JDAQ

Artiminds RPS WebSocket Trigger integration

This implementation implements only loading and starting the robot program via Artiminds RPS HttpSocket interface. The next-cylce mechanim must be handled otherwise, e.g. by the ROS-Trigger implementation.

Property name	Description	Optional
robot_cmd_program_name	Absolute path to the Artiminds RPS program to load and start it. Maybe a relative path relative to the executable of the RPS itself is possible.	No
loading_robot_program_timeout	Timeout in seconds waiting for a response after invocation of loading a robot program. Default value is 10s	Yes
starting_robot_program_timeout	Timeout in seconds waiting for a response after invocation of starting a robot program. Default value is 10s	Yes

...
<TrialType name="kirkdefault" duration="2"
              labelset="Input.xml" measurementSystemConfigIds="default">
  <PropertyGroup name="RPSTrigger">
        <Property name="robot_cmd_program_name" 
                  value="C:/Olive/Users/RPS-Programme/artm/CSVStateList.artm"/>
  </PropertyGroup>
 
  <!-- Handling of the next cycle mechanism via the ROS trigger implementation -->
  <PropertyGroup name="ROSTrigger">
              <Property name="robot_cmd_node_name" value="robot_command_server"/>
              <Property name="robot_cmd_service_name" value="robotCommand"/>
              <Property name="nextcycle_cmd_node_name" value="robot_nextcycle"/>
              <Property name="nextcycle_cmd_service_name" value="nextCycle"/>
              <Property name="nextcycle_cmd_service_timeout" value="120"/>
  </PropertyGroup>
  ...

The needed uri configuration to connect the RPS is read from the RPS Measurement System configuration.