abb-rws-client 0.2.0 → 0.5.0

package/dist/ResponseParser.d.ts

@@ -5,7 +5,7 @@
  * 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';
+import type { ControllerState, OperationMode, ExecutionState, ExecutionInfo, JointTarget, RobTarget, CartesianFull, Signal, RapidTask, IoNetwork, IoDevice, SystemInfo, ControllerIdentity, ElogMessage, FileEntry, CollisionDetectionState, RapidSymbolProperties, ControllerClock, UiInstruction, RapidSymbolInfo } from './types.js';
 /**
  * Parse a /rw/panel/ctrlstate XML response into a ControllerState.
  * XML: <li class="pnl-ctrlstate"><span class="ctrlstate">motoron</span></li>
@@ -18,12 +18,16 @@ export declare function parseControllerState(xml: string): ControllerState;
 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>
+ * XML: <li class="rap-execution"><span class="ctrlexecstate">stopped</span><span class="cycle">forever</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/rapid/execution XML response into ExecutionInfo (state + cycle).
+ */
+export declare function parseExecutionInfo(xml: string): ExecutionInfo;
 /**
  * Parse a /rw/mechunit/{unit}/joint-target XML response into a JointTarget.
  * XML: <li class="rap-jointtarget">
@@ -59,6 +63,81 @@ export declare function parseSignalList(xml: string): Signal[];
  * XML: multiple <li class="rap-task-li"> elements.
  */
 export declare function parseRapidTasks(xml: string): RapidTask[];
+/**
+ * Parse a /rw/panel/speedratio response into a number (0–100).
+ * XML: <li class="pnl-speedratio"><span class="speedratio">100</span></li>
+ */
+export declare function parseSpeedRatio(xml: string): number;
+/**
+ * Parse a /rw/rapid/symbol/data/... response — returns the raw value string.
+ * XML: <li class="rap-data"><span class="value">42</span></li>
+ * The caller interprets the string (number, bool, array, record, etc.).
+ */
+export declare function parseRapidSymbolValue(xml: string): string;
+/**
+ * Parse a /rw/motionsystem/mechunits/{unit}/cartesian response into a CartesianFull.
+ * XML: <li class="ms-mechunit-cartesian">
+ *        <span class="x">...</span>...<span class="j1">0</span>...
+ *      </li>
+ */
+export declare function parseCartesianFull(xml: string): CartesianFull;
+/**
+ * Parse a /rw/iosystem/networks response into an array of IoNetwork.
+ * XML: <li class="ios-network-li"><span class="name">...</span>...</li>
+ */
+export declare function parseNetworks(xml: string): IoNetwork[];
+/**
+ * Parse a /rw/iosystem/devices?network=... response into an array of IoDevice.
+ * XML: <li class="ios-device-li" title="Local/DRV_1"><span class="name">...</span>...</li>
+ */
+export declare function parseDevices(xml: string): IoDevice[];
+/**
+ * Parse a /rw/system response into SystemInfo.
+ * XML: <li class="sys-system-li">...</li> + <li class="sys-option-li">...</li>
+ */
+export declare function parseSystemInfo(xml: string): SystemInfo;
+/**
+ * Parse a /ctrl/identity response into ControllerIdentity.
+ * XML: <li class="ctrl-identity-info"><span class="ctrl-name">...</span>...</li>
+ */
+export declare function parseControllerIdentity(xml: string): ControllerIdentity;
+/**
+ * Parse a /rw/elog/{domain} response into an array of ElogMessage.
+ * XML: <li class="elog-message-li" title="/rw/elog/0/14073">...</li>
+ */
+export declare function parseElogMessages(xml: string): ElogMessage[];
+/**
+ * Parse a /fileservice/{path} directory listing response into FileEntry[].
+ * XML: <li class="fs-file" title="filename.mod">...</li>
+ *      <li class="fs-dir"  title="DirName">...</li>
+ */
+export declare function parseDirectory(xml: string): FileEntry[];
+/**
+ * Parse a /rw/panel/coldetstate response into a CollisionDetectionState.
+ * XML: <li class="pnl-coldetstate"><span class="coldetstate">INIT</span></li>
+ */
+export declare function parseCollisionDetectionState(xml: string): CollisionDetectionState;
+/**
+ * Parse a /rw/rapid/symbol/properties/... response into RapidSymbolProperties.
+ * XML: <li class="rap-sympropvar" title="RAPID/T_ROB1/user/reg1">...</li>
+ */
+export declare function parseRapidSymbolProperties(xml: string): RapidSymbolProperties;
+/**
+ * Parse a GET /ctrl/clock response into ControllerClock.
+ * XML: <li class="ctrl-clock-info"><span class="datetime">2015-06-18 T 12:56:07</span></li>
+ */
+export declare function parseControllerClock(xml: string): ControllerClock;
+/**
+ * Parse a GET /rw/rapid/uiinstr/active response into a UiInstruction.
+ * XML: <li class="rap-uiactive-li"><span class="instr">TPReadNum</span>...</li>
+ * Returns null if no UI instruction is currently active.
+ */
+export declare function parseActiveUiInstruction(xml: string): UiInstruction | null;
+/**
+ * Parse a RAPID symbol search response into RapidSymbolInfo[].
+ * XML: multiple <li class="rap-sympropvar-li"> elements.
+ */
+export declare function parseRapidSymbolSearch(xml: string): RapidSymbolInfo[];
 /**
  * Extract the subscription ID from a Location header value returned by POST /subscription.
  *

package/dist/ResponseParser.d.ts.map

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package/dist/ResponseParser.js

@@ -102,12 +102,18 @@ export function parseOperationMode(xml) {
 }
 /**
  * Parse a /rw/rapid/execution XML response into an ExecutionState.
- * XML: <li class="rap-execution"><span class="excstate">running</span></li>
+ * XML: <li class="rap-execution"><span class="ctrlexecstate">stopped</span><span class="cycle">forever</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) {
+    return parseExecutionInfo(xml).state;
+}
+/**
+ * Parse a /rw/rapid/execution XML response into ExecutionInfo (state + cycle).
+ */
+export function parseExecutionInfo(xml) {
     let raw = extractSpanValue(xml, 'rap-execution', 'ctrlexecstate') ??
         extractSpanValue(xml, 'rap-execution', 'excstate') ??
         extractSpanValue(xml, 'rap-execution-state', 'ctrlexecstate') ??
@@ -118,13 +124,16 @@ export function parseExecutionState(xml) {
         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 "${raw}"`, 'PARSE_ERROR');
     }
-    return raw;
+    const cycle = extractSpanValue(xml, 'rap-execution', 'cycle') ??
+        extractSpanValue(xml, 'rap-execution-state', 'cycle') ??
+        extractSpanValueFlat(xml, 'cycle') ??
+        'asis';
+    return { state: raw, cycle };
 }
 /**
  * Parse a /rw/mechunit/{unit}/joint-target XML response into a JointTarget.
@@ -273,6 +282,303 @@ export function parseRapidTasks(xml) {
         };
     });
 }
+/**
+ * Parse a /rw/panel/speedratio response into a number (0–100).
+ * XML: <li class="pnl-speedratio"><span class="speedratio">100</span></li>
+ */
+export function parseSpeedRatio(xml) {
+    const raw = requireSpan(xml, 'pnl-speedratio', 'speedratio', 'parseSpeedRatio');
+    return requireFloat(raw, 'speedratio');
+}
+/**
+ * Parse a /rw/rapid/symbol/data/... response — returns the raw value string.
+ * XML: <li class="rap-data"><span class="value">42</span></li>
+ * The caller interprets the string (number, bool, array, record, etc.).
+ */
+export function parseRapidSymbolValue(xml) {
+    const val = extractSpanValue(xml, 'rap-data', 'value');
+    if (val === undefined) {
+        throw new RwsError('PARSE_ERROR: missing <span class="value"> in rap-data', 'PARSE_ERROR');
+    }
+    return val;
+}
+/**
+ * Parse a /rw/motionsystem/mechunits/{unit}/cartesian response into a CartesianFull.
+ * XML: <li class="ms-mechunit-cartesian">
+ *        <span class="x">...</span>...<span class="j1">0</span>...
+ *      </li>
+ */
+export function parseCartesianFull(xml) {
+    const liPattern = /<li[^>]*class="[^"]*\bms-mechunit-cartesian\b[^"]*"[^>]*>(.*?)<\/li>/is;
+    const liMatch = xml.match(liPattern);
+    if (!liMatch) {
+        throw new RwsError('PARSE_ERROR: missing <li class="ms-mechunit-cartesian">', 'PARSE_ERROR');
+    }
+    const block = liMatch[1];
+    function getField(cls) {
+        const m = block.match(new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is'));
+        if (!m)
+            throw new RwsError(`PARSE_ERROR: missing <span class="${cls}"> in cartesian`, 'PARSE_ERROR');
+        return requireFloat(m[1].trim(), cls);
+    }
+    return {
+        x: getField('x'), y: getField('y'), z: getField('z'),
+        q1: getField('q1'), q2: getField('q2'), q3: getField('q3'), q4: getField('q4'),
+        j1: getField('j1'), j4: getField('j4'), j6: getField('j6'), jx: getField('jx'),
+    };
+}
+/**
+ * Parse a /rw/iosystem/networks response into an array of IoNetwork.
+ * XML: <li class="ios-network-li"><span class="name">...</span>...</li>
+ */
+export function parseNetworks(xml) {
+    const blocks = [...xml.matchAll(/<li[^>]*class="[^"]*\bios-network-li\b[^"]*"[^>]*>.*?<\/li>/gis)];
+    return blocks.map(([block]) => {
+        function get(cls) {
+            const m = block.match(new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is'));
+            return m ? decodeEntities(m[1].trim()) : '';
+        }
+        return { name: get('name'), pstate: get('pstate'), lstate: get('lstate') };
+    });
+}
+/**
+ * Parse a /rw/iosystem/devices?network=... response into an array of IoDevice.
+ * XML: <li class="ios-device-li" title="Local/DRV_1"><span class="name">...</span>...</li>
+ */
+export function parseDevices(xml) {
+    const blocks = [...xml.matchAll(/<li[^>]*class="[^"]*\bios-device-li\b[^"]*"[^>]*title="([^"]*)"[^>]*>.*?<\/li>/gis)];
+    return blocks.map(([block, titleAttr]) => {
+        function get(cls) {
+            const m = block.match(new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is'));
+            return m ? decodeEntities(m[1].trim()) : '';
+        }
+        // title is "Network/DeviceName"
+        const parts = titleAttr.split('/');
+        const network = parts.length >= 2 ? parts[0] : '';
+        return {
+            name: get('name'),
+            network,
+            lstate: get('lstate'),
+            pstate: get('pstate'),
+            address: get('address'),
+        };
+    });
+}
+/**
+ * Parse a /rw/system response into SystemInfo.
+ * XML: <li class="sys-system-li">...</li> + <li class="sys-option-li">...</li>
+ */
+export function parseSystemInfo(xml) {
+    const sysPattern = /<li[^>]*class="[^"]*\bsys-system-li\b[^"]*"[^>]*>(.*?)<\/li>/is;
+    const sysMatch = xml.match(sysPattern);
+    if (!sysMatch)
+        throw new RwsError('PARSE_ERROR: missing sys-system-li', 'PARSE_ERROR');
+    const block = sysMatch[1];
+    function get(cls) {
+        const m = block.match(new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is'));
+        return m ? decodeEntities(m[1].trim()) : '';
+    }
+    const options = [...xml.matchAll(/<li[^>]*class="[^"]*\bsys-option-li\b[^"]*"[^>]*>.*?<span[^>]*class="[^"]*\boption\b[^"]*"[^>]*>(.*?)<\/span>.*?<\/li>/gis)]
+        .map(([, opt]) => decodeEntities(opt.trim()))
+        .filter(Boolean);
+    return {
+        name: get('name'),
+        rwVersion: get('rwversion') || `${get('major')}.${get('minor')}.${get('build')}`,
+        sysid: get('sysid'),
+        startTime: get('starttm'),
+        options,
+    };
+}
+/**
+ * Parse a /ctrl/identity response into ControllerIdentity.
+ * XML: <li class="ctrl-identity-info"><span class="ctrl-name">...</span>...</li>
+ */
+export function parseControllerIdentity(xml) {
+    const liPattern = /<li[^>]*class="[^"]*\bctrl-identity-info\b[^"]*"[^>]*>(.*?)<\/li>/is;
+    const liMatch = xml.match(liPattern);
+    if (!liMatch)
+        throw new RwsError('PARSE_ERROR: missing ctrl-identity-info', 'PARSE_ERROR');
+    const block = liMatch[1];
+    function get(cls) {
+        const m = block.match(new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is'));
+        return m ? decodeEntities(m[1].trim()) : '';
+    }
+    return {
+        name: get('ctrl-name'),
+        id: get('ctrl-id'),
+        type: get('ctrl-type'),
+        mac: get('ctrl-mac'),
+    };
+}
+/**
+ * Parse a /rw/elog/{domain} response into an array of ElogMessage.
+ * XML: <li class="elog-message-li" title="/rw/elog/0/14073">...</li>
+ */
+export function parseElogMessages(xml) {
+    const blocks = [...xml.matchAll(/<li[^>]*class="[^"]*\belog-message-li\b[^"]*"[^>]*title="([^"]*)"[^>]*>.*?<\/li>/gis)];
+    return blocks.map(([block, titleAttr]) => {
+        function get(cls) {
+            const m = block.match(new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is'));
+            return m ? decodeEntities(m[1].trim()) : '';
+        }
+        // Extract seqnum from title: "/rw/elog/0/14073" → 14073
+        const seqMatch = titleAttr.match(/\/(\d+)$/);
+        const seqnum = seqMatch ? parseInt(seqMatch[1], 10) : 0;
+        return {
+            seqnum,
+            code: parseInt(get('code'), 10) || 0,
+            msgtype: parseInt(get('msgtype'), 10) || 1,
+            timestamp: get('tstamp'),
+            srcName: get('src-name'),
+            title: get('title'),
+            desc: get('desc'),
+            causes: get('causes'),
+            consequences: get('conseqs'),
+            actions: get('actions'),
+        };
+    });
+}
+/**
+ * Parse a /fileservice/{path} directory listing response into FileEntry[].
+ * XML: <li class="fs-file" title="filename.mod">...</li>
+ *      <li class="fs-dir"  title="DirName">...</li>
+ */
+export function parseDirectory(xml) {
+    const fileBlocks = [...xml.matchAll(/<li[^>]*class="[^"]*\bfs-file\b[^"]*"[^>]*title="([^"]*)"[^>]*>.*?<\/li>/gis)];
+    const dirBlocks = [...xml.matchAll(/<li[^>]*class="[^"]*\bfs-dir\b[^"]*"[^>]*title="([^"]*)"[^>]*>.*?<\/li>/gis)];
+    function get(block, cls) {
+        const m = block.match(new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is'));
+        return m ? decodeEntities(m[1].trim()) : '';
+    }
+    const files = fileBlocks.map(([block, name]) => ({
+        name,
+        type: 'file',
+        size: get(block, 'fs-size') ? parseInt(get(block, 'fs-size'), 10) : undefined,
+        created: get(block, 'fs-cdate') || undefined,
+        modified: get(block, 'fs-mdate') || undefined,
+        readonly: get(block, 'fs-readonly') === 'true',
+    }));
+    const dirs = dirBlocks.map(([block, name]) => ({
+        name,
+        type: 'dir',
+        created: get(block, 'fs-cdate') || undefined,
+        modified: get(block, 'fs-mdate') || undefined,
+    }));
+    return [...dirs, ...files];
+}
+const VALID_COLLISION_STATES = new Set([
+    'INIT', 'TRIGGERED', 'CONFIRMED', 'TRIGGERED_ACK',
+]);
+/**
+ * Parse a /rw/panel/coldetstate response into a CollisionDetectionState.
+ * XML: <li class="pnl-coldetstate"><span class="coldetstate">INIT</span></li>
+ */
+export function parseCollisionDetectionState(xml) {
+    const raw = requireSpan(xml, 'pnl-coldetstate', 'coldetstate', 'parseCollisionDetectionState');
+    const upper = raw.toUpperCase();
+    if (!VALID_COLLISION_STATES.has(upper)) {
+        // Return INIT as safe fallback for unknown values (firmware may add new states)
+        return 'INIT';
+    }
+    return upper;
+}
+/**
+ * Parse a /rw/rapid/symbol/properties/... response into RapidSymbolProperties.
+ * XML: <li class="rap-sympropvar" title="RAPID/T_ROB1/user/reg1">...</li>
+ */
+export function parseRapidSymbolProperties(xml) {
+    const liPattern = /<li[^>]*class="[^"]*\brap-sympropvar\b[^"]*"[^>]*>(.*?)<\/li>/is;
+    const liMatch = xml.match(liPattern);
+    if (!liMatch) {
+        throw new RwsError('PARSE_ERROR: missing <li class="rap-sympropvar">', 'PARSE_ERROR');
+    }
+    const block = liMatch[1];
+    function get(cls) {
+        const m = block.match(new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is'));
+        return m ? decodeEntities(m[1].trim()) : '';
+    }
+    // Extract symburl from the <li title="..."> attribute
+    const titleMatch = xml.match(/<li[^>]*class="[^"]*\brap-sympropvar\b[^"]*"[^>]*title="([^"]*)"[^>]*>/i);
+    const symburl = titleMatch ? titleMatch[1] : get('symburl');
+    return {
+        symburl,
+        symtyp: get('symtyp'),
+        named: get('named').toLowerCase() === 'true',
+        dattyp: get('dattyp'),
+        ndim: parseInt(get('ndim') || '0', 10),
+        dim: get('dim'),
+        heap: get('heap').toLowerCase() === 'true',
+        linked: get('linked').toLowerCase() === 'true',
+        local: get('local').toLowerCase() === 'true',
+        ro: get('ro').toLowerCase() === 'true',
+        taskvar: get('taskvar').toLowerCase() === 'true',
+        storage: get('storage'),
+        typurl: get('typurl'),
+    };
+}
+/**
+ * Parse a GET /ctrl/clock response into ControllerClock.
+ * XML: <li class="ctrl-clock-info"><span class="datetime">2015-06-18 T 12:56:07</span></li>
+ */
+export function parseControllerClock(xml) {
+    const val = extractSpanValue(xml, 'ctrl-clock-info', 'datetime') ?? extractSpanValueFlat(xml, 'datetime');
+    if (!val) {
+        throw new RwsError('PARSE_ERROR: missing datetime in ctrl-clock-info', 'PARSE_ERROR');
+    }
+    return { datetime: val };
+}
+/**
+ * Parse a GET /rw/rapid/uiinstr/active response into a UiInstruction.
+ * XML: <li class="rap-uiactive-li"><span class="instr">TPReadNum</span>...</li>
+ * Returns null if no UI instruction is currently active.
+ */
+export function parseActiveUiInstruction(xml) {
+    const liPattern = /<li[^>]*class="[^"]*\brap-uiactive-li\b[^"]*"[^>]*>(.*?)<\/li>/is;
+    const liMatch = xml.match(liPattern);
+    if (!liMatch)
+        return null;
+    const block = liMatch[1];
+    function get(cls) {
+        const m = block.match(new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is'));
+        return m ? decodeEntities(m[1].trim()) : '';
+    }
+    const instr = get('instr');
+    if (!instr)
+        return null; // no active instruction
+    return {
+        instr,
+        event: get('event'),
+        stack: get('stack'),
+        execlv: get('execlv'),
+        msg: get('msg'),
+    };
+}
+/**
+ * Parse a RAPID symbol search response into RapidSymbolInfo[].
+ * XML: multiple <li class="rap-sympropvar-li"> elements.
+ */
+export function parseRapidSymbolSearch(xml) {
+    const blocks = [...xml.matchAll(/<li[^>]*class="[^"]*\brap-sympropvar-li\b[^"]*"[^>]*>.*?<\/li>/gis)];
+    return blocks.map(([block]) => {
+        function get(cls) {
+            const m = block.match(new RegExp(`<span[^>]*class="[^"]*\\b${cls}\\b[^"]*"[^>]*>(.*?)</span>`, 'is'));
+            return m ? decodeEntities(m[1].trim()) : '';
+        }
+        // Extract symburl from title attr or span
+        const titleMatch = block.match(/<li[^>]*title="([^"]*)"[^>]*>/i);
+        const symburl = titleMatch ? titleMatch[1] : get('symburl');
+        return {
+            symburl,
+            name: get('name'),
+            symtyp: get('symtyp'),
+            dattyp: get('dattyp'),
+            ndim: parseInt(get('ndim') || '0', 10),
+            local: get('local').toLowerCase() === 'true',
+            ro: get('rdonly').toLowerCase() === 'true' || get('ro').toLowerCase() === 'true',
+            taskvar: get('taskvar').toLowerCase() === 'true',
+        };
+    });
+}
 /**
  * Extract the subscription ID from a Location header value returned by POST /subscription.
  *

package/dist/ResponseParser.js.map

@@ -1 +1 @@
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