URL

/subscription

Method

POST

URL Params

See Common URL parameters

Data Params

resources=An identifier
*<identifier>*=The subscription resource URI (The URI here is: '/rw/rapid/tasks/<taskname>;excstate')
*<identifier>-p*=The priority associated with the subscription resource.

Success Response

CREATED(201)

see HTTP Status codes

Sample Response

<?xml version="1.0" encoding="utf-8"?>
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<title>Event</title>
<base href="http://localhost/"/>
</head>
<body>
<div class="state">
<a href="subscription/4" rel="group"/>
<a href="ws://localhost/poll/4" rel="self"/>
<a href="subscription/4?action=show" rel="action"/>
</div>
</body>
</html>

A task pgmexecution state change event look like

<?xml version="1.0" encoding="utf-8"?>
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<title>Event</title>
<base href="http://localhost/"/>
</head>
<body>
<div class="state">
<a href="subscription/4" rel="group"/>
<a href="ws://localhost/poll/4" rel="self"/>
<a href="subscription/4?action=show" rel="action"/>
<ul>
<li class="rap-execstate-ev" title="execstatechange">
<a href="/rw/rapid/tasks/T_ROB1;excstate" rel="self"/>
<span class="task-name">T_ROB1</span>
<span class="pgmtaskexec-state">started</span>
</li>
</ul>
</div>
</body>
</html>

Resources

rap-execstate-ev
pgmtaskexec-state {ready|started|stopped|initiated}

Error Response

BAD_REQUEST(400), UNSUPPORTED_MEDIA(415)

HTTP Errors, see HTTP Status codes

Robot controller errors, see Robot controller return codes

Sample Call

Subscribe on RAPID task sync state change

only low priority subscription(-p=0) and medium priority subscription(-p=1) are allowed on this resource

curl --digest -u "Default User":robotics -X POST -d "resources=1&1=/rw/rapid/tasks/T_ROB1;excstate&1-p=0" "http://127.0.0.1/subscription"

curl --digest -u "Default User":robotics -X POST -d "resources=1&1=/rw/rapid/tasks/T_ROB1;excstate&1-p=1" "http://127.0.0.1/subscription"

Notes

On subscription an empty initial event will be generated followed by the current value. Not supported in bootserver mode.