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>;taskchange')
*<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 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-task-ev" title="taskchange">
<a href="/rw/rapid/tasks/T_ROB1;taskchange" rel="self"/>
<span class="change-count">15262</span>
<span class="task-name">T_ROB1</span>
<span class="module-name">MainModule</span>
<span class="program-name"></span>
<span class="changetype">module</span>
</li>
</ul>
</div>
</body>
</html>

Resources

rap-task-ev
- change-count Change count
- task-name Task name
- module-name Module name
- program-name Program name
- changetype {module|struc|program load|program name}

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 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;taskchange&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;taskchange&1-p=1" "http://127.0.0.1/subscription"

Notes

On subscription an empty initial event will be generated. Not supported in bootserver mode.