abb-rws-client 0.1.0

package/dist/ResponseParser.d.ts

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+/**
+ * ResponseParser — pure functions that parse RWS 1.0 XML/XHTML responses into typed objects.
+ *
+ * RWS returns XHTML with <li class="..."> elements containing <span class="..."> children.
+ * Parsing uses regex + string methods only — no external XML libraries.
+ * All functions throw RwsError('PARSE_ERROR') on malformed or missing data.
+ */
+import type { ControllerState, OperationMode, ExecutionState, JointTarget, RobTarget, Signal, RapidTask } from './types.js';
+/**
+ * Parse a /rw/panel/ctrlstate XML response into a ControllerState.
+ * XML: <li class="pnl-ctrlstate"><span class="ctrlstate">motoron</span></li>
+ */
+export declare function parseControllerState(xml: string): ControllerState;
+/**
+ * Parse a /rw/panel/opmode XML response into an OperationMode.
+ * XML: <li class="pnl-opmode"><span class="opmode">AUTO</span></li>
+ */
+export declare function parseOperationMode(xml: string): OperationMode;
+/**
+ * Parse a /rw/rapid/execution XML response into an ExecutionState.
+ * XML: <li class="rap-execution"><span class="excstate">running</span></li>
+ *
+ * Note: some firmware versions emit the <li> with class "rap-execution-state" — we
+ * try both and also fall back to a flat span search.
+ */
+export declare function parseExecutionState(xml: string): ExecutionState;
+/**
+ * Parse a /rw/mechunit/{unit}/joint-target XML response into a JointTarget.
+ * XML: <li class="rap-jointtarget">
+ *        <span class="rax_1">10.00</span> ... <span class="rax_6">-90.00</span>
+ *      </li>
+ */
+export declare function parseJointTarget(xml: string): JointTarget;
+/**
+ * Parse a /rw/mechunit/{unit}/robtarget XML response into a RobTarget.
+ * XML: <li class="rap-robtarget">
+ *        <span class="x">...</span><span class="y">...</span>...
+ *      </li>
+ */
+export declare function parseRobTarget(xml: string): RobTarget;
+/**
+ * Parse a single I/O signal from a /rw/iosystem/signals/... XML response.
+ * XML: <li class="ios-signal-li">
+ *        <span class="name">DI_1</span>
+ *        <span class="lvalue">0</span>
+ *        <span class="type">DI</span>
+ *      </li>
+ *
+ * Can also be called with a single <li> block extracted by parseSignalList.
+ */
+export declare function parseSignal(xml: string): Signal;
+/**
+ * Parse a list of I/O signals from a /rw/iosystem/signals XML response.
+ * Extracts every <li class="ios-signal-li"> block and calls parseSignal on each.
+ */
+export declare function parseSignalList(xml: string): Signal[];
+/**
+ * Parse a /rw/rapid/tasks XML response into an array of RapidTask objects.
+ * XML: multiple <li class="rap-task-li"> elements.
+ */
+export declare function parseRapidTasks(xml: string): RapidTask[];
+/**
+ * Extract the subscription ID from a Location header value returned by POST /subscription.
+ *
+ * The caller should pass the raw Location header string, e.g.:
+ *   'http://192.168.125.1/subscription/1'
+ * Returns '1'.
+ *
+ * If passed full XML instead (some firmware versions put the ID in the body),
+ * the function also tries to extract a numeric trailing path segment.
+ */
+export declare function parseSubscriptionId(locationOrXml: string): string;
+//# sourceMappingURL=ResponseParser.d.ts.map

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package/dist/ResponseParser.js

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+/**
+ * ResponseParser — pure functions that parse RWS 1.0 XML/XHTML responses into typed objects.
+ *
+ * RWS returns XHTML with <li class="..."> elements containing <span class="..."> children.
+ * Parsing uses regex + string methods only — no external XML libraries.
+ * All functions throw RwsError('PARSE_ERROR') on malformed or missing data.
+ */
+import { RwsError } from './types.js';
+// ─── Internal helpers ────────────────────────────────────────────────────────
+/**
+ * Decode the minimum set of HTML entities that may appear in RWS span values.
+ */
+function decodeEntities(s) {
+    return s
+        .replace(/&amp;/g, '&')
+        .replace(/&lt;/g, '<')
+        .replace(/&gt;/g, '>')
+        .replace(/&quot;/g, '"')
+        .replace(/&#39;/g, "'");
+}
+/**
+ * Find the first <li> whose class attribute contains `liClass` as a whole word,
+ * then within that block find the first <span> whose class attribute contains
+ * `spanClass` as a whole word. Returns the trimmed inner text, or undefined.
+ *
+ * Uses the \b word boundary so 'rap-task-li' does not match 'rap-task-li-selected'.
+ * The 'is' flag makes '.' match newlines and matching case-insensitive.
+ */
+function extractSpanValue(xml, liClass, spanClass) {
+    // Phase 1: find the <li> block
+    const liPattern = new RegExp(`<li[^>]*class="[^"]*\\b${liClass}\\b[^"]*"[^>]*>(.*?)</li>`, 'is');
+    const liMatch = xml.match(liPattern);
+    if (!liMatch)
+        return undefined;
+    const liContent = liMatch[1];
+    // Phase 2: find the <span> within that block
+    const spanPattern = new RegExp(`<span[^>]*class="[^"]*\\b${spanClass}\\b[^"]*"[^>]*>(.*?)</span>`, 'is');
+    const spanMatch = liContent.match(spanPattern);
+    if (!spanMatch)
+        return undefined;
+    return decodeEntities(spanMatch[1].trim());
+}
+/**
+ * Like extractSpanValue but searches the entire xml string for a <span> with the given class.
+ * Used for flat responses that have no <li> wrapper.
+ */
+function extractSpanValueFlat(xml, spanClass) {
+    const spanPattern = new RegExp(`<span[^>]*class="[^"]*\\b${spanClass}\\b[^"]*"[^>]*>(.*?)</span>`, 'is');
+    const spanMatch = xml.match(spanPattern);
+    if (!spanMatch)
+        return undefined;
+    return decodeEntities(spanMatch[1].trim());
+}
+function requireSpan(xml, liClass, spanClass, context) {
+    const val = extractSpanValue(xml, liClass, spanClass);
+    if (val === undefined || val === '') {
+        throw new RwsError(`PARSE_ERROR: missing <span class="${spanClass}"> in <li class="${liClass}"> (${context})`, 'PARSE_ERROR');
+    }
+    return val;
+}
+function requireFloat(raw, field) {
+    const n = parseFloat(raw);
+    if (isNaN(n)) {
+        throw new RwsError(`PARSE_ERROR: expected float for "${field}", got "${raw}"`, 'PARSE_ERROR');
+    }
+    return n;
+}
+// ─── Public parsers ──────────────────────────────────────────────────────────
+const VALID_CONTROLLER_STATES = new Set([
+    'init',
+    'motoroff',
+    'motoron',
+    'guardstop',
+    'emergencystop',
+    'emergencystopreset',
+    'sysfail',
+]);
+/**
+ * Parse a /rw/panel/ctrlstate XML response into a ControllerState.
+ * XML: <li class="pnl-ctrlstate"><span class="ctrlstate">motoron</span></li>
+ */
+export function parseControllerState(xml) {
+    const raw = requireSpan(xml, 'pnl-ctrlstate', 'ctrlstate', 'parseControllerState');
+    if (!VALID_CONTROLLER_STATES.has(raw)) {
+        throw new RwsError(`PARSE_ERROR: unknown controller state "${raw}"`, 'PARSE_ERROR');
+    }
+    return raw;
+}
+const VALID_OPERATION_MODES = new Set(['AUTO', 'MANR', 'MANF']);
+/**
+ * Parse a /rw/panel/opmode XML response into an OperationMode.
+ * XML: <li class="pnl-opmode"><span class="opmode">AUTO</span></li>
+ */
+export function parseOperationMode(xml) {
+    const raw = requireSpan(xml, 'pnl-opmode', 'opmode', 'parseOperationMode');
+    // RWS may return lower-case variants; normalise to upper
+    const upper = raw.toUpperCase();
+    if (!VALID_OPERATION_MODES.has(upper)) {
+        throw new RwsError(`PARSE_ERROR: unknown operation mode "${raw}"`, 'PARSE_ERROR');
+    }
+    return upper;
+}
+/**
+ * Parse a /rw/rapid/execution XML response into an ExecutionState.
+ * XML: <li class="rap-execution"><span class="excstate">running</span></li>
+ *
+ * Note: some firmware versions emit the <li> with class "rap-execution-state" — we
+ * try both and also fall back to a flat span search.
+ */
+export function parseExecutionState(xml) {
+    let raw = extractSpanValue(xml, 'rap-execution', 'ctrlexecstate') ??
+        extractSpanValue(xml, 'rap-execution', 'excstate') ??
+        extractSpanValue(xml, 'rap-execution-state', 'ctrlexecstate') ??
+        extractSpanValue(xml, 'rap-execution-state', 'excstate') ??
+        extractSpanValueFlat(xml, 'ctrlexecstate') ??
+        extractSpanValueFlat(xml, 'excstate');
+    if (!raw) {
+        throw new RwsError('PARSE_ERROR: missing ctrlexecstate/excstate in execution response', 'PARSE_ERROR');
+    }
+    raw = raw.toLowerCase();
+    // 'stop' is the value the IRC5 returns; normalise to 'stopped'
+    if (raw === 'stop')
+        raw = 'stopped';
+    if (raw !== 'running' && raw !== 'stopped') {
+        throw new RwsError(`PARSE_ERROR: unknown execution state "${raw}"`, 'PARSE_ERROR');
+    }
+    return raw;
+}
+/**
+ * Parse a /rw/mechunit/{unit}/joint-target XML response into a JointTarget.
+ * XML: <li class="rap-jointtarget">
+ *        <span class="rax_1">10.00</span> ... <span class="rax_6">-90.00</span>
+ *      </li>
+ */
+export function parseJointTarget(xml) {
+    const axes = ['rax_1', 'rax_2', 'rax_3', 'rax_4', 'rax_5', 'rax_6'];
+    // Find the containing <li> block first
+    const liPattern = /<li[^>]*class="[^"]*\bms-jointtarget\b[^"]*"[^>]*>(.*?)<\/li>/is;
+    const liMatch = xml.match(liPattern);
+    if (!liMatch) {
+        throw new RwsError('PARSE_ERROR: missing <li class="ms-jointtarget">', 'PARSE_ERROR');
+    }
+    const block = liMatch[1];
+    const result = {};
+    for (const ax of axes) {
+        const spanPattern = new RegExp(`<span[^>]*class="[^"]*\\b${ax}\\b[^"]*"[^>]*>(.*?)</span>`, 'is');
+        const m = block.match(spanPattern);
+        if (!m) {
+            throw new RwsError(`PARSE_ERROR: missing <span class="${ax}">`, 'PARSE_ERROR');
+        }
+        result[ax] = requireFloat(m[1].trim(), ax);
+    }
+    return result;
+}
+/**
+ * Parse a /rw/mechunit/{unit}/robtarget XML response into a RobTarget.
+ * XML: <li class="rap-robtarget">
+ *        <span class="x">...</span><span class="y">...</span>...
+ *      </li>
+ */
+export function parseRobTarget(xml) {
+    const liPattern = /<li[^>]*class="[^"]*\bms-robtargets\b[^"]*"[^>]*>(.*?)<\/li>/is;
+    const liMatch = xml.match(liPattern);
+    if (!liMatch) {
+        throw new RwsError('PARSE_ERROR: missing <li class="ms-robtargets">', 'PARSE_ERROR');
+    }
+    const block = liMatch[1];
+    function getField(cls) {
+        const spanPattern = new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is');
+        const m = block.match(spanPattern);
+        if (!m)
+            throw new RwsError(`PARSE_ERROR: missing <span class="${cls}">`, 'PARSE_ERROR');
+        return requireFloat(m[1].trim(), cls);
+    }
+    return {
+        x: getField('x'),
+        y: getField('y'),
+        z: getField('z'),
+        q1: getField('q1'),
+        q2: getField('q2'),
+        q3: getField('q3'),
+        q4: getField('q4'),
+    };
+}
+/**
+ * Parse a single I/O signal from a /rw/iosystem/signals/... XML response.
+ * XML: <li class="ios-signal-li">
+ *        <span class="name">DI_1</span>
+ *        <span class="lvalue">0</span>
+ *        <span class="type">DI</span>
+ *      </li>
+ *
+ * Can also be called with a single <li> block extracted by parseSignalList.
+ */
+export function parseSignal(xml) {
+    // Individual signal endpoint returns <li class="ios-signal">
+    // Signal list endpoint returns <li class="ios-signal-li">
+    const nameRaw = extractSpanValue(xml, 'ios-signal', 'name') ??
+        extractSpanValue(xml, 'ios-signal-li', 'name') ??
+        extractSpanValueFlat(xml, 'name');
+    const lvalueRaw = extractSpanValue(xml, 'ios-signal', 'lvalue') ??
+        extractSpanValue(xml, 'ios-signal-li', 'lvalue') ??
+        extractSpanValueFlat(xml, 'lvalue');
+    const typeRaw = extractSpanValue(xml, 'ios-signal', 'type') ??
+        extractSpanValue(xml, 'ios-signal-li', 'type') ??
+        extractSpanValueFlat(xml, 'type');
+    if (!nameRaw)
+        throw new RwsError('PARSE_ERROR: missing signal name', 'PARSE_ERROR');
+    if (lvalueRaw === undefined)
+        throw new RwsError('PARSE_ERROR: missing signal lvalue', 'PARSE_ERROR');
+    if (!typeRaw)
+        throw new RwsError('PARSE_ERROR: missing signal type', 'PARSE_ERROR');
+    const validTypes = new Set(['DI', 'DO', 'AI', 'AO', 'GI', 'GO']);
+    if (!validTypes.has(typeRaw)) {
+        throw new RwsError(`PARSE_ERROR: unknown signal type "${typeRaw}"`, 'PARSE_ERROR');
+    }
+    return {
+        name: nameRaw,
+        value: lvalueRaw,
+        type: typeRaw,
+        lvalue: lvalueRaw,
+    };
+}
+/**
+ * Parse a list of I/O signals from a /rw/iosystem/signals XML response.
+ * Extracts every <li class="ios-signal-li"> block and calls parseSignal on each.
+ */
+export function parseSignalList(xml) {
+    const blocks = [
+        ...xml.matchAll(/<li[^>]*class="[^"]*\bios-signal-li\b[^"]*"[^>]*>.*?<\/li>/gis),
+    ];
+    return blocks.map(([block]) => parseSignal(block));
+}
+/**
+ * Parse a /rw/rapid/tasks XML response into an array of RapidTask objects.
+ * XML: multiple <li class="rap-task-li"> elements.
+ */
+export function parseRapidTasks(xml) {
+    const blocks = [
+        ...xml.matchAll(/<li[^>]*class="[^"]*\brap-task-li\b[^"]*"[^>]*>.*?<\/li>/gis),
+    ];
+    if (blocks.length === 0) {
+        throw new RwsError('PARSE_ERROR: no <li class="rap-task-li"> found', 'PARSE_ERROR');
+    }
+    return blocks.map(([block]) => {
+        function getSpan(cls) {
+            const m = block.match(new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is'));
+            return m ? decodeEntities(m[1].trim()) : '';
+        }
+        const name = getSpan('name');
+        if (!name)
+            throw new RwsError('PARSE_ERROR: RAPID task missing name', 'PARSE_ERROR');
+        let excstateRaw = getSpan('excstate').toLowerCase();
+        // IRC5 returns 'stop' instead of 'stopped'
+        if (excstateRaw === 'stop')
+            excstateRaw = 'stopped';
+        if (excstateRaw !== 'running' && excstateRaw !== 'stopped') {
+            throw new RwsError(`PARSE_ERROR: unknown excstate "${excstateRaw}" in task "${name}"`, 'PARSE_ERROR');
+        }
+        // 'active' may be 'On'/'Off' or 'true'/'false' depending on firmware version
+        const activeRaw = getSpan('active').toLowerCase();
+        const active = activeRaw === 'true' || activeRaw === 'on';
+        return {
+            name,
+            type: getSpan('type'),
+            taskstate: getSpan('taskstate'),
+            excstate: excstateRaw,
+            active,
+            motiontask: getSpan('motiontask').toLowerCase() === 'true',
+        };
+    });
+}
+/**
+ * Extract the subscription ID from a Location header value returned by POST /subscription.
+ *
+ * The caller should pass the raw Location header string, e.g.:
+ *   'http://192.168.125.1/subscription/1'
+ * Returns '1'.
+ *
+ * If passed full XML instead (some firmware versions put the ID in the body),
+ * the function also tries to extract a numeric trailing path segment.
+ */
+export function parseSubscriptionId(locationOrXml) {
+    // IRC5 RWS 1.0 may return /subscription/{id} or /poll/{id}
+    const urlMatch = locationOrXml.match(/\/(?:subscription|poll)\/(\d+)/);
+    if (urlMatch)
+        return urlMatch[1];
+    // Fallback: look for a self-link in the XML body
+    const hrefMatch = locationOrXml.match(/href="[^"]*\/(?:subscription|poll)\/(\d+)"/i);
+    if (hrefMatch)
+        return hrefMatch[1];
+    throw new RwsError(`PARSE_ERROR: cannot extract subscription ID from "${locationOrXml}"`, 'PARSE_ERROR');
+}
+//# sourceMappingURL=ResponseParser.js.map

package/dist/ResponseParser.js.map

@@ -0,0 +1 @@
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package/dist/RwsClient.d.ts

@@ -0,0 +1,156 @@
+/**
+ * RwsClient — the single public class for the abb-rws-client package.
+ *
+ * Assembles HttpSession, ResourceMapper, ResponseParser, and WsSubscriber into
+ * a convenient typed API for ABB IRC5 robot controllers using RWS 1.0.
+ *
+ * Compatible with RobotWare 6.x only. NOT compatible with RWS 2.0 / RobotWare 7.x / OmniCore.
+ *
+ * @example
+ * ```ts
+ * const client = new RwsClient({ host: '127.0.0.1' });
+ * await client.connect();
+ * const state = await client.getControllerState();
+ * await client.disconnect();
+ * ```
+ */
+import type { RwsClientOptions, ControllerState, OperationMode, ExecutionState, JointTarget, RobTarget, Signal, RapidTask, SubscriptionResource, SubscriptionEvent } from './types.js';
+export declare class RwsClient {
+    private readonly session;
+    private readonly subscriber;
+    constructor(options: RwsClientOptions);
+    /**
+     * Establish a session with the controller.
+     * Triggers digest authentication and verifies connectivity by reading controller state.
+     * Must be called before any other method.
+     *
+     * @throws {RwsError} code='NETWORK_ERROR' if the controller is unreachable
+     * @throws {RwsError} code='AUTH_FAILED' if credentials are incorrect
+     */
+    connect(): Promise<void>;
+    /**
+     * Disconnect from the controller.
+     * Closes all WebSocket subscriptions and clears the session.
+     */
+    disconnect(): Promise<void>;
+    /**
+     * Read the current controller state.
+     *
+     * @returns 'motoron' | 'motoroff' | 'init' | 'guardstop' | 'emergencystop' |
+     *          'emergencystopreset' | 'sysfail'
+     * @throws {RwsError} code='PARSE_ERROR' on unexpected response format
+     */
+    getControllerState(): Promise<ControllerState>;
+    /**
+     * Read the current operation mode.
+     *
+     * @returns 'AUTO' | 'MANR' | 'MANF'
+     * @throws {RwsError} code='PARSE_ERROR' on unexpected response format
+     */
+    getOperationMode(): Promise<OperationMode>;
+    /**
+     * Read the current RAPID execution state.
+     *
+     * @returns 'running' | 'stopped'
+     */
+    getRapidExecutionState(): Promise<ExecutionState>;
+    /**
+     * Retrieve all RAPID tasks and their current states.
+     *
+     * @returns Array of RapidTask objects
+     */
+    getRapidTasks(): Promise<RapidTask[]>;
+    /**
+     * Start RAPID program execution.
+     * The controller must be in AUTO mode with motors on.
+     *
+     * @throws {RwsError} code='MOTORS_OFF' if motors are not on
+     * @throws {RwsError} code='CONTROLLER_BUSY' if the controller is already busy
+     */
+    startRapid(): Promise<void>;
+    /**
+     * Stop RAPID program execution.
+     */
+    stopRapid(): Promise<void>;
+    /**
+     * Reset the RAPID program pointer to main.
+     * RAPID must be stopped before calling this.
+     */
+    resetRapid(): Promise<void>;
+    /**
+     * Read the current joint-space positions for a mechanical unit.
+     *
+     * @param mechunit - Mechanical unit name; default 'ROB_1'
+     * @returns JointTarget with rax_1 … rax_6 in degrees
+     */
+    getJointPositions(mechunit?: string): Promise<JointTarget>;
+    /**
+     * Read the current Cartesian robot target (TCP position and orientation).
+     *
+     * @param mechunit - Mechanical unit; default 'ROB_1'
+     * @param tool     - Active tool frame; default 'tool0'
+     * @param wobj     - Active work object; default 'wobj0'
+     * @returns RobTarget with x, y, z (mm) and q1–q4 quaternion components
+     */
+    getCartesianPosition(mechunit?: string, tool?: string, wobj?: string): Promise<RobTarget>;
+    /**
+     * Upload a RAPID module file to the controller filesystem.
+     * The file content is uploaded as UTF-8 bytes via PUT /fileservice/{remotePath}.
+     *
+     * @param remotePath - Controller path, e.g. '$HOME/MyMod.mod'
+     * @param content    - RAPID module source as a string
+     */
+    uploadModule(remotePath: string, content: string): Promise<void>;
+    /**
+     * Load a RAPID module from the controller filesystem into a task.
+     * The module must have been uploaded first (see uploadModule).
+     *
+     * @param taskName   - RAPID task name, e.g. 'T_ROB1'
+     * @param modulePath - Controller path to the module file, e.g. '$HOME/MyMod.mod'
+     * @throws {RwsError} code='MODULE_NOT_FOUND' if the module file does not exist
+     */
+    loadModule(taskName: string, modulePath: string, replace?: boolean): Promise<void>;
+    /**
+     * List the names of all modules currently loaded in a RAPID task.
+     *
+     * @param taskName - RAPID task name, e.g. 'T_ROB1'
+     * @returns Array of module names
+     */
+    listModules(taskName: string): Promise<string[]>;
+    /**
+     * Read an I/O signal value.
+     *
+     * @param network - I/O network name, e.g. 'Local'
+     * @param device  - I/O device name, e.g. 'DRV_1'
+     * @param name    - Signal name, e.g. 'DI_1'
+     * @returns Signal object with name, value, type, and lvalue
+     */
+    readSignal(network: string, device: string, name: string): Promise<Signal>;
+    /**
+     * Write a value to a digital or analog output signal.
+     *
+     * @param network - I/O network name
+     * @param device  - I/O device name
+     * @param name    - Signal name
+     * @param value   - New signal value, e.g. '1' (DO high), '0' (DO low), '3.14' (AO)
+     */
+    writeSignal(network: string, device: string, name: string, value: string): Promise<void>;
+    /**
+     * Subscribe to one or more RWS resource events via WebSocket.
+     *
+     * @param resources - Resources to subscribe to (execution, controllerstate, signal, etc.)
+     * @param handler   - Called with each SubscriptionEvent as it arrives
+     * @returns         - Async unsubscribe function; call to cancel and clean up
+     *
+     * @example
+     * ```ts
+     * const unsubscribe = await client.subscribe(['execution'], (event) => {
+     *   console.log(event.resource, event.value);
+     * });
+     * // later...
+     * await unsubscribe();
+     * ```
+     */
+    subscribe(resources: SubscriptionResource[], handler: (event: SubscriptionEvent) => void): Promise<() => Promise<void>>;
+}
+//# sourceMappingURL=RwsClient.d.ts.map

package/dist/RwsClient.d.ts.map

@@ -0,0 +1 @@
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