abb-rws-client 0.2.0 → 0.7.1

package/dist/RWS1Adapter.js.map

@@ -0,0 +1 @@
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package/dist/RWS2Adapter.d.ts

@@ -0,0 +1,20 @@
+import { RwsClient2 } from './RwsClient2.js';
+import type { IRWSAdapter } from './IRWSAdapter.js';
+/**
+ * RWS 2.0 adapter that satisfies the `IRWSAdapter` unified interface.
+ *
+ * Thin wrapper over `RwsClient2` — the protocol-level client. They expose the
+ * same public surface (the protocol method set IS the IRWSAdapter contract for
+ * RWS 2.0); this class just brands the type with `implements IRWSAdapter` so
+ * code that's polymorphic over RWS 1.0 + 2.0 (e.g. RobotManager) can hold
+ * either an `RWS1Adapter` or `RWS2Adapter` in a single typed reference.
+ *
+ * Use directly when you want the unified-adapter API:
+ *   `const a: IRWSAdapter = new RWS2Adapter('https://controller', 'Admin', 'robotics');`
+ *
+ * Use `RwsClient2` directly if you only ever target RWS 2.0 and don't need
+ * the abstraction layer.
+ */
+export declare class RWS2Adapter extends RwsClient2 implements IRWSAdapter {
+}
+//# sourceMappingURL=RWS2Adapter.d.ts.map

package/dist/RWS2Adapter.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"RWS2Adapter.d.ts","sourceRoot":"","sources":["../src/RWS2Adapter.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,UAAU,EAAE,MAAM,iBAAiB,CAAC;AAC7C,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAC;AAEpD;;;;;;;;;;;;;;GAcG;AACH,qBAAa,WAAY,SAAQ,UAAW,YAAW,WAAW;CAAG"}

package/dist/RWS2Adapter.js

@@ -0,0 +1,19 @@
+import { RwsClient2 } from './RwsClient2.js';
+/**
+ * RWS 2.0 adapter that satisfies the `IRWSAdapter` unified interface.
+ *
+ * Thin wrapper over `RwsClient2` — the protocol-level client. They expose the
+ * same public surface (the protocol method set IS the IRWSAdapter contract for
+ * RWS 2.0); this class just brands the type with `implements IRWSAdapter` so
+ * code that's polymorphic over RWS 1.0 + 2.0 (e.g. RobotManager) can hold
+ * either an `RWS1Adapter` or `RWS2Adapter` in a single typed reference.
+ *
+ * Use directly when you want the unified-adapter API:
+ *   `const a: IRWSAdapter = new RWS2Adapter('https://controller', 'Admin', 'robotics');`
+ *
+ * Use `RwsClient2` directly if you only ever target RWS 2.0 and don't need
+ * the abstraction layer.
+ */
+export class RWS2Adapter extends RwsClient2 {
+}
+//# sourceMappingURL=RWS2Adapter.js.map

package/dist/RWS2Adapter.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"RWS2Adapter.js","sourceRoot":"","sources":["../src/RWS2Adapter.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,UAAU,EAAE,MAAM,iBAAiB,CAAC;AAG7C;;;;;;;;;;;;;;GAcG;AACH,MAAM,OAAO,WAAY,SAAQ,UAAU;CAA0B"}

package/dist/ResourceMapper.d.ts

@@ -7,8 +7,20 @@
  */
 /** Path to read the current controller state (motoron, motoroff, etc.) */
 export declare function controllerState(): string;
+/** Path + body to set the controller motor state (motoron / motoroff). Requires mastership. */
+export declare function setControllerState(state: 'motoron' | 'motoroff'): {
+    path: string;
+    body: string;
+};
 /** Path to read the current operation mode (AUTO, MANR, MANF) */
 export declare function operationMode(): string;
+/** Path to read the current speed ratio (0–100) */
+export declare function speedRatio(): string;
+/** Path + body to set the speed ratio. Only valid in AUTO mode. @param ratio 0–100 */
+export declare function setSpeedRatio(ratio: number): {
+    path: string;
+    body: string;
+};
 /** Path to list all RAPID tasks */
 export declare function rapidTasks(): string;
 /** Path to read the RAPID execution state (running / stopped) */
@@ -31,6 +43,123 @@ export declare function resetRapid(): {
     path: string;
     body: string;
 };
+/**
+ * Path + body to set the RAPID execution cycle mode.
+ * @param cycle - 'once' (run once then stop) | 'forever' (loop indefinitely) | 'asis' (keep current)
+ */
+export declare function setExecutionCycle(cycle: 'once' | 'forever' | 'asis'): {
+    path: string;
+    body: string;
+};
+/** Path to read the collision detection state (INIT/TRIGGERED/CONFIRMED/TRIGGERED_ACK). */
+export declare function collisionDetectionState(): string;
+/**
+ * Path + body to restart (or shutdown) the controller.
+ * @param mode - 'restart' | 'istart' | 'pstart' | 'bstart'
+ */
+export declare function restartController(mode: 'restart' | 'istart' | 'pstart' | 'bstart'): {
+    path: string;
+    body: string;
+};
+/**
+ * Path + body to lock the operation mode selector.
+ * @param pin - 4-digit PIN
+ * @param permanent - true = permanent lock; false = temporary
+ */
+export declare function lockOperationMode(pin: string, permanent: boolean): {
+    path: string;
+    body: string;
+};
+/** Path + body to unlock the operation mode selector. */
+export declare function unlockOperationMode(): {
+    path: string;
+    body: string;
+};
+/** Path to GET the currently active RAPID UI instruction (if any). */
+export declare function activeUiInstruction(): string;
+/**
+ * Path + body to set a parameter value on the active RAPID UI instruction.
+ * Used to respond programmatically to TPReadNum, TPReadFK, etc.
+ *
+ * @param stackurl - Full stack URL from the UiInstruction.stack field (e.g. 'RAPID/T_ROB1/%$104')
+ * @param uiparam  - Parameter name: 'Result', 'TPFK1' … 'TPFK5', 'TPCompleted', etc.
+ * @param value    - New value (e.g. '42', 'TRUE', '0')
+ */
+export declare function setUiInstructionParam(stackurl: string, uiparam: string, value: string): {
+    path: string;
+    body: string;
+};
+/** Path + body to activate a single RAPID task (multitasking). */
+export declare function activateRapidTask(task: string): {
+    path: string;
+    body: string;
+};
+/** Path + body to deactivate a single RAPID task (multitasking). */
+export declare function deactivateRapidTask(task: string): {
+    path: string;
+    body: string;
+};
+/** Path + body to activate ALL RAPID tasks. */
+export declare function activateAllRapidTasks(): {
+    path: string;
+    body: string;
+};
+/** Path + body to deactivate ALL RAPID tasks. */
+export declare function deactivateAllRapidTasks(): {
+    path: string;
+    body: string;
+};
+/**
+ * Path + body to search RAPID symbols across a task.
+ * POST /rw/rapid/symbols?action=search-symbol
+ */
+export declare function searchRapidSymbols(params: {
+    task: string;
+    view?: string;
+    vartyp?: string;
+    symtyp?: string;
+    dattyp?: string;
+    regexp?: string;
+    recursive?: boolean;
+    blockurl?: string;
+}): {
+    path: string;
+    body: string;
+};
+/**
+ * Path + body to validate a value against a RAPID data type.
+ * POST /rw/rapid/symbol/data?action=validate
+ * Returns 204 if valid, 400 if invalid.
+ */
+export declare function validateRapidValue(task: string, value: string, datatype: string): {
+    path: string;
+    body: string;
+};
+/**
+ * Path to read RAPID symbol properties (type, dimensions, storage, etc.).
+ * @param taskName   - RAPID task name, e.g. 'T_ROB1'
+ * @param moduleName - Module name, e.g. 'user'
+ * @param symbolName - Symbol name, e.g. 'reg1'
+ */
+export declare function rapidSymbolProperties(taskName: string, moduleName: string, symbolName: string): string;
+/**
+ * Path to read a RAPID symbol value.
+ * @param taskName   - RAPID task name, e.g. 'T_ROB1'
+ * @param moduleName - Module name, e.g. 'user'
+ * @param symbolName - Symbol name, e.g. 'reg1'
+ */
+export declare function rapidSymbol(taskName: string, moduleName: string, symbolName: string): string;
+/**
+ * Path + body to set a RAPID symbol value.
+ * @param taskName   - RAPID task name
+ * @param moduleName - Module name
+ * @param symbolName - Symbol name
+ * @param value      - New value as RAPID-formatted string, e.g. '42', '"hello"', '[1,2,3]'
+ */
+export declare function setRapidSymbol(taskName: string, moduleName: string, symbolName: string, value: string): {
+    path: string;
+    body: string;
+};
 /**
  * Path to read joint-space positions for a mechanical unit.
  * @param mechunit - Default 'ROB_1' (the primary robot mechanical unit)
@@ -43,6 +172,12 @@ export declare function jointTarget(mechunit?: string): string;
  * @param wobj     - Active work object frame; default 'wobj0'
  */
 export declare function robTarget(mechunit?: string, tool?: string, wobj?: string): string;
+/**
+ * Path to read Cartesian position including robot configuration flags (j1, j4, j6, jx).
+ * Uses the /cartesian sub-resource instead of /robtarget — no tool/wobj parameters.
+ * @param mechunit - Default 'ROB_1'
+ */
+export declare function cartesianFull(mechunit?: string): string;
 /**
  * Path + body to load a RAPID module into a task.
  * @param taskName   - RAPID task name, e.g. 'T_ROB1'
@@ -67,10 +202,99 @@ 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. '$HOME/MyMod.mod' or 'HOME/MyMod.mod'
- *                     A leading '/' is stripped to avoid double-slash in the URL.
+ * @param remotePath - Controller path, e.g. '$HOME/MyMod.mod'
  */
 export declare function uploadFile(remotePath: string): string;
+/** Path to get RobotWare system information (version, options, sysid) */
+export declare function systemInfo(): string;
+/** Path to get controller hardware identity (name, id, type, mac) */
+export declare function controllerIdentity(): string;
+/** Path to GET the controller clock datetime. */
+export declare function clockInfo(): string;
+/**
+ * Path + body to SET the controller clock (PUT /ctrl/clock).
+ * All values are interpreted as UTC by the controller.
+ */
+export declare function setControllerClock(year: number, month: number, day: number, hour: number, min: number, sec: number): {
+    path: string;
+    body: string;
+    method: 'PUT';
+};
+/**
+ * Path to read event log messages.
+ * Domain 0 = common controller log (up to 1000 entries, most useful).
+ * @param domain  - Log domain number; default 0
+ * @param lang    - Language for message text; default 'en'
+ */
+export declare function elogMessages(domain?: number, lang?: string): string;
+/** Path + body to clear all messages in a specific elog domain. */
+export declare function clearElogDomain(domain?: number): {
+    path: string;
+    body: string;
+};
+/** Path + body to clear ALL elog messages across all domains. */
+export declare function clearAllElogs(): {
+    path: string;
+    body: string;
+};
+/**
+ * Path for GET (download file or list directory) and PUT (upload file).
+ * Use '$HOME/' prefix to target the controller home directory.
+ */
+export declare function fileServicePath(remotePath: string): string;
+/** DELETE path to remove a file from the controller filesystem. */
+export declare function deleteFile(remotePath: string): string;
+/**
+ * Path to create a new directory on the controller filesystem.
+ * POST to this path with body 'fs-action=create&fs-newname={dirName}'.
+ * @param parentPath - Parent directory path, e.g. '$HOME'
+ */
+export declare function createDirectory(parentPath: string): {
+    path: string;
+};
+/**
+ * Path to copy a file on the controller filesystem.
+ * POST to this path with body 'fs-action=copy&fs-newname={filename}'.
+ *
+ * RWS 1.0 fileservice copy operates *within the source's directory only*:
+ * fs-newname must be a bare filename, not a path. Passing a full path
+ * returns 400 "Invalid". To copy across directories, copy first then move
+ * (or upload to the new path directly).
+ *
+ * @param sourcePath - Source file path, e.g. '$HOME/Source.mod'
+ * @param destPath   - Destination path. The basename is extracted and used
+ *                     as fs-newname; any directory component is ignored.
+ */
+export declare function copyFile(sourcePath: string, destPath: string): {
+    path: string;
+    body: string;
+};
+/**
+ * Path + body to request mastership on a domain.
+ * Must be released after use. Domains: 'cfg' | 'motion' | 'rapid'.
+ */
+export declare function requestMastership(domain: 'cfg' | 'motion' | 'rapid'): {
+    path: string;
+    body: string;
+};
+/** Path + body to release mastership on a domain. */
+export declare function releaseMastership(domain: 'cfg' | 'motion' | 'rapid'): {
+    path: string;
+    body: string;
+};
+/**
+ * Path to list all I/O signals (paginated).
+ * @param start  - Starting index (default 0)
+ * @param limit  - Max results per page (default 100)
+ */
+export declare function allSignals(start?: number, limit?: number): string;
+/** Path to list all configured I/O networks */
+export declare function networks(): string;
+/**
+ * Path to list all devices on a network.
+ * @param network - Network name, e.g. 'Local'
+ */
+export declare function devices(network: string): string;
 /**
  * Path to read a digital/analog I/O signal value.
  *

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