abb-rws-client 0.2.0 → 0.5.0

package/dist/RwsClient.d.ts

@@ -14,7 +14,7 @@
  * await client.disconnect();
  * ```
  */
-import type { RwsClientOptions, ControllerState, OperationMode, ExecutionState, JointTarget, RobTarget, Signal, RapidTask, SubscriptionResource, SubscriptionEvent } from './types.js';
+import type { RwsClientOptions, ControllerState, OperationMode, ExecutionState, ExecutionInfo, ExecutionCycle, JointTarget, RobTarget, CartesianFull, Signal, RapidTask, IoNetwork, IoDevice, SystemInfo, ControllerIdentity, ElogMessage, FileEntry, MastershipDomain, CollisionDetectionState, RapidSymbolProperties, ControllerClock, UiInstruction, RapidSymbolInfo, RapidSymbolSearchParams, RestartMode, SubscriptionResource, SubscriptionEvent } from './types.js';
 export declare class RwsClient {
     private readonly session;
     private readonly subscriber;
@@ -43,6 +43,14 @@ export declare class RwsClient {
      * @throws {RwsError} code='PARSE_ERROR' on unexpected response format
      */
     getControllerState(): Promise<ControllerState>;
+    /**
+     * Set the controller motor state.
+     * Requires AUTO mode and mastership (request with requestMastership('motion') first).
+     *
+     * @param state - 'motoron' | 'motoroff'
+     * @throws {RwsError} code='AUTH_FAILED' if mastership is not held
+     */
+    setControllerState(state: 'motoron' | 'motoroff'): Promise<void>;
     /**
      * Read the current operation mode.
      *
@@ -50,12 +58,54 @@ export declare class RwsClient {
      * @throws {RwsError} code='PARSE_ERROR' on unexpected response format
      */
     getOperationMode(): Promise<OperationMode>;
+    /**
+     * Read the collision detection state.
+     * Returns INIT (no collision), TRIGGERED, CONFIRMED, or TRIGGERED_ACK.
+     * Requires the Collision Detection option on the controller.
+     */
+    getCollisionDetectionState(): Promise<CollisionDetectionState>;
+    /**
+     * Restart (or warm-start) the controller.
+     *
+     * **Modes:**
+     * - `restart`  — Normal restart; saves state and activates changed system parameters
+     * - `istart`   — Restart with original installation settings; discards all programs
+     * - `pstart`   — Restart preserving system parameters; removes programs
+     * - `bstart`   — Boot with last auto-saved state (crash recovery)
+     *
+     * @param mode - Restart mode; default 'restart'
+     */
+    restartController(mode?: RestartMode): Promise<void>;
+    /**
+     * Lock the operation mode selector on the FlexPendant.
+     * @param pin       - 4-digit PIN code
+     * @param permanent - true = permanent lock; false = temporary
+     */
+    lockOperationMode(pin: string, permanent?: boolean): Promise<void>;
+    /** Unlock the operation mode selector. */
+    unlockOperationMode(): Promise<void>;
+    /**
+     * Read the current speed ratio (0–100).
+     * Represents override percentage applied to all robot speeds.
+     */
+    getSpeedRatio(): Promise<number>;
+    /**
+     * Set the speed ratio override (0–100). Only valid in AUTO mode.
+     * @param ratio - Integer 0–100 (clamped automatically)
+     */
+    setSpeedRatio(ratio: number): Promise<void>;
     /**
      * Read the current RAPID execution state.
      *
      * @returns 'running' | 'stopped'
      */
     getRapidExecutionState(): Promise<ExecutionState>;
+    /**
+     * Read the full RAPID execution info including state and current cycle mode.
+     *
+     * @returns ExecutionInfo with state ('running'|'stopped') and cycle ('once'|'forever'|'asis'|'oncedone')
+     */
+    getRapidExecutionInfo(): Promise<ExecutionInfo>;
     /**
      * Retrieve all RAPID tasks and their current states.
      *
@@ -79,6 +129,97 @@ export declare class RwsClient {
      * RAPID must be stopped before calling this.
      */
     resetRapid(): Promise<void>;
+    /**
+     * Set the RAPID execution cycle mode.
+     * @param cycle - 'once' (run once then stop) | 'forever' (loop) | 'asis' (keep current)
+     */
+    setExecutionCycle(cycle: ExecutionCycle): Promise<void>;
+    /**
+     * Read the value of a RAPID symbol (variable, persistent, or constant).
+     * Returns the raw string as the controller formats it (e.g. '42', '"hello"', '[1,2,3]').
+     *
+     * @param taskName   - RAPID task name, e.g. 'T_ROB1'
+     * @param moduleName - Module name, e.g. 'user'
+     * @param symbolName - Symbol name, e.g. 'reg1'
+     */
+    getRapidVariable(taskName: string, moduleName: string, symbolName: string): Promise<string>;
+    /**
+     * Write a value to a RAPID variable or persistent.
+     * Value must be a RAPID-formatted string: e.g. '42', '3.14', '"hello"', '[1,0,0,0]'.
+     *
+     * @param taskName   - RAPID task name
+     * @param moduleName - Module name
+     * @param symbolName - Symbol name
+     * @param value      - New value in RAPID syntax
+     */
+    setRapidVariable(taskName: string, moduleName: string, symbolName: string, value: string): Promise<void>;
+    /**
+     * Activate a RAPID task (for multitasking systems).
+     * Mastership is taken internally by the controller.
+     * @param task - Task name, e.g. 'T_ROB2'
+     */
+    activateRapidTask(task: string): Promise<void>;
+    /**
+     * Deactivate a RAPID task (for multitasking systems).
+     * @param task - Task name
+     */
+    deactivateRapidTask(task: string): Promise<void>;
+    /** Activate ALL RAPID tasks. */
+    activateAllRapidTasks(): Promise<void>;
+    /** Deactivate ALL RAPID tasks. */
+    deactivateAllRapidTasks(): Promise<void>;
+    /**
+     * Get the currently active RAPID UI instruction.
+     * Returns null if no UI instruction is waiting for input.
+     * Used to detect when RAPID is waiting for operator input (TPReadNum, TPReadFK, etc.).
+     */
+    getActiveUiInstruction(): Promise<UiInstruction | null>;
+    /**
+     * Respond to an active RAPID UI instruction (e.g. send the answer to a TPReadNum).
+     * Get the stackurl from getActiveUiInstruction().stack.
+     *
+     * Common parameter names:
+     * - 'Result' — the answer value for TPReadNum, TPReadFK
+     * - 'TPFK1' … 'TPFK5' — individual function key states (0/1)
+     * - 'TPCompleted' — set to 'TRUE' when done
+     *
+     * @param stackurl - Stack URL from UiInstruction.stack (e.g. 'RAPID/T_ROB1/%$104')
+     * @param uiparam  - Parameter name, e.g. 'Result'
+     * @param value    - Value to set, e.g. '42' or 'TRUE'
+     */
+    setUiInstructionParam(stackurl: string, uiparam: string, value: string): Promise<void>;
+    /**
+     * Search for RAPID symbols matching filter criteria.
+     *
+     * @param params - Search parameters (task is required; all others are optional filters)
+     * @returns Array of matching symbols with abbreviated properties
+     *
+     * @example
+     * ```ts
+     * // Find all persistent variables in T_ROB1
+     * const persistents = await client.searchRapidSymbols({ task: 'T_ROB1', symtyp: 'per' });
+     * ```
+     */
+    searchRapidSymbols(params: RapidSymbolSearchParams): Promise<RapidSymbolInfo[]>;
+    /**
+     * Validate a value against a RAPID data type without writing it.
+     * Useful for validating user input before calling setRapidVariable.
+     *
+     * @param task     - RAPID task name, e.g. 'T_ROB1'
+     * @param value    - Value in RAPID syntax, e.g. '[1,0,0,0]'
+     * @param datatype - RAPID data type name, e.g. 'tooldata', 'robtarget', 'num'
+     * @returns true if valid, false if invalid (no exception thrown for invalid values)
+     */
+    validateRapidValue(task: string, value: string, datatype: string): Promise<boolean>;
+    /**
+     * Read RAPID symbol properties (type, dimensions, storage class, etc.).
+     * Useful for introspecting variables, persistents, constants, and records.
+     *
+     * @param taskName   - RAPID task name, e.g. 'T_ROB1'
+     * @param moduleName - Module name, e.g. 'user'
+     * @param symbolName - Symbol name, e.g. 'reg1'
+     */
+    getRapidSymbolProperties(taskName: string, moduleName: string, symbolName: string): Promise<RapidSymbolProperties>;
     /**
      * Read the current joint-space positions for a mechanical unit.
      *
@@ -95,6 +236,14 @@ export declare class RwsClient {
      * @returns RobTarget with x, y, z (mm) and q1–q4 quaternion components
      */
     getCartesianPosition(mechunit?: string, tool?: string, wobj?: string): Promise<RobTarget>;
+    /**
+     * Read the current Cartesian position including robot configuration flags.
+     * Uses /cartesian endpoint (no tool/wobj override — uses active tool/wobj).
+     * Returns j1/j4/j6/jx configuration integers in addition to pose.
+     *
+     * @param mechunit - Default 'ROB_1'
+     */
+    getCartesianFull(mechunit?: string): Promise<CartesianFull>;
     /**
      * Download a file from the controller filesystem as a UTF-8 string.
      * Use '$HOME/' prefix for the controller home directory.
@@ -135,6 +284,30 @@ export declare class RwsClient {
      * @returns Array of module names
      */
     listModules(taskName: string): Promise<string[]>;
+    /**
+     * Download a directory listing from the controller filesystem.
+     * Returns entries sorted: directories first, then files.
+     *
+     * @param remotePath - Controller path, e.g. '$HOME' or '$HOME/Dispense'
+     */
+    listDirectory(remotePath: string): Promise<FileEntry[]>;
+    /**
+     * Delete a file from the controller filesystem.
+     * @param remotePath - Controller path, e.g. '$HOME/OldMod.mod'
+     */
+    deleteFile(remotePath: string): Promise<void>;
+    /**
+     * Create a directory on the controller filesystem.
+     * @param parentPath - Parent directory path, e.g. '$HOME'
+     * @param dirName    - New directory name, e.g. 'Backup'
+     */
+    createDirectory(parentPath: string, dirName: string): Promise<void>;
+    /**
+     * Copy a file on the controller filesystem.
+     * @param sourcePath - Source file path, e.g. '$HOME/MyMod.mod'
+     * @param destPath   - Destination path (full path including filename), e.g. '$HOME/Backup/MyMod.mod'
+     */
+    copyFile(sourcePath: string, destPath: string): Promise<void>;
     /**
      * Read an I/O signal value.
      *
@@ -153,6 +326,79 @@ export declare class RwsClient {
      * @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>;
+    /**
+     * List all configured I/O signals (paginated).
+     * The controller returns up to `limit` signals per call; use `start` to page through.
+     *
+     * @param start - Starting index (default 0)
+     * @param limit - Results per page (default 100)
+     */
+    listAllSignals(start?: number, limit?: number): Promise<Signal[]>;
+    /**
+     * List all configured I/O networks.
+     */
+    listNetworks(): Promise<IoNetwork[]>;
+    /**
+     * List all I/O devices on a network.
+     * @param network - Network name, e.g. 'Local'
+     */
+    listDevices(network: string): Promise<IoDevice[]>;
+    /**
+     * Read RobotWare system information (version, options, system ID).
+     */
+    getSystemInfo(): Promise<SystemInfo>;
+    /**
+     * Read controller hardware identity (name, ID, type, MAC address).
+     */
+    getControllerIdentity(): Promise<ControllerIdentity>;
+    /**
+     * Read the controller date and time.
+     * Returns a ControllerClock with the datetime string in 'YYYY-MM-DD T HH:MM:SS' format (UTC).
+     */
+    getControllerClock(): Promise<ControllerClock>;
+    /**
+     * Set the controller date and time (UTC).
+     * @param year  - Full year, e.g. 2024
+     * @param month - Month 1–12
+     * @param day   - Day 1–31
+     * @param hour  - Hour 0–23
+     * @param min   - Minute 0–59
+     * @param sec   - Second 0–59
+     */
+    setControllerClock(year: number, month: number, day: number, hour: number, min: number, sec: number): Promise<void>;
+    /**
+     * Retrieve event log messages from the controller.
+     * Domain 0 is the main system log (up to 1000 entries).
+     * Messages are returned newest-first (LIFO order).
+     *
+     * @param domain - Log domain number; default 0 (main system log)
+     * @param lang   - Language for message text; default 'en'
+     */
+    getEventLog(domain?: number, lang?: string): Promise<ElogMessage[]>;
+    /**
+     * Clear event log messages in a specific domain.
+     * @param domain - Log domain number; default 0 (main system log)
+     */
+    clearEventLog(domain?: number): Promise<void>;
+    /**
+     * Clear ALL event log messages across all domains.
+     */
+    clearAllEventLogs(): Promise<void>;
+    /**
+     * Request mastership on a domain.
+     * Must call releaseMastership when done. Operations that modify controller state
+     * (motor on/off, speed ratio, etc.) require mastership on the appropriate domain.
+     *
+     * @param domain - 'cfg' | 'motion' | 'rapid'
+     */
+    requestMastership(domain: MastershipDomain): Promise<void>;
+    /**
+     * Release mastership on a domain.
+     * Always call this after requestMastership, even if the operation failed.
+     *
+     * @param domain - 'cfg' | 'motion' | 'rapid'
+     */
+    releaseMastership(domain: MastershipDomain): Promise<void>;
     /**
      * Subscribe to one or more RWS resource events via WebSocket.
      *

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