unsigned short port,
const std::string& username,
const std::string& password)
:
POCOClient(ip_address,
port,
username,
password)
{}
const std::string& password);

/**
* \brief Logs out the currently active RWS session.
Expand Down Expand Up @@ -508,71 +529,63 @@ class RWSClient : public POCOClient
const std::string& application = SystemConstants::General::EXTERNAL_APPLICATION,
const std::string& location = SystemConstants::General::EXTERNAL_LOCATION);


private:
/**
* \brief Method for parsing a communication result into a XML document.
* \brief Method for parsing a communication result into an XML document.
*
* \param result containing the result of the parsing.
* \param poco_result containing the POCO result.
*
* \return parsed content of \a poco_result.
*
* \throw \a std::exception if something goes wrong.
*/
static void parseMessage(RWSResult& result, const POCOResult& poco_result);
static RWSResult parseContent(const POCOResult& poco_result);


private:
/**
* \brief A struct for representing conditions, for the evaluation of an attempted RWS communication.
* \brief A method for sending a HTTP GET request and checking response status.
*
* \param uri for the URI (path and query).
*
* \return POCOResult containing the result.
*/
struct EvaluationConditions
{
/**
* \brief A default constructor.
*/
EvaluationConditions() : parse_message_into_xml(false) {};

/**
* \brief A method for reseting the conditions.
*/
void reset()
{
parse_message_into_xml = false;
accepted_outcomes.clear();
}

/**
* \brief Indication for if the received message should be parsed into a xml document.
*/
bool parse_message_into_xml;

/**
* \brief Vector containing the accepted HTTP outcomes.
*/
std::vector<Poco::Net::HTTPResponse::HTTPStatus> accepted_outcomes;
};

POCOResult httpGet(const std::string& uri);

/**
* \brief A method for logging out the currently active RWS session.
* \brief A method for sending a HTTP POST request and checking response status.
*
* \param uri for the URI (path and query).
* \param content for the request's content.
*
* \return POCOResult containing the result.
*/
void logout();
POCOResult httpPost(const std::string& uri, const std::string& content = "");

/**
* \brief Method for checking a communication result against the accepted outcomes.
* \brief A method for sending a HTTP PUT request and checking response status.
*
* \param poco_result containing the POCO result.
* \param conditions containing the conditions for the evaluation.
* \param uri for the URI (path and query).
* \param content for the request's content.
*
* \return POCOResult containing the result.
*/
void checkAcceptedOutcomes(const POCOResult& poco_result, const EvaluationConditions& conditions);
POCOResult httpPut(const std::string& uri, const std::string& content = "");

/**
* \brief Method for evaluating the result from a POCO communication.
* \brief A method for sending a HTTP DELETE request and checking response status.
*
* \param poco_result for the POCO result to evaluate.
* \param conditions specifying the conditions for the evaluation.
* \param uri for the URI (path and query).
*
* \return RWSResult containing the evaluated result.
* \return POCOResult containing the result.
*/
POCOResult httpDelete(const std::string& uri);


/**
* \brief A method for logging out the currently active RWS session.
*/
RWSResult evaluatePOCOResult(const POCOResult& poco_result, const EvaluationConditions& conditions);
void logout();

/**
* \brief Method for generating a configuration URI path.
Expand Down
20 changes: 20 additions & 0 deletions include/abb_librws/rws_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,10 @@
#include "rws_client.h"
#include "rws_subscription.h"

#include <map>
#include <variant>


namespace abb
{
namespace rws
Expand Down Expand Up @@ -340,6 +344,14 @@ struct RuntimeInfo
*/
bool rws_connected;
};


/**
* \brief Mapping from IO signal name to a value.
*
* The value of a digital signal is a \a bool, the value of an analog signal is a \a float.
*/
using IOSignalInfo = std::map<std::string, std::variant<bool, float>>;


/**
Expand Down Expand Up @@ -519,6 +531,14 @@ class RWSInterface
/// @return Value of the requested analog signal
///
float getAnalogSignal(std::string const& signal_name);


/**
* \brief Get values of all IO signals.
*
* \return Mapping from IO signal names to values.
*/
IOSignalInfo getIOSignals();


/**
Expand Down
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