abb-rws-client 0.2.0 → 0.7.1

package/dist/ResourceMapper.js

@@ -10,10 +10,28 @@
 export function controllerState() {
     return '/rw/panel/ctrlstate';
 }
+/** Path + body to set the controller motor state (motoron / motoroff). Requires mastership. */
+export function setControllerState(state) {
+    return {
+        path: '/rw/panel/ctrlstate?action=setctrlstate',
+        body: `ctrl-state=${state}`,
+    };
+}
 /** Path to read the current operation mode (AUTO, MANR, MANF) */
 export function operationMode() {
     return '/rw/panel/opmode';
 }
+/** Path to read the current speed ratio (0–100) */
+export function speedRatio() {
+    return '/rw/panel/speedratio';
+}
+/** Path + body to set the speed ratio. Only valid in AUTO mode. @param ratio 0–100 */
+export function setSpeedRatio(ratio) {
+    return {
+        path: '/rw/panel/speedratio?action=setspeedratio',
+        body: `speed-ratio=${Math.round(Math.max(0, Math.min(100, ratio)))}`,
+    };
+}
 // ─── RAPID ───────────────────────────────────────────────────────────────────
 /** Path to list all RAPID tasks */
 export function rapidTasks() {
@@ -47,6 +65,152 @@ export function resetRapid() {
         body: '',
     };
 }
+/**
+ * Path + body to set the RAPID execution cycle mode.
+ * @param cycle - 'once' (run once then stop) | 'forever' (loop indefinitely) | 'asis' (keep current)
+ */
+export function setExecutionCycle(cycle) {
+    return {
+        path: '/rw/rapid/execution?action=setcycle',
+        body: `cycle=${cycle}`,
+    };
+}
+// ─── Controller panel ────────────────────────────────────────────────────────
+/** Path to read the collision detection state (INIT/TRIGGERED/CONFIRMED/TRIGGERED_ACK). */
+export function collisionDetectionState() {
+    return '/rw/panel/coldetstate';
+}
+/**
+ * Path + body to restart (or shutdown) the controller.
+ * @param mode - 'restart' | 'istart' | 'pstart' | 'bstart'
+ */
+export function restartController(mode) {
+    return {
+        path: '/rw/panel?action=restart',
+        body: `restart-mode=${mode}`,
+    };
+}
+/**
+ * Path + body to lock the operation mode selector.
+ * @param pin - 4-digit PIN
+ * @param permanent - true = permanent lock; false = temporary
+ */
+export function lockOperationMode(pin, permanent) {
+    return {
+        path: '/rw/panel/opmode?action=lock',
+        body: `pin=${encodeURIComponent(pin)}&permanent=${permanent ? 1 : 0}`,
+    };
+}
+/** Path + body to unlock the operation mode selector. */
+export function unlockOperationMode() {
+    return { path: '/rw/panel/opmode?action=unlock', body: '' };
+}
+// ─── RAPID UI instructions ───────────────────────────────────────────────────
+/** Path to GET the currently active RAPID UI instruction (if any). */
+export function activeUiInstruction() {
+    return '/rw/rapid/uiinstr/active';
+}
+/**
+ * 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/%$104')
+ * @param uiparam  - Parameter name: 'Result', 'TPFK1' … 'TPFK5', 'TPCompleted', etc.
+ * @param value    - New value (e.g. '42', 'TRUE', '0')
+ */
+export function setUiInstructionParam(stackurl, uiparam, value) {
+    return {
+        path: `/rw/rapid/uiinstr/active/param/${encodeURIComponent(stackurl)}/${encodeURIComponent(uiparam)}?action=set`,
+        body: `value=${encodeURIComponent(value)}`,
+    };
+}
+// ─── RAPID task activation ───────────────────────────────────────────────────
+/** Path + body to activate a single RAPID task (multitasking). */
+export function activateRapidTask(task) {
+    return { path: `/rw/rapid/tasks/${encodeURIComponent(task)}?action=activate`, body: '' };
+}
+/** Path + body to deactivate a single RAPID task (multitasking). */
+export function deactivateRapidTask(task) {
+    return { path: `/rw/rapid/tasks/${encodeURIComponent(task)}?action=deactivate`, body: '' };
+}
+/** Path + body to activate ALL RAPID tasks. */
+export function activateAllRapidTasks() {
+    return { path: '/rw/rapid/tasks?action=activate', body: '' };
+}
+/** Path + body to deactivate ALL RAPID tasks. */
+export function deactivateAllRapidTasks() {
+    return { path: '/rw/rapid/tasks?action=deactivate', body: '' };
+}
+// ─── RAPID symbol search / validate ─────────────────────────────────────────
+/**
+ * Path + body to search RAPID symbols across a task.
+ * POST /rw/rapid/symbols?action=search-symbol
+ */
+export function searchRapidSymbols(params) {
+    const parts = [];
+    parts.push(`task=${encodeURIComponent(params.task)}`);
+    if (params.view)
+        parts.push(`view=${encodeURIComponent(params.view)}`);
+    if (params.vartyp)
+        parts.push(`vartyp=${encodeURIComponent(params.vartyp)}`);
+    if (params.symtyp)
+        parts.push(`symtyp=${encodeURIComponent(params.symtyp)}`);
+    if (params.dattyp)
+        parts.push(`dattyp=${encodeURIComponent(params.dattyp)}`);
+    if (params.regexp)
+        parts.push(`regexp=${encodeURIComponent(params.regexp)}`);
+    if (params.blockurl)
+        parts.push(`blockurl=${encodeURIComponent(params.blockurl)}`);
+    if (params.recursive !== undefined)
+        parts.push(`recursive=${params.recursive}`);
+    return {
+        path: '/rw/rapid/symbols?action=search-symbol',
+        body: parts.join('&'),
+    };
+}
+/**
+ * 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 function validateRapidValue(task, value, datatype) {
+    return {
+        path: '/rw/rapid/symbol/data?action=validate',
+        body: `task=${encodeURIComponent(task)}&value=${encodeURIComponent(value)}&datatype=${encodeURIComponent(datatype)}`,
+    };
+}
+// ─── RAPID symbols ───────────────────────────────────────────────────────────
+/**
+ * Path to read RAPID symbol properties (type, dimensions, storage, etc.).
+ * @param taskName   - RAPID task name, e.g. 'T_ROB1'
+ * @param moduleName - Module name, e.g. 'user'
+ * @param symbolName - Symbol name, e.g. 'reg1'
+ */
+export function rapidSymbolProperties(taskName, moduleName, symbolName) {
+    return `/rw/rapid/symbol/properties/RAPID/${encodeURIComponent(taskName)}/${encodeURIComponent(moduleName)}/${encodeURIComponent(symbolName)}`;
+}
+/**
+ * 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 function rapidSymbol(taskName, moduleName, symbolName) {
+    return `/rw/rapid/symbol/data/RAPID/${encodeURIComponent(taskName)}/${encodeURIComponent(moduleName)}/${encodeURIComponent(symbolName)}`;
+}
+/**
+ * Path + body to set a RAPID symbol value.
+ * @param taskName   - RAPID task name
+ * @param moduleName - Module name
+ * @param symbolName - Symbol name
+ * @param value      - New value as RAPID-formatted string, e.g. '42', '"hello"', '[1,2,3]'
+ */
+export function setRapidSymbol(taskName, moduleName, symbolName, value) {
+    return {
+        path: `${rapidSymbol(taskName, moduleName, symbolName)}?action=set`,
+        body: `value=${encodeURIComponent(value)}`,
+    };
+}
 // ─── Motion ──────────────────────────────────────────────────────────────────
 /**
  * Path to read joint-space positions for a mechanical unit.
@@ -64,6 +228,14 @@ export function jointTarget(mechunit = 'ROB_1') {
 export function robTarget(mechunit = 'ROB_1', tool = 'tool0', wobj = 'wobj0') {
     return `/rw/motionsystem/mechunits/${encodeURIComponent(mechunit)}/robtarget?tool=${encodeURIComponent(tool)}&wobj=${encodeURIComponent(wobj)}`;
 }
+/**
+ * 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 function cartesianFull(mechunit = 'ROB_1') {
+    return `/rw/motionsystem/mechunits/${encodeURIComponent(mechunit)}/cartesian`;
+}
 // ─── Modules ─────────────────────────────────────────────────────────────────
 /**
  * Path + body to load a RAPID module into a task.
@@ -96,14 +268,106 @@ export function listModules(taskName) {
 /**
  * PUT path for uploading a file to the controller filesystem.
  * Use '$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 function uploadFile(remotePath) {
-    // Strip a leading '/' so the result is /fileservice/path, not /fileservice//path
+    return fileServicePath(remotePath);
+}
+// ─── Controller info ─────────────────────────────────────────────────────────
+/** Path to get RobotWare system information (version, options, sysid) */
+export function systemInfo() {
+    return '/rw/system';
+}
+/** Path to get controller hardware identity (name, id, type, mac) */
+export function controllerIdentity() {
+    return '/ctrl/identity';
+}
+/** Path to GET the controller clock datetime. */
+export function clockInfo() {
+    return '/ctrl/clock';
+}
+/**
+ * Path + body to SET the controller clock (PUT /ctrl/clock).
+ * All values are interpreted as UTC by the controller.
+ */
+export function setControllerClock(year, month, day, hour, min, sec) {
+    return {
+        path: '/ctrl/clock',
+        body: `sys-clock-year=${year}&sys-clock-month=${month}&sys-clock-day=${day}&sys-clock-hour=${hour}&sys-clock-min=${min}&sys-clock-sec=${sec}`,
+        method: 'PUT',
+    };
+}
+// ─── Event log ───────────────────────────────────────────────────────────────
+/**
+ * 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 function elogMessages(domain = 0, lang = 'en') {
+    return `/rw/elog/${domain}?lang=${encodeURIComponent(lang)}`;
+}
+/** Path + body to clear all messages in a specific elog domain. */
+export function clearElogDomain(domain = 0) {
+    return { path: `/rw/elog/${domain}?action=clear`, body: '' };
+}
+/** Path + body to clear ALL elog messages across all domains. */
+export function clearAllElogs() {
+    return { path: '/rw/elog?action=clearall', body: '' };
+}
+// ─── File system ─────────────────────────────────────────────────────────────
+/**
+ * Path for GET (download file or list directory) and PUT (upload file).
+ * Use '$HOME/' prefix to target the controller home directory.
+ */
+export function fileServicePath(remotePath) {
     const normalised = remotePath.replace(/^\//, '');
     return `/fileservice/${normalised}`;
 }
+/** DELETE path to remove a file from the controller filesystem. */
+export function deleteFile(remotePath) {
+    return fileServicePath(remotePath);
+}
+/**
+ * Path to create a new directory on the controller filesystem.
+ * POST to this path with body 'fs-action=create&fs-newname={dirName}'.
+ * @param parentPath - Parent directory path, e.g. '$HOME'
+ */
+export function createDirectory(parentPath) {
+    return { path: fileServicePath(parentPath) };
+}
+/**
+ * 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. '$HOME/Source.mod'
+ * @param destPath   - Destination path. The basename is extracted and used
+ *                     as fs-newname; any directory component is ignored.
+ */
+export function copyFile(sourcePath, destPath) {
+    const destBasename = destPath.replace(/^.*[\\/]/, '');
+    return {
+        path: fileServicePath(sourcePath),
+        body: `fs-action=copy&fs-newname=${encodeURIComponent(destBasename)}`,
+    };
+}
+// ─── Mastership ───────────────────────────────────────────────────────────────
+/**
+ * Path + body to request mastership on a domain.
+ * Must be released after use. Domains: 'cfg' | 'motion' | 'rapid'.
+ */
+export function requestMastership(domain) {
+    return { path: `/rw/mastership/${domain}?action=request`, body: '' };
+}
+/** Path + body to release mastership on a domain. */
+export function releaseMastership(domain) {
+    return { path: `/rw/mastership/${domain}?action=release`, body: '' };
+}
 // ─── I/O ─────────────────────────────────────────────────────────────────────
 /**
  * Build the signal path segment from optional network/device/name.
@@ -115,6 +379,25 @@ function signalPath(network, device, name) {
     }
     return `/rw/iosystem/signals/${encodeURIComponent(name)}`;
 }
+/**
+ * Path to list all I/O signals (paginated).
+ * @param start  - Starting index (default 0)
+ * @param limit  - Max results per page (default 100)
+ */
+export function allSignals(start = 0, limit = 100) {
+    return `/rw/iosystem/signals?start=${start}&limit=${limit}`;
+}
+/** Path to list all configured I/O networks */
+export function networks() {
+    return '/rw/iosystem/networks';
+}
+/**
+ * Path to list all devices on a network.
+ * @param network - Network name, e.g. 'Local'
+ */
+export function devices(network) {
+    return `/rw/iosystem/devices?network=${encodeURIComponent(network)}`;
+}
 /**
  * Path to read a digital/analog I/O signal value.
  *

package/dist/ResourceMapper.js.map

@@ -1 +1 @@
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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.
  *

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