abb-rws-client 0.2.0 → 0.7.1

package/dist/RobotManager.d.ts

@@ -0,0 +1,536 @@
+import type { RapidTask, JointTarget, RobTarget, CartesianFull, ElogMessage, FileEntry, SystemInfo, ControllerIdentity, CollisionDetectionState, RapidSymbolProperties, RapidSymbolInfo, RapidSymbolSearchParams, UiInstruction, RestartMode, Signal, IoNetwork, IoDevice } from './types.js';
+/**
+ * Listener signature for `onError`. The host (VS Code extension, CLI, etc.) can
+ * decide how to surface the error — e.g. `vscode.window.showErrorMessage` with
+ * the supplied action labels, or a CLI prompt, or just logging.
+ *
+ * The promise resolves to the action the user chose, or `undefined` if dismissed.
+ * RobotManager respects 'Reconnect' specifically (re-runs connect with the prior config).
+ */
+export type ErrorListener = (msg: string, actions: string[]) => Promise<string | undefined>;
+export interface RobotState {
+    connected: boolean;
+    host: string;
+    ctrlstate: string | null;
+    opmode: string | null;
+    execstate: string | null;
+    execCycle: string | null;
+    speedRatio: number | null;
+    coldetstate: CollisionDetectionState | null;
+    tasks: RapidTask[];
+    modules: string[];
+    mechunits: string[];
+    joints: JointTarget | null;
+    cartesian: RobTarget | null;
+    cartesianFull: CartesianFull | null;
+    identity: ControllerIdentity | null;
+    systemInfo: SystemInfo | null;
+    eventLog: ElogMessage[];
+    ioSignals: Signal[];
+}
+export type ChangeHandler = () => void;
+export interface ProbeResult {
+    port: number;
+    useHttps: boolean;
+    authType: 'digest' | 'basic';
+}
+export interface DiscoveredController extends ProbeResult {
+    host: string;
+}
+export declare class RobotManager {
+    private adapter;
+    private adapterConfig;
+    private errorListener;
+    private _state;
+    private handlers;
+    private timer;
+    /** Unsubscribe function returned by adapter.subscribe(); null when not using WebSockets. */
+    private unsubscribeFn;
+    /** True when WebSocket subscriptions are active (drives reduced polling interval). */
+    private subscriptionActive;
+    /** In-flight connect promise — used to dedupe rapid-clicks so we never run two connects in parallel. */
+    private connectingPromise;
+    /** Monotonic counter so old polling timers can detect they've been superseded and self-cancel. */
+    private pollGeneration;
+    get state(): RobotState;
+    /** The port currently in use (or last attempted). Useful for persisting auto-recovered port changes. */
+    get currentPort(): number | undefined;
+    /** The HTTPS flag matching `currentPort`. */
+    get currentUseHttps(): boolean | undefined;
+    onDidChange(fn: ChangeHandler): void;
+    private notify;
+    /**
+     * Install an error listener. Called when the manager auto-disconnects after 3 failed
+     * polls. Hosts can route to UI dialogs (vscode.window.showErrorMessage), prompts, or
+     * alerting systems. The listener returns the chosen action; only 'Reconnect' is acted
+     * on internally — others are passed through for the host to handle.
+     */
+    onError(fn: ErrorListener): void;
+    private static probePort;
+    /** Common ports to check on any host. */
+    private static readonly PROBE_PORTS;
+    /** Returns ALL responding controllers on a single host. */
+    static detectAllControllers(host: string): Promise<ProbeResult[]>;
+    /**
+     * Scan a set of standard ABB hosts for any responding RWS controller.
+     * Uses a shorter timeout (1.5 s) for snappy discovery UX.
+     * Returns every found controller with its host attached.
+     *
+     * If nothing is found on 127.0.0.1 via standard ports, falls back to a wide
+     * TCP scan of the local-VC port range — this catches RobotStudio VCs whose
+     * ports are randomly assigned each startup.
+     */
+    static discoverControllers(extraHosts?: string[]): Promise<DiscoveredController[]>;
+    /** Returns only the first responding controller (used internally during connect). */
+    static detectController(host: string): Promise<ProbeResult | null>;
+    /**
+     * Probe an exact host:port to discover its auth type and protocol.
+     * Tries HTTPS first (most OmniCore VCs use it), then HTTP.
+     * Returns null only if neither responds — protects against guessing wrong
+     * (e.g. RobotStudio-assigned port 5466 is HTTPS but doesn't fit any heuristic).
+     */
+    static probeSpecificPort(host: string, port: number): Promise<ProbeResult | null>;
+    /** Fast TCP-only check to see if a port is accepting connections. */
+    private static tcpPing;
+    /**
+     * Wide-range port scan for RobotStudio VCs whose ports get reassigned each restart.
+     * Two-phase: TCP probe everything fast, then HTTP-probe only ports that responded.
+     *
+     * Uses a sliding-window worker pool to keep concurrency below the OS socket limit
+     * (Windows in particular drops connections silently above ~500 concurrent sockets).
+     *
+     * Heavy operation — only call when standard-port detection finds nothing.
+     * Prefer host=127.0.0.1; scanning a remote host this aggressively is rude.
+     */
+    static wideHostScan(host: string): Promise<DiscoveredController[]>;
+    /**
+     * Connect to a controller.
+     * @param port     If provided, skip auto-detection and use this port directly.
+     *                 Required when two controllers share the same host IP.
+     * @param useHttps If provided alongside port, sets the protocol explicitly.
+     *
+     * Rapid duplicate calls are coalesced — concurrent callers receive the same
+     * in-flight promise. Without this, fast double-clicks would spawn parallel
+     * adapters/timers and overwhelm the controller's session pool.
+     */
+    connect(host: string, username: string, password: string, port?: number, useHttps?: boolean): Promise<void>;
+    private doConnect;
+    disconnect(): Promise<void>;
+    refresh(): Promise<void>;
+    setMotorsOn(): Promise<void>;
+    setMotorsOff(): Promise<void>;
+    setSpeedRatio(ratio: number): Promise<void>;
+    lockOperationMode(pin: string, permanent?: boolean): Promise<void>;
+    unlockOperationMode(): Promise<void>;
+    /**
+     * Switch operation mode (AUTO/MANR/MANF). VC-only — real hardware respects
+     * the FlexPendant key switch.
+     *
+     * State-machine constraints (ABB safety design):
+     *   AUTO ↔ MANR: direct transition allowed.
+     *   MANR ↔ MANF: direct transition allowed.
+     *   AUTO ↔ MANF: NOT allowed direct — must go through MANR.
+     *     Controller rejects with HTTP 500 "Operation failed" on the direct call.
+     *     We auto-handle this by routing through MANR (two POSTs).
+     *
+     * Privilege:
+     *   Going TO MANR/MANF: usually works without mastership (safer direction).
+     *   Going TO AUTO: requires `edit` mastership + a confirmation popup on the
+     *     FlexPendant. We wrap with mastership; the popup must be approved
+     *     manually (no API path bypasses it — verified live).
+     */
+    setOperationMode(mode: 'AUTO' | 'MANR' | 'MANF'): Promise<void>;
+    /** Single hop. Used internally + as the building block for multi-hop transitions. */
+    private setOpmodeOnce;
+    /**
+     * Wrap an op with auto-acquire-and-release of 'rapid'/'edit' mastership.
+     *
+     * NOTE: We deliberately do NOT proactively check RMMP here. Doing so caused
+     * false-positive errors when:
+     *   - the controller is in AUTO mode and grants are sufficient without RMMP
+     *   - the logged-in user lacks UAS grant to even *request* RMMP
+     *   - the controller is a VC with no FlexPendant target for the popup
+     *
+     * Mastership-only is the right default. If the op fails because RMMP is
+     * actually missing, the caller's error handler can offer a Request-RMMP
+     * action — but it's a recovery path, not a precondition.
+     */
+    private withMastership;
+    /** Get current RMMP — 'none' / 'pending modify' / 'modify' / 'exclusive'. */
+    getRmmpPrivilege(): Promise<string>;
+    /** Request RMMP — triggers a FlexPendant popup that the operator must approve. */
+    requestRmmp(level?: 'modify' | 'exclusive'): Promise<void>;
+    /**
+     * Tracks the last PP target the user explicitly chose via setPPToRoutine.
+     * Used by startRapid() to re-apply on next start when execstate is 'stopped'.
+     * Reason: when a routine completes (e.g. has `Stop;` at end, or cycle=once),
+     * PP advances past the routine's last instruction. The next Start with
+     * `execmode=continue` then does nothing visible — controller accepts the
+     * call (HTTP 204) but there's nothing left to execute.
+     * By re-applying the target on each Start-from-stopped, the user's mental
+     * model becomes "Start runs the routine I picked" — every time.
+     * Cleared by resetRapid() (PP-to-Main) so the user can then run main again.
+     */
+    private lastPPTarget;
+    /**
+     * Start RAPID execution.
+     * If the program is currently stopped AND the user previously set PP to a
+     * specific routine via setPPToRoutine(), we re-apply that target before
+     * starting. This makes "Start" reliable across multiple clicks: the chosen
+     * routine runs from the top each time the program has finished and is
+     * idle.
+     * If the program is paused mid-execution (e.g. user hit Stop in the middle
+     * of a long routine), the PP target is NOT re-applied — Start resumes
+     * from where the user stopped.
+     * Detection: if PP currently lives in `lastPPTarget.routine`, we assume
+     * the user is in the "ran-then-stopped" state (PP at end-of-routine).
+     * If PP is in some other routine (controller moved it for an interrupt,
+     * trap, etc.), we leave it alone.
+     */
+    startRapid(): Promise<void>;
+    /** Active task name. We currently target T_ROB1; future: track multi-task. */
+    private activeTaskName;
+    stopRapid(): Promise<void>;
+    resetRapid(): Promise<void>;
+    setExecutionCycle(cycle: 'once' | 'forever' | 'asis'): Promise<void>;
+    activateRapidTask(task: string): Promise<void>;
+    deactivateRapidTask(task: string): Promise<void>;
+    activateAllRapidTasks(): Promise<void>;
+    deactivateAllRapidTasks(): 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[]>;
+    /**
+     * Detailed list of loaded modules — each entry has `name` + `type` (SysMod / ProgMod).
+     * Used by the Modules tree to render system vs program modules differently.
+     * Falls back to bare names from `listModules` if the adapter doesn't support details.
+     */
+    listModulesDetailed(task: string): Promise<Array<{
+        name: string;
+        type: string;
+    }>>;
+    /**
+     * Current program-pointer location for a task (module + routine + line).
+     * Returns null if the controller can't currently report a PP (e.g. no
+     * program loaded). Surfaces the data the Modules tree uses to highlight
+     * which routine is "active".
+     */
+    getCurrentPP(task: string): Promise<{
+        module?: string;
+        routine?: string;
+        row?: number;
+        col?: number;
+    } | null>;
+    /**
+     * List the routines (PROCs, FUNCs, TRAPs) defined in a loaded module.
+     * Uses the controller's symbol search rather than parsing the source —
+     * works even when the module file isn't on disk anymore (e.g. it was
+     * loaded then the file was deleted / never persisted).
+     *
+     * Returns: array of `{ name, symtyp }` where `symtyp` is one of:
+     *   - 'prc'  procedure (no return value, callable)
+     *   - 'fun'  function (returns a value)
+     *   - 'trp'  trap (interrupt handler)
+     * Routines from the controller's BASE / system modules are NOT included
+     * unless `includeSystem=true`.
+     */
+    listRoutines(task: string, moduleName: string, includeSystem?: boolean): Promise<Array<{
+        name: string;
+        symtyp: string;
+        symburl: string;
+        local: boolean;
+    }>>;
+    /**
+     * Set the program pointer to a specific routine, optionally in a specific module.
+     * If `module` is omitted, the controller picks based on its current scope.
+     * Wraps with `edit`/`rapid` mastership.
+     *
+     * After this returns successfully, the user can click Start and execution
+     * will begin at this routine instead of `main`.
+     */
+    setPPToRoutine(task: string, moduleName: string, routine: string): Promise<void>;
+    getActiveUiInstruction(): Promise<UiInstruction | null>;
+    setUiInstructionParam(stackurl: string, uiparam: string, value: string): Promise<void>;
+    listDirectory(remotePath: string): Promise<FileEntry[]>;
+    readFile(remotePath: string): Promise<string>;
+    deleteControllerFile(remotePath: string): Promise<void>;
+    /**
+     * Create a directory on the controller filesystem.
+     * If `parentPath` itself doesn't exist, recursively creates the missing
+     * parents under the volume root ($HOME / HOME / BACKUP / …). This is
+     * mkdir -p semantics — friendlier than the bare ABB endpoint which
+     * returns 404 "Path does not exist" if any intermediate is missing.
+     */
+    createDirectory(parentPath: string, dirName: string): Promise<void>;
+    /**
+     * Walk down `path` from the volume root, creating each missing segment.
+     * Volumes ($HOME, HOME, BACKUP, DATA, …) themselves are NEVER created —
+     * they're controller-managed.
+     */
+    private ensureDirectory;
+    copyControllerFile(sourcePath: string, destPath: string): Promise<void>;
+    refreshEventLog(): Promise<void>;
+    clearEventLog(): Promise<void>;
+    clearAllEventLogs(): Promise<void>;
+    restartController(mode: RestartMode): Promise<void>;
+    getControllerClock(): Promise<string>;
+    setControllerClock(year: number, month: number, day: number, hour: number, min: number, sec: number): Promise<void>;
+    refreshIoSignals(): Promise<void>;
+    writeIoSignal(name: string, value: string): Promise<void>;
+    readIoSignal(network: string, device: string, name: string): Promise<Signal>;
+    listNetworks(): Promise<IoNetwork[]>;
+    listDevices(network: string): Promise<IoDevice[]>;
+    /**
+     * Upload a single .mod / .sys file and load it into a task.
+     *
+     * Behavior:
+     *   1. Stop RAPID briefly so the symbol table isn't being mutated mid-load.
+     *   2. **If a module with the same name (= file basename without ext) is
+     *      already loaded, unload it first.** Live-verified gotcha: passing
+     *      `replace=true` to loadmod refreshes the *file* but the program's
+     *      symbol table still references the OLD module's procedures, so
+     *      `resetRapid()` afterwards reports "no main" even though the new
+     *      file has one. Explicit unload + load fixes this.
+     *   3. Upload the file to $HOME (or HOME/ on RWS 2.0 — adapter rewrites).
+     *   4. loadModule the new file.
+     *   5. **If the new module declares `PROC main()`, auto-call PP-to-Main.**
+     *      This restores the original v0.1 ergonomics without the destructive
+     *      behavior the earlier loadProgram had — the user can immediately
+     *      click Start. Failures during the auto-resetpp are swallowed (the
+     *      module loaded fine; the user can manually click PP-to-Main if
+     *      needed). Detect by regex over the file content.
+     *   6. **Does NOT unload OTHER modules.** Old versions unloaded every
+     *      non-system module, which destroyed the controller's pre-existing
+     *      program (e.g. OmniCore's `Module1`).
+     */
+    loadProgram(localFilePath: string, taskName: string): Promise<void>;
+    /** @deprecated use loadProgram */
+    uploadAndLoad(p: string, t: string): Promise<void>;
+    /**
+     * Unload a single RAPID module from a task. Useful for resolving a
+     * `main`-proc collision: if two modules both define `PROC main()`, RWS
+     * refuses PP-to-Main with a semantic error — unload one and the other
+     * becomes the program's entry point.
+     */
+    unloadModule(taskName: string, moduleName: string): Promise<void>;
+    getLicenseInfo(): Promise<{
+        entries: Array<Record<string, string>>;
+    } | {
+        entries: never[];
+    }>;
+    listProducts(): Promise<never[] | Record<string, string>[]>;
+    getRobotType(): Promise<{
+        type: string;
+        variant?: string;
+    }>;
+    getEnergyStats(): Promise<{}>;
+    getReturnCode(code: number, lang?: string): Promise<{
+        code: number;
+        title: string;
+        desc: string;
+    } | null>;
+    listControllerOptions(): Promise<never[] | {
+        name: string;
+        description?: string;
+    }[]>;
+    listFeatures(): Promise<never[] | Record<string, string>[]>;
+    getMotionChangeCount(): Promise<number>;
+    getMotionErrorState(): Promise<{
+        state: string;
+        details?: Record<string, string>;
+    } | {
+        state: string;
+    }>;
+    getNonMotionExecution(): Promise<boolean>;
+    setNonMotionExecution(enabled: boolean): Promise<void | undefined>;
+    getCollisionPredictionMode(): Promise<string>;
+    setCollisionPredictionMode(m: string): Promise<void | undefined>;
+    getEnableRequest(): Promise<{
+        state: string;
+        raw: Record<string, string>;
+    } | {
+        state: string;
+        raw: {};
+    }>;
+    listAliasIO(): Promise<never[] | {
+        alias: string;
+        signal: string;
+    }[]>;
+    getTaskSelection(): Promise<{
+        selected: string[];
+        available: string[];
+    } | {
+        selected: never[];
+        available: never[];
+    }>;
+    setTaskSelection(tasks: string[]): Promise<void | undefined>;
+    getProgramPointer(task: string): Promise<{
+        module?: string;
+        routine?: string;
+        row?: number;
+        col?: number;
+    }>;
+    getMotionPointer(task: string): Promise<{
+        module?: string;
+        routine?: string;
+        row?: number;
+        col?: number;
+    }>;
+    listCfgDomains(): Promise<string[] | never[]>;
+    listCfgTypes(d: string): Promise<string[] | never[]>;
+    listCfgInstances(d: string, t: string): Promise<string[] | never[]>;
+    getCfgInstance(d: string, t: string, i: string): Promise<{}>;
+    setCfgInstance(d: string, t: string, i: string, attrs: Record<string, string>): Promise<void>;
+    createCfgInstance(d: string, t: string, i: string, attrs: Record<string, string>): Promise<void>;
+    removeCfgInstance(d: string, t: string, i: string): Promise<void>;
+    loadCfgFile(filepath: string, action?: 'add' | 'replace' | 'add-with-reset'): Promise<void>;
+    saveCfgFile(domain: string, filepath: string): Promise<void>;
+    listBackups(): Promise<never[] | {
+        name: string;
+        created?: string;
+        size?: number;
+    }[]>;
+    createBackup(n: string): Promise<void>;
+    restoreBackup(n: string): Promise<void>;
+    getBackupStatus(): Promise<{
+        active: boolean;
+        progress?: number;
+        phase?: string;
+    }>;
+    getModuleInfo(task: string, moduleName: string): Promise<Record<string, string>>;
+    callServiceRoutine(task: string, routineName: string, args?: Record<string, string>): Promise<void>;
+    setActiveTool(mechunit: string, toolName: string): Promise<void>;
+    setActiveWobj(mechunit: string, wobjName: string): Promise<void>;
+    listDipcQueues(): Promise<{
+        name: string;
+        size?: number;
+    }[]>;
+    createDipcQueue(name: string, options?: {
+        maxsize?: number;
+        maxmessages?: number;
+    }): Promise<void>;
+    sendDipcMessage(queue: string, payload: string, type?: 'string' | 'num' | 'dnum' | 'bool'): Promise<void>;
+    readDipcMessage(queue: string, timeoutMs?: number): Promise<{
+        payload: string;
+        type: string;
+    } | null>;
+    removeDipcQueue(name: string): Promise<void>;
+    listFileVolumes(): Promise<string[]>;
+    compressPath(source: string, destination: string): Promise<void>;
+    getActiveTool(m?: string): Promise<{
+        name: string;
+        data?: Record<string, string>;
+    } | {
+        name: string;
+    }>;
+    getActiveWobj(m?: string): Promise<{
+        name: string;
+        data?: Record<string, string>;
+    } | {
+        name: string;
+    }>;
+    getActivePayload(m?: string): Promise<{
+        name: string;
+        data?: Record<string, string>;
+    } | {
+        name: string;
+    }>;
+    listVisionSystems(): Promise<never[] | {
+        name: string;
+        status?: string;
+    }[]>;
+    getSafetyStatus(): Promise<{
+        state: string;
+        details?: Record<string, string>;
+    } | {
+        state: string;
+    }>;
+    getVirtualTime(): Promise<{
+        time: number;
+        running: boolean;
+    } | {
+        time: number;
+        running: boolean;
+    }>;
+    setVirtualTimeRunning(r: boolean): Promise<void | undefined>;
+    setVirtualTimeScale(s: number): Promise<void | undefined>;
+    getMechunitBaseFrame(m?: string): Promise<{
+        x: number;
+        y: number;
+        z: number;
+        q1: number;
+        q2: number;
+        q3: number;
+        q4: number;
+    } | null>;
+    getMechunitAxes(m?: string): Promise<never[] | Record<string, string>[]>;
+    getMechunitInfo(m?: string): Promise<{}>;
+    getTaskStructuralChangeCount(t: string): Promise<number>;
+    getTaskMotion(t: string): Promise<{}>;
+    getTaskActivationRecord(t: string): Promise<{}>;
+    getTaskProgramInfo(t: string): Promise<{}>;
+    getModuleSource(t: string, n: string): Promise<string>;
+    listModuleSymbols(t: string, n: string): Promise<never[] | {
+        name: string;
+        type: string;
+        dattyp?: string;
+    }[]>;
+    calcJointsFromCartesian(pos: RobTarget, seedJoints?: JointTarget, mechunit?: string): Promise<JointTarget>;
+    calcCartesianFromJoints(joints: JointTarget, mechunit?: string, tool?: string, wobj?: string): Promise<RobTarget>;
+    listSystemDevices(): Promise<Array<{
+        id: string;
+        name: string;
+    }>>;
+    listAllIoDevices(): Promise<Array<{
+        name: string;
+        network: string;
+        lstate: string;
+        pstate: string;
+        address: string;
+    }>>;
+    requestMastershipAll(): Promise<void>;
+    releaseMastershipAll(): Promise<void>;
+    requestMastershipWithId(domain: 'rapid' | 'cfg' | 'motion'): Promise<number>;
+    releaseMastershipWithId(domain: 'rapid' | 'cfg' | 'motion', id: number): Promise<void>;
+    resetMastershipWatchdog(): Promise<void>;
+    /** Query who currently holds mastership on a domain. Returns null if adapter doesn't support it. */
+    getMastershipStatus(domain?: 'rapid' | 'cfg' | 'motion'): Promise<{
+        mastership: string;
+        uid?: string;
+        application?: string;
+    } | null>;
+    /** Tracks whether motion mastership is currently held — avoids redundant requests on rapid jog clicks. */
+    private motionMastershipHeld;
+    private jogReleaseTimer;
+    /**
+     * Jog the robot. Wraps the adapter call with safety checks and mastership.
+     * Requests motion mastership on first call, releases 2s after the last call
+     * (so rapid successive jogs don't churn mastership).
+     */
+    jog(params: {
+        mode: 'Joint' | 'Cartesian';
+        axes: [number, number, number, number, number, number];
+        speed: number;
+        mechunit?: string;
+    }): Promise<void>;
+    /** Release motion mastership immediately (called by disconnect and the auto-release timer). */
+    private releaseJogMastership;
+    downloadModule(moduleName: string): Promise<string>;
+    /**
+     * Subscribe to state-change events for instant UI updates.
+     * Non-fatal: if subscriptions fail (e.g. controller doesn't support WS),
+     * polling covers all state at full frequency.
+     */
+    private startSubscriptions;
+    private handleSubscriptionEvent;
+    private loadSessionCookie;
+    private saveSessionCookie;
+    private fetchCount;
+    /** Consecutive poll failures — only disconnects after 3, so transient blips don't drop the connection. */
+    private consecutiveFails;
+    private fetchInFlight;
+    private fetchAll;
+}
+//# sourceMappingURL=RobotManager.d.ts.map

package/dist/RobotManager.d.ts.map

@@ -0,0 +1 @@
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