How to use the RWS to realize automatic loading of modules

[lijianhualeigua]

Hello, In the configuration some instance have name attributes, so i can use the command like this curl –digest -u "Default User":robotics -d "name=testinstance" -X POST "http://localhost/rw/cfg/eio/INDUSTRIAL_NETWORK/instances?action=create-default" to create the default instance the Data Params is name, name of instance. Then use the RWS to set the other attributes value, use the command like this curl –digest - u "Default User" : robotics -d "Simulated=True" - X POST "http://localhost/rw/cfg/eio/INDUSTRIAL_NETWORK/instances/testinstance?action=set" . . But about the instance of Automatic loading of Modules in the configuration, it no have the name attributes, so even i success to create the default instance, the file attributes value is blank, the result is shown below.

So if i want use rws to realize the automatic load the module file features and bind the specific task, Just like the use RobotStudio to set the configuration instance value. what i should do.

Thank you very much!

[jontje]

Hello @lijianhualeigua,

There are at least two options for doing this.

[Option 1]: Update the instance directly

You can set the File attribute if you know the instance id, and this can be found by inspecting all instances in the domain type (e.g. /rw/cfg/sys/CAB_TASK_MODULES/instances).

Then you can use something like this to update the configuration instance: curl --digest -u "Default User:robotics" -d "File=<path to file>" -X POST "http://localhost/rw/cfg/sys/CAB_TASK_MODULES/instances/<instance id>?action=set"

[Option 2]: Upload a configuration file and load it

A file can be uploaded to the robot controller and then loaded into the configuration database, and this can for example be done with abb_librws like this:

abb::rws::RWSClient rws_client("127.0.0.1");

// Create and upload a mockup RAPID system module.
std::stringstream mod;
mod << "MODULE FOO(SYSMODULE)\n"
    << "\tPROC TPWriteFoo()\n"
    << "\t\tTPWrite \"FOO\";\n"
    << "\tENDPROC\n"
    << "ENDMODULE";
rws_client.uploadFile(abb::rws::RWSClient::FileResource("foo.sys"), mod.str());

// Create and upload a CFG file (specifying automatic loading of the RAPID system module).
std::stringstream cfg;
cfg << "SYS:CFG_1.0::\n"
    << "#\n"
    << "CAB_TASK_MODULES:\n\n"
    << "\t-Task \"T_ROB1\" -File \"HOME:/foo.sys\"";
rws_client.uploadFile(abb::rws::RWSClient::FileResource("bar.cfg"), cfg.str());

// Tell the robot controller to load the CFG file.
rws_client.httpPost("/rw/cfg?action=load", "filepath=$HOME:/bar.cfg&action-type=replace");

This code creates and uploads a RAPID module called foo.sys:

MODULE FOO(SYSMODULE)
    PROC TPWriteFoo()
        TPWrite "FOO";
    ENDPROC
ENDMODULE

The code also creates and uploads a CFG file called bar.cfg:

SYS:CFG_1.0::
#
CAB_TASK_MODULES:

    -Task "T_ROB1" -File "HOME:/foo.sys"

Finally the code also tells the robot controller to load the uploaded CFG file. After a restart, then the RAPID module should be available in task T_ROB1.

Summary

I prefer option 2, since you don't need to dig out the instance id and you can set several configurations at the same time.

I hope this helps!

[lijianhualeigua]

It helps me a lot. I will to test this way in the real controller. Thank you very much for you time and help.

[lijianhualeigua]

Hi, i use the way by rws to upload a configuration file and load it, i rceive the bad response, The error message: checkout AcceptedOutCome(...): RWS reponse status not accepted, and the code of poco_result.poco_info.http.response.status is 500. I find the meaning in the HTTP Status codes, the meaning is that INTERNAL_SERVER_ERROR(500) A generic error message, given when no more specific message is suitable.

RWSClient::RWSResult RWSClient::LoadCFGFile( const std::string &cfg_file_path)
{
    uri_ = Resources::RW_CFG + "?" + Queries::ACTION_LOAD;
    content_ = "filepath=" + cfg_file_path + "&action-type=add-with-reset";
    evaluation_conditions_.reset();
    evaluation_conditions_.parse_message_into_xml = false;
    evaluation_conditions_.accepted_outcomes.push_back(HTTPResponse::HTTP_NO_CONTENT);
    return evaluatePOCOResult(httpPost(uri_, content_), evaluation_conditions_);
}

But have a amazeing thing, when i restart the IRC5 controller, the configuration parameters is loaded. What happened, this is why?

Thank you very much!

[jontje]

@lijianhualeigua, can you provide the log text generated by the RWSClient::getLogText(const bool verbose) method?

And which RobotWare version is you using?

I just tested with RobotWare 6.10.01 and then I get the response 200 (OK) instead of the response 204 (NO_CONTENT) that is specified in the RWS documentation

[lijianhualeigua]

Thanks, i just tested with RobotWare 6.07.01 and then I get the same result like you that response 200 (OK) instead of the response 204 (NO_CONTENT) that is specified in the RWS documentation, so it meaning that the RWS documentation content exist some mistake.

[gavanderhoorn]

I'm going to close this as it seems either the issue was fixed (by going to a newer RW) or it's no longer an issue for the OP.