Best Of

Hello there,

When you are using SendAnswer(), are you requesting RAPID Mastership before?

I.e:

Check out this forum post:
https://forums.robotstudio.com/discussion/12180/how-to-get-started-with-robot-web-services-and-jog-a-robot-via-rest-api-requests#latest

"
https://developercenter.robotstudio.com/api/rwsApi/ms_motionsystem_get_page.html

"change_count = counter to keep count for every change in the motion system(domain)"


We need to find the correct change count which we need to send to the controller with the jog request.


So first we GET this resource: http://localhost/rw/motionsystem?resource=change-count


This will return a <span class="change-count">0</span> which is the value we use in the jog request.
"

Here is an example code of subscription using Python 3. Take a look at the formatting of the URLs. I hope it can give you some guidance.

 
 
import sys, argparse 

import xml.etree.ElementTree as ET 

from ws4py.client.threadedclient import WebSocketClient 

import requests 

import json 

from requests.auth import HTTPDigestAuth 


namespace = '{http://www.w3.org/1999/xhtml}' 


def print_event(evt): 

    root = ET.fromstring(evt)    
     
    if root.findall(".//{0}li[@class='pnl-ctrlstate-ev']".format(namespace)): 

        print ("\tController State : " + root.find(".//{0}li[@class='pnl-ctrlstate-ev']/{0}span".format(namespace)).text) 

    if root.findall(".//{0}li[@class='pnl-opmode-ev']".format(namespace)): 

        print ("\tOperation Mode : " + root.find(".//{0}li[@class='pnl-opmode-ev']/{0}span".format(namespace)).text) 

    if root.findall(".//{0}li[@class='pnl-speedratio-ev']".format(namespace)): 

        print ("\tSpeed Ratio : " + root.find(".//{0}li[@class='pnl-speedratio-ev']/{0}span".format(namespace)).text) 


class RobWebSocketClient(WebSocketClient): 

    def opened(self): 

        print ("Web Sockect connection established") 


    def closed(self, code, reason=None): 

        print ("Closed down", code, reason) 


    def received_message(self, event_xml):         

        if event_xml.is_text:         
    
            print ("Events : ") 

            print_event(event_xml.data.decode("utf-8")) 

        else: 

            print ("Received Illegal Event " + str(event_xml)) 



class RWPanel: 

 
    def __init__(self, host, username, password): 

        self.host = host 

        self.username = username 

        self.password = password 

        self.digest_auth = HTTPDigestAuth(self.username,self.password) 

        self.subscription_url = 'http://{0}/subscription'.format(self.host) 

        self.session = requests.Session() 



def subscribe(self):   
 
        payload = {'resources':['1','2','3'],
            '1':'/rw/panel/speedratio',
            '1-p':'1',
            '2':'/rw/panel/ctrlstate',
            '2-p':'1',
            '3':'/rw/panel/opmode',
            '3-p':'1'}  


        resp = self.session.post(self.subscription_url , auth=self.digest_auth, data=payload) 

        print ("Initial Events : ") 

        print_event(resp.text)            

        if resp.status_code == 201: 

            self.location = resp.headers['Location'] 

            self.cookie = '-http-session-={0}; ABBCX={1}'.format(resp.cookies['-http-session-'], 
               resp.cookies['ABBCX']) 

            return True 

        else: 

            print ('Error subscribing ' + str(resp.status_code)) 

            return False 


    def start_recv_events(self): 

        self.header = [('Cookie',self.cookie)] 

        self.ws = RobWebSocketClient(self.location, 
                                      protocols=['robapi2_subscription'], 
                                      headers=self.header) 

        self.ws.connect() 

        self.ws.run_forever() 


    def close(self): 

        self.ws.close() 



def main(): 


    try: 

       parser = argparse.ArgumentParser() 

       parser.add_argument("-host",help="The host to connect. Defaults to localhost on port 80", default='localhost:80') 

       parser.add_argument("-user",help="The login user name. Defaults to default user name", default='Default User') 

       parser.add_argument("-passcode",help="The login password. Defaults to default password", default='robotics')   


       if rwpanel.subscribe(): 

            rwpanel.start_recv_events() 


    except KeyboardInterrupt: 

       rwpanel.close() 


if __name__ == "__main__": 

    main(sys.argv[1:])

Hello.

The API Reference has been made available again!

https://developercenter.robotstudio.com/api/pcsdkApi/

Have a nice weekend!