abb-rws-client 0.1.0

package/dist/HttpSession.js

@@ -0,0 +1,321 @@
+/**
+ * HttpSession — HTTP communication layer for ABB IRC5 controllers.
+ *
+ * Features:
+ * - HTTP Digest Authentication (RFC 2617) implemented from scratch using node:crypto
+ * - ABBCX + -http-session- cookie management
+ * - Request queue enforcing minimum interval between requests (<20 req/sec RWS limit)
+ * - Automatic re-authentication on session expiry (5-minute inactivity)
+ * - 401 retry with fresh digest handshake; 503 retry with 200ms backoff
+ * - AbortController-based timeout
+ *
+ * Uses Node 18+ built-in fetch and node:crypto. Zero external dependencies.
+ */
+import { createHash, randomBytes } from 'node:crypto';
+import { RwsError } from './types.js';
+// ─── Helpers ─────────────────────────────────────────────────────────────────
+function md5(s) {
+    return createHash('md5').update(s).digest('hex');
+}
+function sleep(ms) {
+    return new Promise((resolve) => setTimeout(resolve, ms));
+}
+// ─── HttpSession ─────────────────────────────────────────────────────────────
+export class HttpSession {
+    baseUrl;
+    username;
+    password;
+    requestIntervalMs;
+    timeoutMs;
+    /** Stored session cookies: '-http-session-' and 'ABBCX' */
+    cookies = new Map();
+    /** Last parsed digest challenge from WWW-Authenticate */
+    digestChallenge = null;
+    /** Nonce use counter — reset to 0 whenever a new nonce is received */
+    nonceCount = 0;
+    /** Timestamp of the most recent request sent */
+    lastRequestTime = 0;
+    /** Timestamp of the most recent successful response — used for session expiry */
+    lastActivityTime = 0;
+    /** Promise chain that serialises all outbound requests */
+    requestQueue = Promise.resolve();
+    /** 5-minute session inactivity timeout (milliseconds) */
+    static SESSION_TIMEOUT_MS = 5 * 60 * 1000;
+    constructor(options) {
+        this.baseUrl = options.baseUrl;
+        this.username = options.username;
+        this.password = options.password;
+        this.requestIntervalMs = options.requestIntervalMs;
+        this.timeoutMs = options.timeoutMs;
+    }
+    // ─── Public HTTP methods ────────────────────────────────────────────────────
+    get(path) {
+        return this.enqueue(() => this.execute('GET', path));
+    }
+    post(path, body) {
+        return this.enqueue(() => this.execute('POST', path, body));
+    }
+    put(path, body) {
+        return this.enqueue(() => this.execute('PUT', path, body));
+    }
+    delete(path) {
+        return this.enqueue(() => this.execute('DELETE', path));
+    }
+    /** Returns the current cookie string for use in WebSocket connections */
+    getCookieHeader() {
+        return this.buildCookieHeader();
+    }
+    /** Clear all session state (called on disconnect) */
+    clearSession() {
+        this.cookies.clear();
+        this.digestChallenge = null;
+        this.nonceCount = 0;
+        this.lastActivityTime = 0;
+    }
+    // ─── Request queue ──────────────────────────────────────────────────────────
+    /**
+     * Append a function to the serial request queue, enforcing the minimum interval
+     * between requests. Error suppression on `this.requestQueue` (not on `result`)
+     * ensures queue continues processing even when individual requests fail.
+     */
+    enqueue(fn) {
+        const result = this.requestQueue.then(async () => {
+            const elapsed = Date.now() - this.lastRequestTime;
+            if (this.requestIntervalMs > 0 && elapsed < this.requestIntervalMs) {
+                await sleep(this.requestIntervalMs - elapsed);
+            }
+            this.lastRequestTime = Date.now();
+            return fn();
+        });
+        // Detach error from the shared queue chain so a failed request does not block
+        // subsequent ones. Callers still receive the rejection via `result`.
+        this.requestQueue = result.then(() => undefined, () => undefined);
+        return result;
+    }
+    // ─── Core request execution ─────────────────────────────────────────────────
+    async execute(method, path, body) {
+        // Auto re-authenticate if the session may have expired
+        if (this.isSessionExpired()) {
+            this.cookies.clear();
+            this.digestChallenge = null;
+            this.nonceCount = 0;
+        }
+        let response = await this.rawFetch(method, path, body);
+        // 401 → perform digest handshake then retry once
+        if (response.status === 401) {
+            const wwwAuth = response.headers.get('www-authenticate');
+            if (!wwwAuth) {
+                throw new RwsError('401 without WWW-Authenticate header', 'AUTH_FAILED', 401);
+            }
+            this.digestChallenge = this.parseDigestChallenge(wwwAuth);
+            this.nonceCount = 0;
+            response = await this.rawFetch(method, path, body);
+            if (response.status === 401) {
+                // Second 401 — credentials are wrong
+                throw new RwsError('Authentication failed — check username and password', 'AUTH_FAILED', 401);
+            }
+        }
+        // 503 → wait 200ms and retry once
+        if (response.status === 503) {
+            await sleep(200);
+            response = await this.rawFetch(method, path, body);
+            if (response.status === 503) {
+                throw new RwsError('Controller busy (503) — retry later', 'CONTROLLER_BUSY', 503);
+            }
+        }
+        if (!this.isOk(response.status)) {
+            const bodyText = await response.text().catch(() => '');
+            throw new RwsError(`HTTP ${response.status} from ${method} ${path}`, this.mapHttpStatus(response.status), response.status, bodyText);
+        }
+        // Store cookies from response
+        this.storeCookies(response.headers);
+        this.lastActivityTime = Date.now();
+        const bodyText = await response.text().catch(() => '');
+        return { status: response.status, body: bodyText, headers: response.headers };
+    }
+    /** Issue a single HTTP request with digest auth header if we have a challenge */
+    async rawFetch(method, path, body) {
+        const url = `${this.baseUrl}${path}`;
+        const controller = new AbortController();
+        const timer = setTimeout(() => controller.abort(), this.timeoutMs);
+        const headers = {
+            Accept: 'application/xhtml+xml, application/json',
+        };
+        if (body !== undefined) {
+            if (body instanceof Uint8Array) {
+                headers['Content-Type'] = 'application/octet-stream';
+            }
+            else {
+                // Always set Content-Type for form submissions, even with empty body (e.g. resetpp)
+                headers['Content-Type'] = 'application/x-www-form-urlencoded';
+            }
+        }
+        const cookieHeader = this.buildCookieHeader();
+        if (cookieHeader) {
+            headers['Cookie'] = cookieHeader;
+        }
+        if (this.digestChallenge) {
+            // The URI in the Authorization header and HA2 computation must be the path + query,
+            // NOT the full URL with scheme and host — a common implementation mistake.
+            headers['Authorization'] = this.buildAuthHeader(method, path);
+        }
+        try {
+            return await fetch(url, {
+                method,
+                headers,
+                body: body !== undefined ? body : undefined,
+                signal: controller.signal,
+            });
+        }
+        catch (e) {
+            if (e instanceof Error && e.name === 'AbortError') {
+                throw new RwsError(`Request timed out after ${this.timeoutMs}ms: ${method} ${path}`, 'NETWORK_ERROR');
+            }
+            throw new RwsError(`Network error: ${String(e)}`, 'NETWORK_ERROR');
+        }
+        finally {
+            clearTimeout(timer);
+        }
+    }
+    // ─── Digest auth ────────────────────────────────────────────────────────────
+    /**
+     * Parse the WWW-Authenticate: Digest ... header into a DigestChallenge.
+     * Handles both quoted and unquoted parameter values per RFC 2617.
+     */
+    parseDigestChallenge(header) {
+        const prefix = 'Digest ';
+        if (!header.toLowerCase().startsWith('digest ')) {
+            throw new RwsError(`Unsupported auth scheme: "${header}"`, 'AUTH_FAILED');
+        }
+        const paramString = header.slice(prefix.length);
+        // Match key="quoted value" or key=unquoted-value
+        const paramPattern = /(\w+)=(?:"([^"]*)"|([\w.!@#$%^&*()\-_+=[\]{};:'<>,./\\?~`|]+))/g;
+        const params = {};
+        let m;
+        while ((m = paramPattern.exec(paramString)) !== null) {
+            // m[2] = quoted value, m[3] = unquoted value
+            params[m[1].toLowerCase()] = m[2] ?? m[3] ?? '';
+        }
+        if (!params['realm'])
+            throw new RwsError('WWW-Authenticate missing realm', 'AUTH_FAILED');
+        if (!params['nonce'])
+            throw new RwsError('WWW-Authenticate missing nonce', 'AUTH_FAILED');
+        return {
+            realm: params['realm'],
+            nonce: params['nonce'],
+            opaque: params['opaque'],
+            qop: params['qop'],
+            algorithm: params['algorithm'] ?? 'MD5',
+            stale: params['stale']?.toLowerCase() === 'true',
+            domain: params['domain'],
+        };
+    }
+    /**
+     * Build the Authorization: Digest ... header value for the given request.
+     * Increments the nonce use counter (nc).
+     *
+     * RFC 2617 §3.2.2:
+     *   HA1 = MD5(username:realm:password)
+     *   HA2 = MD5(method:digestURI)
+     *   response = MD5(HA1:nonce:nc:cnonce:qop:HA2)  — when qop=auth
+     *   response = MD5(HA1:nonce:HA2)                — RFC 2069 compat (no qop)
+     *
+     * Important: the space in 'Default User' is NOT percent-encoded for HA1.
+     * The nc value is NOT quoted in the Authorization header.
+     * The URI is path+query only, not scheme://host:port/path.
+     */
+    buildAuthHeader(method, uri) {
+        const challenge = this.digestChallenge;
+        const nc = (++this.nonceCount).toString(16).padStart(8, '0');
+        const cnonce = randomBytes(16).toString('hex');
+        const ha1 = md5(`${this.username}:${challenge.realm}:${this.password}`);
+        const ha2 = md5(`${method}:${uri}`);
+        let responseHash;
+        if (challenge.qop === 'auth' || challenge.qop === 'auth-int') {
+            // RFC 2617 qop mode
+            responseHash = md5(`${ha1}:${challenge.nonce}:${nc}:${cnonce}:auth:${ha2}`);
+        }
+        else {
+            // RFC 2069 compat — no qop
+            responseHash = md5(`${ha1}:${challenge.nonce}:${ha2}`);
+        }
+        const parts = [
+            `Digest username="${this.username}"`,
+            `realm="${challenge.realm}"`,
+            `nonce="${challenge.nonce}"`,
+            `uri="${uri}"`,
+            `algorithm=MD5`, // nc is NOT quoted
+            `nc=${nc}`,
+            `cnonce="${cnonce}"`,
+            `response="${responseHash}"`,
+        ];
+        if (challenge.qop) {
+            parts.push(`qop=auth`);
+        }
+        if (challenge.opaque) {
+            parts.push(`opaque="${challenge.opaque}"`);
+        }
+        return parts.join(', ');
+    }
+    // ─── Cookie management ───────────────────────────────────────────────────────
+    /**
+     * Extract Set-Cookie headers from a response and store name=value pairs.
+     * Uses Headers.getSetCookie() (Node 18.14.1+) to correctly handle multiple
+     * Set-Cookie headers. Falls back to headers.get('set-cookie') on older Node 18,
+     * though this may misparse cookie values containing commas.
+     */
+    storeCookies(headers) {
+        let setCookies;
+        // getSetCookie() is the WHATWG-spec method returning string[] — available Node 18.14.1+
+        if (typeof headers.getSetCookie === 'function') {
+            setCookies = headers.getSetCookie();
+        }
+        else {
+            // Fallback: merge header may be comma-split incorrectly for complex cookie values,
+            // but acceptable for the simple ABBCX and -http-session- cookies IRC5 sends.
+            const merged = headers.get('set-cookie');
+            setCookies = merged ? merged.split(/,\s*(?=[^;,]+=)/) : [];
+        }
+        for (const cookie of setCookies) {
+            // Only take the name=value part before the first ';'
+            const [nameValue] = cookie.split(';');
+            if (!nameValue)
+                continue;
+            const eqIdx = nameValue.indexOf('=');
+            if (eqIdx === -1)
+                continue;
+            const name = nameValue.slice(0, eqIdx).trim();
+            const value = nameValue.slice(eqIdx + 1).trim();
+            if (name)
+                this.cookies.set(name, value);
+        }
+    }
+    buildCookieHeader() {
+        return [...this.cookies.entries()].map(([k, v]) => `${k}=${v}`).join('; ');
+    }
+    // ─── Session expiry ──────────────────────────────────────────────────────────
+    isSessionExpired() {
+        return (this.lastActivityTime > 0 &&
+            Date.now() - this.lastActivityTime > HttpSession.SESSION_TIMEOUT_MS);
+    }
+    // ─── Helpers ────────────────────────────────────────────────────────────────
+    isOk(status) {
+        return status >= 200 && status < 300;
+    }
+    mapHttpStatus(status) {
+        switch (status) {
+            case 401:
+            case 403:
+                return 'AUTH_FAILED';
+            case 404:
+                return 'MODULE_NOT_FOUND';
+            case 429:
+                return 'RATE_LIMITED';
+            case 503:
+                return 'CONTROLLER_BUSY';
+            default:
+                return 'UNKNOWN';
+        }
+    }
+}
+//# sourceMappingURL=HttpSession.js.map

package/dist/HttpSession.js.map

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package/dist/ResourceMapper.d.ts

@@ -0,0 +1,95 @@
+/**
+ * ResourceMapper — pure functions that map RWS operations to URL paths and
+ * application/x-www-form-urlencoded request bodies.
+ *
+ * No HTTP, no state. All functions are individually exported for tree-shaking.
+ * Targets RWS 1.0 (RobotWare 6.x). Not compatible with RWS 2.0 / RobotWare 7.x.
+ */
+/** Path to read the current controller state (motoron, motoroff, etc.) */
+export declare function controllerState(): string;
+/** Path to read the current operation mode (AUTO, MANR, MANF) */
+export declare function operationMode(): string;
+/** Path to list all RAPID tasks */
+export declare function rapidTasks(): string;
+/** Path to read the RAPID execution state (running / stopped) */
+export declare function rapidExecutionState(): string;
+/** Path + body to start RAPID program execution */
+export declare function startRapid(): {
+    path: string;
+    body: string;
+};
+/** Path + body to stop RAPID program execution */
+export declare function stopRapid(): {
+    path: string;
+    body: string;
+};
+/**
+ * Path + body to reset the RAPID program pointer to main.
+ * The body is empty but Content-Type must still be application/x-www-form-urlencoded.
+ */
+export declare function resetRapid(): {
+    path: string;
+    body: string;
+};
+/**
+ * Path to read joint-space positions for a mechanical unit.
+ * @param mechunit - Default 'ROB_1' (the primary robot mechanical unit)
+ */
+export declare function jointTarget(mechunit?: string): string;
+/**
+ * Path to read Cartesian robot target.
+ * @param mechunit - Default 'ROB_1'
+ * @param tool     - Active tool frame; default 'tool0'
+ * @param wobj     - Active work object frame; default 'wobj0'
+ */
+export declare function robTarget(mechunit?: string, tool?: string, wobj?: string): string;
+/**
+ * Path + body to load a RAPID module into a task.
+ * @param taskName   - RAPID task name, e.g. 'T_ROB1'
+ * @param modulePath - Controller filesystem path, e.g. '$HOME/MyMod.mod'
+ *                     Do not double-encode the '$' prefix — the controller expects it literal.
+ */
+export declare function loadModule(taskName: string, modulePath: string, replace?: boolean): {
+    path: string;
+    body: string;
+};
+/**
+ * Path to retrieve details about a specific loaded module.
+ * @param taskName   - RAPID task name
+ * @param moduleName - Module name (without path or extension)
+ */
+export declare function getModule(taskName: string, moduleName: string): string;
+/**
+ * Path to list all modules loaded in a RAPID task.
+ * @param taskName - RAPID task name
+ */
+export declare function listModules(taskName: string): string;
+/**
+ * PUT path for uploading a file to the controller filesystem.
+ * Use '$HOME/' prefix to target the controller home directory.
+ * @param remotePath - Controller path, e.g. '$HOME/MyMod.mod' or 'HOME/MyMod.mod'
+ *                     A leading '/' is stripped to avoid double-slash in the URL.
+ */
+export declare function uploadFile(remotePath: string): string;
+/**
+ * Path to read a digital/analog I/O signal value.
+ *
+ * @param network - I/O network name, e.g. 'Local'. Pass '' for virtual/flat signals.
+ * @param device  - I/O device name, e.g. 'DRV_1'. Pass '' for virtual/flat signals.
+ * @param name    - Signal name, e.g. 'DI_1'
+ */
+export declare function signal(network: string, device: string, name: string): string;
+/**
+ * Path to write a digital/analog I/O signal value.
+ * The body with lvalue={value} is supplied by the caller (RwsClient.writeSignal).
+ *
+ * @param network - I/O network name. Pass '' for virtual/flat signals.
+ * @param device  - I/O device name. Pass '' for virtual/flat signals.
+ * @param name    - Signal name
+ */
+export declare function setSignal(network: string, device: string, name: string): {
+    path: string;
+};
+/** Path to create a new WebSocket subscription (POST /subscription) */
+export declare function subscriptions(): string;
+//# sourceMappingURL=ResourceMapper.d.ts.map

package/dist/ResourceMapper.d.ts.map

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package/dist/ResourceMapper.js

@@ -0,0 +1,146 @@
+/**
+ * ResourceMapper — pure functions that map RWS operations to URL paths and
+ * application/x-www-form-urlencoded request bodies.
+ *
+ * No HTTP, no state. All functions are individually exported for tree-shaking.
+ * Targets RWS 1.0 (RobotWare 6.x). Not compatible with RWS 2.0 / RobotWare 7.x.
+ */
+// ─── Controller ──────────────────────────────────────────────────────────────
+/** Path to read the current controller state (motoron, motoroff, etc.) */
+export function controllerState() {
+    return '/rw/panel/ctrlstate';
+}
+/** Path to read the current operation mode (AUTO, MANR, MANF) */
+export function operationMode() {
+    return '/rw/panel/opmode';
+}
+// ─── RAPID ───────────────────────────────────────────────────────────────────
+/** Path to list all RAPID tasks */
+export function rapidTasks() {
+    return '/rw/rapid/tasks';
+}
+/** Path to read the RAPID execution state (running / stopped) */
+export function rapidExecutionState() {
+    return '/rw/rapid/execution';
+}
+/** Path + body to start RAPID program execution */
+export function startRapid() {
+    return {
+        path: '/rw/rapid/execution?action=start',
+        body: 'regain=continue&execmode=continue&cycle=forever&condition=none&stopatbp=disabled&alltaskbytsp=false',
+    };
+}
+/** Path + body to stop RAPID program execution */
+export function stopRapid() {
+    return {
+        path: '/rw/rapid/execution?action=stop',
+        body: 'stopmode=stop',
+    };
+}
+/**
+ * Path + body to reset the RAPID program pointer to main.
+ * The body is empty but Content-Type must still be application/x-www-form-urlencoded.
+ */
+export function resetRapid() {
+    return {
+        path: '/rw/rapid/execution?action=resetpp',
+        body: '',
+    };
+}
+// ─── Motion ──────────────────────────────────────────────────────────────────
+/**
+ * Path to read joint-space positions for a mechanical unit.
+ * @param mechunit - Default 'ROB_1' (the primary robot mechanical unit)
+ */
+export function jointTarget(mechunit = 'ROB_1') {
+    return `/rw/motionsystem/mechunits/${encodeURIComponent(mechunit)}/jointtarget`;
+}
+/**
+ * Path to read Cartesian robot target.
+ * @param mechunit - Default 'ROB_1'
+ * @param tool     - Active tool frame; default 'tool0'
+ * @param wobj     - Active work object frame; default 'wobj0'
+ */
+export function robTarget(mechunit = 'ROB_1', tool = 'tool0', wobj = 'wobj0') {
+    return `/rw/motionsystem/mechunits/${encodeURIComponent(mechunit)}/robtarget?tool=${encodeURIComponent(tool)}&wobj=${encodeURIComponent(wobj)}`;
+}
+// ─── Modules ─────────────────────────────────────────────────────────────────
+/**
+ * Path + body to load a RAPID module into a task.
+ * @param taskName   - RAPID task name, e.g. 'T_ROB1'
+ * @param modulePath - Controller filesystem path, e.g. '$HOME/MyMod.mod'
+ *                     Do not double-encode the '$' prefix — the controller expects it literal.
+ */
+export function loadModule(taskName, modulePath, replace = false) {
+    return {
+        path: `/rw/rapid/tasks/${encodeURIComponent(taskName)}?action=loadmod`,
+        body: `modulepath=${encodeURIComponent(modulePath)}&replace=${replace}`,
+    };
+}
+/**
+ * Path to retrieve details about a specific loaded module.
+ * @param taskName   - RAPID task name
+ * @param moduleName - Module name (without path or extension)
+ */
+export function getModule(taskName, moduleName) {
+    return `/rw/rapid/tasks/${encodeURIComponent(taskName)}/modules/${encodeURIComponent(moduleName)}`;
+}
+/**
+ * Path to list all modules loaded in a RAPID task.
+ * @param taskName - RAPID task name
+ */
+export function listModules(taskName) {
+    return `/rw/rapid/modules?task=${encodeURIComponent(taskName)}`;
+}
+// ─── File system ─────────────────────────────────────────────────────────────
+/**
+ * PUT path for uploading a file to the controller filesystem.
+ * Use '$HOME/' prefix to target the controller home directory.
+ * @param remotePath - Controller path, e.g. '$HOME/MyMod.mod' or 'HOME/MyMod.mod'
+ *                     A leading '/' is stripped to avoid double-slash in the URL.
+ */
+export function uploadFile(remotePath) {
+    // Strip a leading '/' so the result is /fileservice/path, not /fileservice//path
+    const normalised = remotePath.replace(/^\//, '');
+    return `/fileservice/${normalised}`;
+}
+// ─── I/O ─────────────────────────────────────────────────────────────────────
+/**
+ * Build the signal path segment from optional network/device/name.
+ * If network and device are empty, the signal is a virtual flat signal (no prefix).
+ */
+function signalPath(network, device, name) {
+    if (network && device) {
+        return `/rw/iosystem/signals/${encodeURIComponent(network)}/${encodeURIComponent(device)}/${encodeURIComponent(name)}`;
+    }
+    return `/rw/iosystem/signals/${encodeURIComponent(name)}`;
+}
+/**
+ * Path to read a digital/analog I/O signal value.
+ *
+ * @param network - I/O network name, e.g. 'Local'. Pass '' for virtual/flat signals.
+ * @param device  - I/O device name, e.g. 'DRV_1'. Pass '' for virtual/flat signals.
+ * @param name    - Signal name, e.g. 'DI_1'
+ */
+export function signal(network, device, name) {
+    return signalPath(network, device, name);
+}
+/**
+ * Path to write a digital/analog I/O signal value.
+ * The body with lvalue={value} is supplied by the caller (RwsClient.writeSignal).
+ *
+ * @param network - I/O network name. Pass '' for virtual/flat signals.
+ * @param device  - I/O device name. Pass '' for virtual/flat signals.
+ * @param name    - Signal name
+ */
+export function setSignal(network, device, name) {
+    return {
+        path: `${signalPath(network, device, name)}?action=set`,
+    };
+}
+// ─── Subscriptions ───────────────────────────────────────────────────────────
+/** Path to create a new WebSocket subscription (POST /subscription) */
+export function subscriptions() {
+    return '/subscription';
+}
+//# sourceMappingURL=ResourceMapper.js.map

package/dist/ResourceMapper.js.map

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