Microsoft Robotics Studio (MSRS) uses a SOAP based protocol called WSAP.  With WSAP an application is defined as a flexible composition of lightweight entities called services. Through operations defined by WSAP services can be created, manipulated, monitored, and destroyed repeatedly over the lifetime of an application.

 

WSAP defines a set of state-oriented message operations for retrieving, manipulating, and subscribing to structured state changes in a service. WSAP can be thought of as an extension to HTTP and is expected to be used as an addition to existing HTTP infrastructure.

 

For more information please see:

http://download.microsoft.com/download/0/9/3/0936d9a3-0d03-4174-97db-1c75d0ef44aa/WSAP.doc