abb-rws-client 0.2.0 → 0.7.1

package/dist/HttpSession.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"HttpSession.d.ts","sourceRoot":"","sources":["../src/HttpSession.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;GAYG;AAIH,OAAO,KAAK,EAAmB,YAAY,EAAE,MAAM,YAAY,CAAC;AAchE,MAAM,WAAW,kBAAkB;IACjC,OAAO,EAAE,MAAM,CAAC;IAChB,QAAQ,EAAE,MAAM,CAAC;IACjB,QAAQ,EAAE,MAAM,CAAC;IACjB,iBAAiB,EAAE,MAAM,CAAC;IAC1B,SAAS,EAAE,MAAM,CAAC;IAClB,0FAA0F;IAC1F,aAAa,CAAC,EAAE,MAAM,CAAC;CACxB;AAID,qBAAa,WAAW;IACtB,OAAO,CAAC,QAAQ,CAAC,OAAO,CAAS;IACjC,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAS;IAClC,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAS;IAClC,OAAO,CAAC,QAAQ,CAAC,iBAAiB,CAAS;IAC3C,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAS;IAEnC,2DAA2D;IAC3D,OAAO,CAAC,OAAO,CAAkC;IAEjD,yDAAyD;IACzD,OAAO,CAAC,eAAe,CAAgC;IAEvD,sEAAsE;IACtE,OAAO,CAAC,UAAU,CAAK;IAEvB,gDAAgD;IAChD,OAAO,CAAC,eAAe,CAAK;IAE5B,iFAAiF;IACjF,OAAO,CAAC,gBAAgB,CAAK;IAE7B,0DAA0D;IAC1D,OAAO,CAAC,YAAY,CAAoC;IAExD,yDAAyD;IACzD,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,kBAAkB,CAAiB;gBAE/C,OAAO,EAAE,kBAAkB;IAqBvC,GAAG,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,YAAY,CAAC;IAIxC,IAAI,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC,YAAY,CAAC;IAIxD,GAAG,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,GAAG,UAAU,GAAG,OAAO,CAAC,YAAY,CAAC;IAInE,MAAM,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,YAAY,CAAC;IAI3C,yEAAyE;IACzE,eAAe,IAAI,MAAM;IAIzB,yFAAyF;IACzF,gBAAgB,IAAI,MAAM,GAAG,IAAI;IAKjC;;;;;;;;OAQG;IACH,YAAY,IAAI,IAAI;IAMpB;;;;OAIG;IACH,OAAO,CAAC,OAAO;YAsBD,OAAO;IA2DrB,iFAAiF;YACnE,QAAQ;IAoDtB;;;OAGG;IACH,OAAO,CAAC,oBAAoB;IA8B5B;;;;;;;;;;;;;OAaG;IACH,OAAO,CAAC,eAAe;IAwCvB;;;;;OAKG;IACH,OAAO,CAAC,YAAY;IAyBpB,OAAO,CAAC,iBAAiB;IAMzB,OAAO,CAAC,gBAAgB;IASxB,OAAO,CAAC,IAAI;IAIZ,OAAO,CAAC,aAAa;CAetB"}
+{"version":3,"file":"HttpSession.d.ts","sourceRoot":"","sources":["../src/HttpSession.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;GAYG;AAKH,OAAO,KAAK,EAAmB,YAAY,EAAE,MAAM,YAAY,CAAC;AAchE,MAAM,WAAW,kBAAkB;IACjC,OAAO,EAAE,MAAM,CAAC;IAChB,QAAQ,EAAE,MAAM,CAAC;IACjB,QAAQ,EAAE,MAAM,CAAC;IACjB,iBAAiB,EAAE,MAAM,CAAC;IAC1B,SAAS,EAAE,MAAM,CAAC;IAClB,0FAA0F;IAC1F,aAAa,CAAC,EAAE,MAAM,CAAC;CACxB;AAID,qBAAa,WAAW;IACtB,OAAO,CAAC,QAAQ,CAAC,OAAO,CAAS;IACjC,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAS;IAClC,OAAO,CAAC,QAAQ,CAAC,QAAQ,CAAS;IAClC,OAAO,CAAC,QAAQ,CAAC,iBAAiB,CAAS;IAC3C,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAS;IAEnC,2DAA2D;IAC3D,OAAO,CAAC,OAAO,CAAkC;IAEjD,yDAAyD;IACzD,OAAO,CAAC,eAAe,CAAgC;IAEvD,sEAAsE;IACtE,OAAO,CAAC,UAAU,CAAK;IAEvB,gDAAgD;IAChD,OAAO,CAAC,eAAe,CAAK;IAE5B,iFAAiF;IACjF,OAAO,CAAC,gBAAgB,CAAK;IAE7B,0DAA0D;IAC1D,OAAO,CAAC,YAAY,CAAoC;IAExD,yDAAyD;IACzD,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,kBAAkB,CAAiB;gBAE/C,OAAO,EAAE,kBAAkB;IAqBvC,GAAG,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,YAAY,CAAC;IAIxC,IAAI,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,CAAC,EAAE,MAAM,GAAG,OAAO,CAAC,YAAY,CAAC;IAIxD,GAAG,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,MAAM,GAAG,UAAU,GAAG,OAAO,CAAC,YAAY,CAAC;IAInE,MAAM,CAAC,IAAI,EAAE,MAAM,GAAG,OAAO,CAAC,YAAY,CAAC;IAI3C,yEAAyE;IACzE,eAAe,IAAI,MAAM;IAIzB,yFAAyF;IACzF,gBAAgB,IAAI,MAAM,GAAG,IAAI;IAKjC;;;;;;;;OAQG;IACH,YAAY,IAAI,IAAI;IAMpB;;;;OAIG;IACH,OAAO,CAAC,OAAO;YAsBD,OAAO;IA4ErB,iFAAiF;YACnE,QAAQ;IAoDtB;;;OAGG;IACH,OAAO,CAAC,oBAAoB;IA8B5B;;;;;;;;;;;;;OAaG;IACH,OAAO,CAAC,eAAe;IAwCvB;;;;;OAKG;IACH,OAAO,CAAC,YAAY;IAyBpB,OAAO,CAAC,iBAAiB;IAMzB,OAAO,CAAC,gBAAgB;IASxB,OAAO,CAAC,IAAI;IAIZ,OAAO,CAAC,aAAa;CAetB"}

package/dist/HttpSession.js

@@ -13,6 +13,7 @@
  */
 import { createHash, randomBytes } from 'node:crypto';
 import { RwsError } from './types.js';
+import { Logger } from './Logger.js';
 // ─── Helpers ─────────────────────────────────────────────────────────────────
 function md5(s) {
     return createHash('md5').update(s).digest('hex');
@@ -117,6 +118,11 @@ export class HttpSession {
     }
     // ─── Core request execution ─────────────────────────────────────────────────
     async execute(method, path, body) {
+        const startedAt = Date.now();
+        const bodyPreview = body
+            ? (typeof body === 'string' ? body : Buffer.from(body).toString('utf8')).slice(0, 200)
+            : undefined;
+        Logger.trace?.('http.req', `RWS1 ${method} ${path}`, { protocol: 'rws1', method, path, bodyPreview });
         // Auto re-authenticate if the session may have expired.
         // Only clear digest auth state — keep the session cookie so the controller
         // reuses the same session slot instead of creating a new one.
@@ -129,13 +135,14 @@ export class HttpSession {
         if (response.status === 401) {
             const wwwAuth = response.headers.get('www-authenticate');
             if (!wwwAuth) {
+                Logger.trace?.('http.err', `RWS1 ${method} ${path} → 401 (no auth header)`, { protocol: 'rws1', method, path });
                 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
+                Logger.trace?.('http.err', `RWS1 ${method} ${path} → 401 (auth failed)`, { protocol: 'rws1', method, path });
                 throw new RwsError('Authentication failed — check username and password', 'AUTH_FAILED', 401);
             }
         }
@@ -144,13 +151,23 @@ export class HttpSession {
             await sleep(200);
             response = await this.rawFetch(method, path, body);
             if (response.status === 503) {
+                Logger.trace?.('http.err', `RWS1 ${method} ${path} → 503 busy`, { protocol: 'rws1', method, path });
                 throw new RwsError('Controller busy (503) — retry later', 'CONTROLLER_BUSY', 503);
             }
         }
         if (!this.isOk(response.status)) {
             const bodyText = await response.text().catch(() => '');
+            Logger.trace?.('http.err', `RWS1 ${method} ${path} → ${response.status}`, {
+                protocol: 'rws1', method, path, status: response.status,
+                durationMs: Date.now() - startedAt,
+                bodyPreview: bodyText.slice(0, 300),
+            });
             throw new RwsError(`HTTP ${response.status} from ${method} ${path}`, this.mapHttpStatus(response.status), response.status, bodyText);
         }
+        Logger.trace?.('http.res', `RWS1 ${method} ${path} → ${response.status}`, {
+            protocol: 'rws1', method, path, status: response.status,
+            durationMs: Date.now() - startedAt,
+        });
         // Store cookies from response
         this.storeCookies(response.headers);
         this.lastActivityTime = Date.now();

package/dist/HttpSession.js.map

@@ -1 +1 @@
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package/dist/IRWSAdapter.d.ts

@@ -0,0 +1,421 @@
+import type { ControllerState, OperationMode, ExecutionState, ExecutionCycle, ExecutionInfo, CollisionDetectionState, RapidTask, JointTarget, CartesianFull, RobTarget, SystemInfo, ControllerIdentity, ControllerClock, ElogMessage, Signal, IoNetwork, IoDevice, FileEntry, RapidSymbolProperties, RapidSymbolInfo, RapidSymbolSearchParams, UiInstruction, RestartMode, MastershipDomain, SubscriptionResource, SubscriptionEvent } from './types.js';
+/** Common interface for both RWS1Adapter (IRC5 / RW6) and RWS2Adapter (OmniCore / RW7). */
+export interface IRWSAdapter {
+    connect(): Promise<void>;
+    disconnect(): Promise<void>;
+    getSessionCookie(): string | null;
+    getControllerState(): Promise<ControllerState>;
+    setControllerState(state: 'motoron' | 'motoroff'): Promise<void>;
+    getOperationMode(): Promise<OperationMode>;
+    getSpeedRatio(): Promise<number>;
+    setSpeedRatio(ratio: number): Promise<void>;
+    getCollisionDetectionState(): Promise<CollisionDetectionState>;
+    lockOperationMode(pin: string, permanent?: boolean): Promise<void>;
+    unlockOperationMode(): Promise<void>;
+    /**
+     * Switch the controller's operation mode (AUTO/MANR/MANF).
+     * **Virtual controllers only** — real hardware respects the FlexPendant key
+     * switch and will reject this with 403 (or silently keep the current mode).
+     */
+    setOperationMode?(mode: 'AUTO' | 'MANR' | 'MANF'): Promise<void>;
+    getRapidExecutionState(): Promise<ExecutionState>;
+    getRapidExecutionInfo(): Promise<ExecutionInfo>;
+    startRapid(): Promise<void>;
+    stopRapid(): Promise<void>;
+    resetRapid(): Promise<void>;
+    setExecutionCycle(cycle: ExecutionCycle): Promise<void>;
+    getRapidTasks(): Promise<RapidTask[]>;
+    activateRapidTask(task: string): Promise<void>;
+    deactivateRapidTask(task: string): Promise<void>;
+    activateAllRapidTasks(): Promise<void>;
+    deactivateAllRapidTasks(): Promise<void>;
+    listModules(task: string): Promise<string[]>;
+    /**
+     * Detailed module list — returns each module's name AND type
+     * (`SysMod` for system modules / `ProgMod` for program modules / etc.).
+     * Optional — adapter may return an empty array if the underlying API is
+     * unavailable. Callers should fall back to `listModules` for the names.
+     */
+    listModulesDetailed?(task: string): Promise<Array<{
+        name: string;
+        type: string;
+    }>>;
+    loadModule(task: string, path: string, replace?: boolean): Promise<void>;
+    unloadModule(task: string, name: string): Promise<void>;
+    getRapidVariable(task: string, module: string, symbol: string): Promise<string>;
+    setRapidVariable(task: string, module: string, symbol: string, value: string): Promise<void>;
+    validateRapidValue(task: string, value: string, datatype: string): Promise<boolean>;
+    getRapidSymbolProperties(task: string, module: string, symbol: string): Promise<RapidSymbolProperties>;
+    searchRapidSymbols(params: RapidSymbolSearchParams): Promise<RapidSymbolInfo[]>;
+    getActiveUiInstruction(): Promise<UiInstruction | null>;
+    setUiInstructionParam(stackurl: string, uiparam: string, value: string): Promise<void>;
+    getJointPositions(mechunit?: string): Promise<JointTarget>;
+    getCartesianFull(mechunit?: string): Promise<CartesianFull>;
+    listMechunits(): Promise<string[]>;
+    /**
+     * Inverse kinematics: compute joint angles from a Cartesian position.
+     * Uses the current joint positions as a seed for the solution.
+     * Tool and work-object default to tool0/wobj0 (base frame, no offset).
+     *
+     * Confirmed parameter format (both RWS versions, tested by sequential field probing):
+     *   curr_position, curr_orientation, curr_ext_joints, old_rob_joints, old_ext_joints,
+     *   robot_fixed_object, tool_frame_position/orientation, wobj_frame_position/orientation,
+     *   robot_configuration, elog_at_error
+     *
+     * Note: virtual controllers (RobotStudio) reject every input with HTTP 400
+     * "Position outside of reach" (SYS_CTRL_E_POSE_OUTSIDE_REACH, -1073436654) —
+     * even the controller's own current pose. This is a VC-only limitation: the
+     * standard VC ships without the PC Interface (616-1) option that enables the
+     * full kinematic solver, and wobj0 can desync from the displayed mechanism.
+     * Real IRC5 / OmniCore hardware with PC Interface licensed returns valid
+     * joint angles for any reachable pose.
+     */
+    calcJointsFromCartesian(pos: RobTarget, seedJoints?: JointTarget, mechunit?: string): Promise<JointTarget>;
+    /**
+     * Jog the robot by specified increments. Requires:
+     * - Controller in MANR or MANF mode (not AUTO)
+     * - Motors ON
+     * - Motion-domain mastership held (callers should wrap with requestMastership('motion'))
+     *
+     * @param mode    'Joint' for axis-by-axis (degrees), 'Cartesian' for X/Y/Z + orientation (mm)
+     * @param axes    6 increment values, one per axis. Zero means don't move that axis.
+     * @param speed   Jog speed percentage (0-100). 0 sends the request without moving.
+     * @param mechunit  Mechanical unit name (defaults to ROB_1).
+     */
+    jog(params: {
+        mode: 'Joint' | 'Cartesian';
+        axes: [number, number, number, number, number, number];
+        speed: number;
+        mechunit?: string;
+    }): Promise<void>;
+    /**
+     * Get the current Remote Mastership Privilege state for the connected user.
+     * 'none' = no privilege, 'pending modify' = request waiting for FlexPendant approval,
+     * 'modify' = approved (can send modifying ops like jog), 'exclusive' = full control.
+     */
+    getRmmpPrivilege?(): Promise<string>;
+    /** Request 'modify' RMMP. Triggers a FlexPendant approval popup. Returns immediately. */
+    requestRmmp?(level?: 'modify' | 'exclusive'): Promise<void>;
+    getSystemInfo(): Promise<SystemInfo>;
+    getControllerIdentity(): Promise<ControllerIdentity>;
+    getControllerClock(): Promise<ControllerClock>;
+    setControllerClock(year: number, month: number, day: number, hour: number, min: number, sec: number): Promise<void>;
+    restartController(mode: RestartMode): Promise<void>;
+    /** Active license info from `/rw/system/license`. */
+    getLicenseInfo?(): Promise<{
+        entries: Array<Record<string, string>>;
+    }>;
+    /** Installed RobotWare products from `/rw/system/products`. */
+    listProducts?(): Promise<Array<Record<string, string>>>;
+    /** Robot type identifier from `/rw/system/robottype`. */
+    getRobotType?(): Promise<{
+        type: string;
+        variant?: string;
+    }>;
+    /** Power-consumption stats from `/rw/system/energy` (RW7+). */
+    getEnergyStats?(): Promise<Record<string, string>>;
+    /** Translate a numeric controller return code to its title/description via `/rw/retcode?code=N&lang=en`. */
+    getReturnCode?(code: number, lang?: string): Promise<{
+        code: number;
+        title: string;
+        desc: string;
+    } | null>;
+    /** Detailed installed-options list from `/ctrl/options` (richer than getSystemInfo's options array). */
+    listControllerOptions?(): Promise<Array<{
+        name: string;
+        description?: string;
+    }>>;
+    /** Optional hardware/firmware features from `/ctrl/features`. */
+    listFeatures?(): Promise<Array<Record<string, string>>>;
+    /** Read the motion-system change counter (required by jog `ccount`). */
+    getMotionChangeCount?(): Promise<number>;
+    /** Current motion-error state from `/rw/motionsystem/errorstate`. */
+    getMotionErrorState?(): Promise<{
+        state: string;
+        details?: Record<string, string>;
+    }>;
+    /** Get/set non-motion-execution mode (dry-run). */
+    getNonMotionExecution?(): Promise<boolean>;
+    setNonMotionExecution?(enabled: boolean): Promise<void>;
+    /** OmniCore-only: collision-prediction mode. */
+    getCollisionPredictionMode?(): Promise<string>;
+    setCollisionPredictionMode?(mode: string): Promise<void>;
+    /** Read the enable-request state (relates to deadman / safety chain). */
+    getEnableRequest?(): Promise<{
+        state: string;
+        raw: Record<string, string>;
+    }>;
+    /** I/O alias mapping from `/rw/rapid/aliasio`. */
+    listAliasIO?(): Promise<Array<{
+        alias: string;
+        signal: string;
+    }>>;
+    /** Active task selector from `/rw/rapid/taskselection`. */
+    getTaskSelection?(): Promise<{
+        selected: string[];
+        available: string[];
+    }>;
+    setTaskSelection?(tasks: string[]): Promise<void>;
+    /** Program-pointer position for a task. */
+    getProgramPointer?(task: string): Promise<{
+        module?: string;
+        routine?: string;
+        row?: number;
+        col?: number;
+    }>;
+    /** Motion-pointer (ahead of PP — what the motion planner is executing). */
+    getMotionPointer?(task: string): Promise<{
+        module?: string;
+        routine?: string;
+        row?: number;
+        col?: number;
+    }>;
+    getEventLog(domain?: number, lang?: string): Promise<ElogMessage[]>;
+    clearEventLog(domain?: number): Promise<void>;
+    clearAllEventLogs(): Promise<void>;
+    listAllSignals(start?: number, limit?: number): Promise<Signal[]>;
+    readSignal(network: string, device: string, name: string): Promise<Signal>;
+    writeSignal(network: string, device: string, name: string, value: string): Promise<void>;
+    listNetworks(): Promise<IoNetwork[]>;
+    listDevices(network: string): Promise<IoDevice[]>;
+    listDirectory(path: string): Promise<FileEntry[]>;
+    readFile(path: string): Promise<string>;
+    uploadFile(path: string, content: string): Promise<void>;
+    deleteFile(path: string): Promise<void>;
+    createDirectory(parentPath: string, dirName: string): Promise<void>;
+    copyFile(sourcePath: string, destPath: string): Promise<void>;
+    /** List the 6 configuration domains. */
+    listCfgDomains?(): Promise<string[]>;
+    /** List the types defined in a domain (e.g. ['ARM', 'JOINT', 'MOTOR'] for MOC). */
+    listCfgTypes?(domain: string): Promise<string[]>;
+    /** List instance names of a given type (e.g. ROB_1, ROB_L1 under MOC/ARM). */
+    listCfgInstances?(domain: string, type: string): Promise<string[]>;
+    /** Read a single configuration instance — returns the named attributes for that instance. */
+    getCfgInstance?(domain: string, type: string, instance: string): Promise<Record<string, string>>;
+    /** Update an existing configuration instance. Requires 'edit' mastership. */
+    setCfgInstance?(domain: string, type: string, instance: string, attributes: Record<string, string>): Promise<void>;
+    /** Create a new instance of a type. Requires 'edit' mastership. */
+    createCfgInstance?(domain: string, type: string, instance: string, attributes: Record<string, string>): Promise<void>;
+    /** Delete an instance. Requires 'edit' mastership. */
+    removeCfgInstance?(domain: string, type: string, instance: string): Promise<void>;
+    /** Load configuration from a `.cfg` file already on the controller's filesystem. Requires 'edit' mastership. */
+    loadCfgFile?(filepath: string, action?: 'add' | 'replace' | 'add-with-reset'): Promise<void>;
+    /** Save a domain's current state to a `.cfg` file. Requires 'edit' mastership. */
+    saveCfgFile?(domain: string, filepath: string): Promise<void>;
+    /** List existing backups in the BACKUP volume. */
+    listBackups?(): Promise<Array<{
+        name: string;
+        created?: string;
+        size?: number;
+    }>>;
+    /** Trigger a backup. Returns a promise that resolves when the backup is initiated;
+     *  use `getBackupStatus()` to poll for completion. */
+    createBackup?(name: string): Promise<void>;
+    /** Restore from a previous backup. Long-running — controller may restart afterwards. */
+    restoreBackup?(name: string): Promise<void>;
+    /** Get current backup-or-restore operation status. */
+    getBackupStatus?(): Promise<{
+        active: boolean;
+        progress?: number;
+        phase?: string;
+    }>;
+    /** Currently active tool/wobj/payload for a mechunit. */
+    getActiveTool?(mechunit?: string): Promise<{
+        name: string;
+        data?: Record<string, string>;
+    }>;
+    getActiveWobj?(mechunit?: string): Promise<{
+        name: string;
+        data?: Record<string, string>;
+    }>;
+    getActivePayload?(mechunit?: string): Promise<{
+        name: string;
+        data?: Record<string, string>;
+    }>;
+    /** Switch the active tool/wobj — both delegate to the corresponding RAPID symbol. */
+    setActiveTool?(mechunit: string, toolName: string): Promise<void>;
+    setActiveWobj?(mechunit: string, wobjName: string): Promise<void>;
+    /** Execute a PROC remotely (typically a service routine). Async — returns once execution starts. */
+    callServiceRoutine?(task: string, routineName: string, args?: Record<string, string>): Promise<void>;
+    /** List active DIPC queues. */
+    listDipcQueues?(): Promise<Array<{
+        name: string;
+        size?: number;
+    }>>;
+    /** Create a DIPC queue (caller's identity becomes the owner). */
+    createDipcQueue?(name: string, options?: {
+        maxsize?: number;
+        maxmessages?: number;
+    }): Promise<void>;
+    /** Send a DIPC message that a RAPID program can read via `RecvDipc`. */
+    sendDipcMessage?(queue: string, payload: string, type?: 'string' | 'num' | 'dnum' | 'bool'): Promise<void>;
+    /** Read a DIPC message that a RAPID program sent via `SendDipc`. */
+    readDipcMessage?(queue: string, timeoutMs?: number): Promise<{
+        payload: string;
+        type: string;
+    } | null>;
+    removeDipcQueue?(name: string): Promise<void>;
+    requestMastership(domain: MastershipDomain): Promise<void>;
+    releaseMastership(domain: MastershipDomain): Promise<void>;
+    /** Request mastership on ALL domains at once. */
+    requestMastershipAll?(): Promise<void>;
+    /** Release mastership on ALL domains at once. */
+    releaseMastershipAll?(): Promise<void>;
+    /** Request mastership and receive a numeric ID token (token-based mastership outlives the session that acquired it). */
+    requestMastershipWithId?(domain: MastershipDomain): Promise<number>;
+    /** Release token-acquired mastership using the ID returned by `requestMastershipWithId()`. */
+    releaseMastershipWithId?(domain: MastershipDomain, id: number): Promise<void>;
+    /** Reset the edit-mastership watchdog (RobotWare 7.8+) — call ~every 1s while holding mastership during a long RAPID run. */
+    resetMastershipWatchdog?(): Promise<void>;
+    /** Read mastership status for one domain. */
+    getMastershipStatus?(domain: MastershipDomain): Promise<{
+        mastership: string;
+        uid?: string;
+        application?: string;
+    }>;
+    /** List the mastership domains the controller exposes. */
+    listMastershipDomains?(): Promise<string[]>;
+    /** Top-level device groupings (e.g. HW_DEVICES, SW_RESOURCES). */
+    listSystemDevices?(): Promise<Array<{
+        id: string;
+        name: string;
+    }>>;
+    /** Drill into a system-device group — returns the raw XHTML sub-tree. */
+    getDeviceTree?(group: string): Promise<string>;
+    /** All configured I/O devices across every network in one call. */
+    listAllIoDevices?(): Promise<Array<{
+        name: string;
+        network: string;
+        lstate: string;
+        pstate: string;
+        address: string;
+    }>>;
+    /**
+     * Forward kinematics: joint angles → Cartesian pose. Mirror of
+     * `calcJointsFromCartesian()`. Same VC-license caveat applies.
+     */
+    calcCartesianFromJoints?(joints: JointTarget, mechunit?: string, tool?: string, wobj?: string): Promise<RobTarget>;
+    /** List configured vision systems (Integrated Vision option). */
+    listVisionSystems?(): Promise<Array<{
+        name: string;
+        status?: string;
+    }>>;
+    /** Per-system info. */
+    getVisionSystemInfo?(name: string): Promise<Record<string, string>>;
+    /** List vision jobs (recipes) for a system. */
+    listVisionJobs?(system: string): Promise<Array<{
+        name: string;
+        active?: boolean;
+    }>>;
+    /** Trigger a vision job. */
+    triggerVisionJob?(system: string, job: string): Promise<void>;
+    /** Status of the integrated safety controller (PSC option). */
+    getSafetyStatus?(): Promise<{
+        state: string;
+        details?: Record<string, string>;
+    }>;
+    /** List safety zones (configured cells/limits). */
+    listSafetyZones?(): Promise<Array<Record<string, string>>>;
+    /** Trigger a cyclic brake check. */
+    runCyclicBrakeCheck?(): Promise<void>;
+    /** Get current virtual time (only meaningful on virtual controllers). */
+    getVirtualTime?(): Promise<{
+        time: number;
+        running: boolean;
+    }>;
+    /** Pause/resume virtual time — fast-forward simulation. */
+    setVirtualTimeRunning?(running: boolean): Promise<void>;
+    /** Set scaling factor (1.0 = real-time, 10.0 = 10x faster, 0 = paused). */
+    setVirtualTimeScale?(scale: number): Promise<void>;
+    /** List installed TLS certificates. */
+    listCertificates?(): Promise<Array<{
+        name: string;
+        subject?: string;
+        expires?: string;
+    }>>;
+    /** Upload a PEM-encoded certificate. */
+    uploadCertificate?(name: string, pem: string): Promise<void>;
+    /** Remove a certificate. */
+    removeCertificate?(name: string): Promise<void>;
+    /** Read controller registry (mostly ABB internal — limited use). */
+    getRegistry?(): Promise<Record<string, string>>;
+    /** Compress a file/directory on the controller. Returns the new archive path. */
+    compressPath?(source: string, destination: string): Promise<void>;
+    /** List all available file volumes (HOME, BACKUP, DATA, ADDINDATA, PRODUCTS, RAMDISK, TEMP). */
+    listFileVolumes?(): Promise<string[]>;
+    /** Move PP to a specific routine (or a specific row/col within it). */
+    setProgramPointer?(task: string, params: {
+        module?: string;
+        routine: string;
+        row?: number;
+        col?: number;
+    }): Promise<void>;
+    /** Move PP to cursor position in a module. */
+    setPPToCursor?(task: string, module: string, row: number, col: number): Promise<void>;
+    /** Step Into / Over / Out — RAPID single-step. */
+    stepRapid?(task: string, mode: 'into' | 'over' | 'out'): Promise<void>;
+    /** Hold-to-run mode. */
+    holdToRun?(task: string, action: 'press' | 'release'): Promise<void>;
+    /** List all breakpoints in a task. */
+    listBreakpoints?(task: string): Promise<Array<{
+        module: string;
+        row: number;
+        col?: number;
+    }>>;
+    /** Set a breakpoint at module/row[/col]. */
+    setBreakpoint?(task: string, module: string, row: number, col?: number): Promise<void>;
+    /** Remove a breakpoint. */
+    removeBreakpoint?(task: string, module: string, row: number, col?: number): Promise<void>;
+    /** Get the base frame transform for a mechunit. */
+    getMechunitBaseFrame?(mechunit?: string): Promise<{
+        x: number;
+        y: number;
+        z: number;
+        q1: number;
+        q2: number;
+        q3: number;
+        q4: number;
+    }>;
+    /** Set the base frame transform. Requires 'edit' mastership. */
+    setMechunitBaseFrame?(mechunit: string, frame: {
+        x: number;
+        y: number;
+        z: number;
+        q1: number;
+        q2: number;
+        q3: number;
+        q4: number;
+    }): Promise<void>;
+    /** Per-axis info (count, types, limits). */
+    getMechunitAxes?(mechunit?: string): Promise<Array<Record<string, string>>>;
+    /** Permanent joint positions (typically external-axes scenarios). */
+    getMechunitPjoints?(mechunit?: string): Promise<Record<string, number>>;
+    /** Detailed mechunit info (status, mode, sync state, type, axes count). */
+    getMechunitInfo?(mechunit?: string): Promise<Record<string, string>>;
+    /** Get a module's source code via fileservice (returns the full RAPID text). */
+    getModuleSource?(task: string, moduleName: string): Promise<string>;
+    /** Get a module's metadata (path, attributes, type, lines). */
+    getModuleInfo?(task: string, moduleName: string): Promise<Record<string, string>>;
+    /** List all symbols (procs/funcs/vars/persistents/consts) defined in a module. */
+    listModuleSymbols?(task: string, moduleName: string): Promise<Array<{
+        name: string;
+        type: string;
+        dattyp?: string;
+    }>>;
+    /** Per-task structural-change counter — increments when symbols/modules change. */
+    getTaskStructuralChangeCount?(task: string): Promise<number>;
+    /** Per-task motion data (current state of motion in this task). */
+    getTaskMotion?(task: string): Promise<Record<string, string>>;
+    /** Per-task activation record (call stack / current routine). */
+    getTaskActivationRecord?(task: string): Promise<Record<string, string>>;
+    /** Per-task program info (loaded program metadata). */
+    getTaskProgramInfo?(task: string): Promise<Record<string, string>>;
+    /**
+     * Subscribe to real-time RWS resource events via WebSocket.
+     * Returns an async unsubscribe function — call it on disconnect.
+     * Falls back gracefully: if the controller does not support subscriptions,
+     * implementations should throw so callers can fall back to polling.
+     */
+    subscribe(resources: SubscriptionResource[], handler: (event: SubscriptionEvent) => void): Promise<() => Promise<void>>;
+}
+//# sourceMappingURL=IRWSAdapter.d.ts.map

package/dist/IRWSAdapter.d.ts.map

@@ -0,0 +1 @@
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package/dist/IRWSAdapter.js

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=IRWSAdapter.js.map

package/dist/IRWSAdapter.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"IRWSAdapter.js","sourceRoot":"","sources":["../src/IRWSAdapter.ts"],"names":[],"mappings":""}

package/dist/Logger.d.ts

@@ -0,0 +1,35 @@
+/**
+ * Pluggable logger interface used by RobotManager, MultiRobotManager, and
+ * both protocol clients (HTTP req/res tracing flows through here too).
+ *
+ * The lib ships with a no-op default. Hosts (e.g. the VS Code extension) can
+ * install their own backend by calling `setLogger(myImpl)`. The extension
+ * routes log lines into a VS Code output channel AND a persistent file; a
+ * CLI might just `console.log`.
+ *
+ * Methods:
+ *   - info(msg):                   lifecycle events (connect/disconnect/poll)
+ *   - warn(msg):                   recoverable issues (subscription fallback)
+ *   - error(msg, err?):            failures the user needs to see
+ *   - trace(category, msg, data?): structured debug lines (HTTP req/res, WS frames,
+ *                                  command dispatches). Optional — implementers can
+ *                                  ignore for terse output. Categories used by the
+ *                                  lib: 'http.req', 'http.res', 'http.err', 'ws',
+ *                                  'subscription', 'mastership'.
+ *   - show():                      bring the log surface to the front
+ */
+export interface Logger {
+    info(msg: string): void;
+    warn(msg: string): void;
+    error(msg: string, err?: unknown): void;
+    trace?(category: string, msg: string, data?: unknown): void;
+    show(): void;
+}
+/** Install a custom logger. Call once at startup; subsequent calls replace it. */
+export declare function setLogger(impl: Logger): void;
+/**
+ * Internal accessor used throughout the lib. Goes through getters so a later
+ * `setLogger()` call takes effect for code that imported `Logger` earlier.
+ */
+export declare const Logger: Logger;
+//# sourceMappingURL=Logger.d.ts.map

package/dist/Logger.d.ts.map

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