abb-rws-client 0.5.0 → 0.7.2

package/CHANGELOG.md

@@ -0,0 +1,203 @@
+# Changelog
+
+All notable changes to `abb-rws-client` are documented here.
+The format follows [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [0.7.2] — 2026-05-08
+
+### Documentation
+
+- **Fixed the embarrassing compatibility table** that incorrectly claimed
+  RobotWare 7.x / OmniCore was "Not compatible". The package has supported
+  both protocols since v0.7.0 — the table was a stale leftover from when
+  only RWS 1.0 shipped. Now correctly shows both ✅, with live-tested
+  versions called out (RW7.21 + RW6.16).
+- **Documented `RobotManager` higher-level surface** — the README's
+  API-reference tables only covered the protocol-level `RwsClient`, so
+  callers couldn't see what `RobotManager` adds on top: RMMP, mastership
+  status, opmode auto-routing, backup, FK, service-routine call,
+  tool/wobj activation, CFG write surface, DIPC messaging, file volumes,
+  module source, compress, value validation. New section lists all of
+  these with descriptions.
+- **Clarified RWS 2.0 subscription quirks** — the polling-fallback
+  paragraph now names the specific RWS 2.0 VC `robapi2_subscription`
+  rejection that triggers the fallback, rather than implying it's
+  always 5s polling.
+- **Session-pool clarifications** — IRC5's 70-session number was being
+  presented as universal; called out OmniCore's also-finite-but-different
+  pool with the empirical 503-once-full behaviour we observed during
+  protocol probes.
+- **`RobotManager` polling cadence** correctly described as hybrid:
+  5 s when WS subscriptions handle state changes, 1 s when polling
+  covers everything.
+
+No code changes — pure README updates. `RwsClient`, `RwsClient2`,
+`RobotManager`, `MultiRobotManager`, `createClient`, all examples and
+unit tests are bit-for-bit identical to v0.7.1.
+
+## [0.7.1] — 2026-05-07
+
+### Added
+
+- **RMMP (Remote Mastership Privilege)** is now part of the public `RobotManager`
+  surface — `getRmmpPrivilege()` and `requestRmmp(level)`. The `withMastership()`
+  helper now also gates on RMMP, so any modify operation in AUTO mode will
+  automatically request RMMP and surface an actionable error ("approve the
+  popup on the FlexPendant") when the operator hasn't granted remote control
+  yet. This matches RobotStudio Online's behaviour and removes the most common
+  cause of mastership-acquired-but-403 failures.
+- **Service-routine / arbitrary PROC call** — `callServiceRoutine(task, name,
+  args?)` lets a remote client kick off a service routine (calibration, brake
+  check, custom service procs) without going through the FlexPendant's
+  Service Routine menu.
+- **Tool / Work-object activation** — `setActiveTool(mechunit, name)` and
+  `setActiveWobj(mechunit, name)` switch the active persistent tooldata /
+  wobjdata mid-session.
+- **Module metadata** — `getModuleInfo(task, module)` exposed publicly (was
+  adapter-only). Returns path, attributes, type, line count.
+- **Backup restore** — `restoreBackup(name)` exposed publicly (was adapter-only).
+- **Backup status** type-narrowed — `getBackupStatus()` now returns the full
+  `{ active; progress?; phase? }` shape on every code path (no more union
+  with bare `{ active }`).
+- **CFG write surface** exposed publicly with mastership wrapping —
+  `setCfgInstance`, `createCfgInstance`, `removeCfgInstance`, `loadCfgFile`,
+  `saveCfgFile`. Each acquires `'edit'` mastership for the duration of the
+  call.
+- **DIPC public API** — `listDipcQueues`, `createDipcQueue`, `sendDipcMessage`,
+  `readDipcMessage`, `removeDipcQueue` exposed on `RobotManager`.
+- **File volumes** — `listFileVolumes()` returns the controller's available
+  volumes (HOME, BACKUP, DATA, ADDINDATA, PRODUCTS, RAMDISK, TEMP).
+- **Compress** — `compressPath(source, destination)` for archiving controller
+  files in-place.
+- **Mastership status** — `getMastershipStatus(domain)` returns
+  `{ mastership; uid?; application? }`. Useful for diagnosing 403s ("which
+  client / FlexPendant is currently holding the lock?").
+
+### Improved
+
+- `getRobotType`, `getProgramPointer`, `getMotionPointer` now have explicit
+  return-type annotations on the `RobotManager` wrappers — TypeScript no
+  longer collapses the empty-default into a property-less union.
+
+### No breaking changes
+
+- All additions are new methods or default-no-op widening. Existing callers
+  using `RobotManager` keep working without any changes.
+
+## [0.7.0] — 2026-05-06
+
+This release adds RWS 2.0 (OmniCore / RobotWare 7) support, multi-robot
+management, auto-detection helpers, and a full set of higher-level building
+blocks. The package now legitimately covers BOTH RWS protocols ABB ships,
+including the long-tail endpoints (devices, all-IO-devices, mastership
+extras, forward kinematics) that were missing from prior versions.
+
+### Added
+
+- **`RwsClient2`** — RWS 2.0 protocol client for OmniCore controllers.
+  HTTP Basic auth, XHTML responses (`Accept: application/xhtml+xml;v=2.0`),
+  path-based actions (`/rw/rapid/execution/stop`), `'edit'` mastership
+  domain, `HOME` file-service prefix, self-signed-TLS tolerance for VCs,
+  WebSocket subscriptions via `robapi2_subscription` subprotocol.
+
+- **`IRWSAdapter`** — common interface implemented by both RWS 1.0 and 2.0
+  adapters. ~140 methods covering panel, RAPID exec, modules, variables,
+  motion, system, event log, I/O, file service, CFG database, mastership,
+  backup, DIPC, vision, safety, virtual time, certs, registry, jog, IK/FK.
+
+- **`RWS1Adapter`** / **`RWS2Adapter`** — wrappers that satisfy `IRWSAdapter`
+  on top of `RwsClient` and `RwsClient2` respectively. Use these when you
+  want a single typed handle that works across both protocols.
+
+- **`RobotManager`** — high-level connection lifecycle: auto port discovery,
+  protocol auto-detection, polling, WebSocket subscriptions with polling
+  fallback, reconnect-on-failure, state events. `onError` listener lets the
+  host (CLI / UI) decide how to surface failures.
+
+- **`MultiRobotManager`** — orchestrates several `RobotManager` instances.
+  Tracks an "active" robot for UIs that show one at a time, while polling
+  state for all. `onError` cascades to every existing and future robot.
+
+- **`createClient(opts)`** / **`createAdapter(opts)`** — auto-detect helpers
+  that probe the WWW-Authenticate header and return the matching client
+  (or `IRWSAdapter`) already connected. Probes common RWS ports if `port`
+  is omitted (5466, 9403, 443, 80, 11811).
+
+- **`probeProtocol(host, port, https)`** / **`probeHost(host)`** — lower-level
+  protocol detection for callers that want explicit control.
+
+- **Mastership extras** (RWS 2.0 + partial RWS 1.0):
+  - `requestMastershipAll()` / `releaseMastershipAll()` — all-domains in one call
+  - `requestMastershipWithId(domain)` / `releaseMastershipWithId(domain, id)` —
+    token-based mastership that survives session loss; useful for clients
+    that periodically reconnect (RWS 2.0 only)
+  - `resetMastershipWatchdog()` — heartbeat for RobotWare 7.8+ during long
+    RAPID runs
+  - `getMastershipStatus(domain)` / `listMastershipDomains()` — read state
+
+- **Devices** — both `/rw/devices` (system hardware/software inventory) and
+  `/rw/iosystem/devices` (all configured I/O devices across networks):
+  - `listSystemDevices()` — top-level groupings (HW_DEVICES, SW_RESOURCES)
+  - `getDeviceTree(group)` — drill into a group
+  - `listAllIoDevices()` — flat list of every I/O device with state
+
+- **Forward Kinematics** — `calcCartesianFromJoints(joints, mechunit?, tool?, wobj?)`,
+  the missing mirror of `calcJointsFromCartesian`. Same VC-license caveat as IK:
+  virtual controllers without PC Interface 616-1 reject the call (clean error
+  message; no NaN leakage).
+
+- **`XhtmlParser`** — exported for advanced users parsing RWS 2.0 responses
+  manually. Handles span / li / state extraction with regex.
+
+- **`setLogger(impl)`** — pluggable logging interface. The lib ships with a
+  no-op default; hosts (e.g. the VS Code extension) install their own
+  backend (output channel, console, file, etc.).
+
+- **`RwsErrorCode`**: new value `'PROTOCOL_DETECT_FAILED'` for cases where
+  no RWS endpoint answers on the probed port(s).
+
+- `examples/` directory with four scripts: quickstart-auto, rws1-explicit,
+  rws2-explicit, multi-robot.
+
+### Changed
+
+- **README** rewritten for dual-protocol support. Quick Start now uses
+  `createClient` for the typical case; explicit-protocol usage documented.
+
+- **`RwsClient.disconnect()`** now calls `GET /logout` server-side before
+  clearing the local session. Without this, the controller-side session
+  lingered for several minutes, holding any acquired mastership and
+  filling the controller's session pool. Live-verified.
+
+- **`RwsClient` createDirectory**: params now in body (`fs-action=create`
+  in body, not URL query). Live-verified — RWS 1.0 fileservice returns
+  HTTP 400 "Invalid/No Query Parameter" for the URL-query form.
+
+- **`RwsClient` copyFile**: `fs-newname` now sends only the basename of the
+  destination path. RWS 1.0 fileservice copy operates within the source's
+  directory — passing a full path returns 400 "Invalid". Cross-directory
+  copy must use read+upload.
+
+- `package.json`: added `description`, `keywords`, `homepage`, `repository`,
+  `engines.node`, `prepublishOnly` script. Removed invalid self-reference
+  in `dependencies`. Added `@types/ws` to devDependencies.
+
+### Compatibility
+
+- **Node.js 18+** required (matches existing minimum).
+- **No breaking changes for existing RWS 1.0 users.** `RwsClient` and its
+  type exports are unchanged in behavior except for the bug fixes above.
+- New names (`RwsClient2`, `RobotManager`, etc.) sit alongside the old API.
+
+## [0.6.0] — 2026-04-30
+
+- WebSocket subscriptions via `subscribe(resources, handler)`.
+- Generic `request(method, path, body?)` escape hatch for RWS endpoints
+  not covered by typed methods.
+- ~57 typed RWS 1.0 methods.
+
+## [0.5.0] and earlier
+
+- Initial RWS 1.0 client: HTTP Digest auth, session cookie management,
+  request rate limiting, automatic re-authentication, typed `RwsError`.

package/README.md

@@ -1,15 +1,17 @@
 # abb-rws-client
 
-A typed TypeScript/Node.js HTTP and WebSocket client for **ABB IRC5 robot controllers** using [Robot Web Services (RWS) 1.0](https://developercenter.robotstudio.com/api/rwsApi/).
+A typed TypeScript/Node.js client for **ABB Robot Web Services** — both protocols ABB ships:
 
-> **Compatibility:** RWS 1.0 / RobotWare 6.x only.  
-> Not compatible with OmniCore, RobotWare 7.x, or RWS 2.0.
+- **RWS 1.0** — IRC5 / RobotWare 6.x → `RwsClient`
+- **RWS 2.0** — OmniCore / RobotWare 7.x → `RwsClient2`
+
+> **Compatibility:** dual-protocol since v0.7.0. Single-line auto-detection via `createClient()` if you don't know which one your controller speaks.
 
 ---
 
 ## VS Code Extension
 
-Prefer a GUI? The companion VS Code extension gives you live status, motion data, RAPID control, I/O signals, event log, and file management directly from the sidebar — no code required.
+Prefer a GUI? The companion VS Code extension gives you live status, motion data, RAPID control, I/O signals, event log, file management, and CFG database editing directly from the sidebar — no code required. Works against both IRC5 and OmniCore.
 
 **[ABB Robot (RWS) — VS Code Marketplace](https://marketplace.visualstudio.com/items?itemName=merajsafari.abb-rws)**
 
@@ -17,14 +19,17 @@ Prefer a GUI? The companion VS Code extension gives you live status, motion data
 
 ## Features
 
-- HTTP Digest Authentication (RFC 2617) — no external auth libraries
-- Session cookie management (`ABBCX`, `-http-session-`) with automatic reuse
-- Request rate limiting (< 20 req/sec, configurable)
-- Automatic re-authentication after session expiry
-- WebSocket subscriptions for real-time events
-- Auto-reconnect on WebSocket disconnect (3 retries, exponential backoff)
+- **Dual-protocol** — RWS 1.0 (Digest, JSON) and RWS 2.0 (Basic, XHTML;v=2.0)
+- **Auto-detection** — `createClient(host)` probes the auth challenge and returns the right client
+- **Multi-robot** — `MultiRobotManager` for orchestrating several controllers in one process
+- **Connection lifecycle** — `RobotManager` handles port discovery, polling, WebSocket subscriptions with polling fallback, reconnect-on-failure
+- **Typed adapter pattern** — `IRWSAdapter` lets you write code that works across both protocols
+- **WebSocket subscriptions** for real-time events (panel state, RAPID exec, signals, persvar, elog, jointtarget, …)
+- Session cookie management (IRC5: avoids the controller's 70-session pool fill; OmniCore: avoids 503 lockout from session-pool exhaustion)
+- Automatic `/logout` on disconnect to release server-side mastership and free the session slot
+- Request rate limiting (< 20 req/sec)
 - Fully typed public API — every method throws `RwsError` with a typed `code`
-- Zero runtime dependencies — Node.js built-ins only
+- Single dependency: `ws` (only one we don't reimplement)
 
 ---
 
@@ -34,18 +39,63 @@ Prefer a GUI? The companion VS Code extension gives you live status, motion data
 npm install abb-rws-client
 ```
 
-**Requirements:** Node.js 18+ (WebSocket subscriptions require Node 21+ or Node 18 with `--experimental-websocket`).
+**Requirements:** Node.js 18+.
 
 ---
 
-## Quick Start
+## Quick Start (auto-detect)
+
+The simplest path: `createClient` probes the controller and returns the right protocol's client.
+
+```ts
+import { createClient, RwsClient2 } from 'abb-rws-client';
+
+const client = await createClient({
+  host: '192.168.125.1',
+  // username/password default to 'Admin' / 'robotics' (built-in admin account, full UAS grants)
+});
+
+console.log(`Connected via ${client instanceof RwsClient2 ? 'RWS 2.0' : 'RWS 1.0'}`);
+
+const state = await client.getControllerState();   // 'motoron' | 'motoroff' | …
+const mode  = await client.getOperationMode();     // 'AUTO' | 'MANR' | 'MANF'
+const joints = await client.getJointPositions();   // { rax_1, …, rax_6 }
+
+await client.disconnect();
+```
+
+If you only target one protocol, skip the helper and instantiate the client directly. See [`examples/`](./examples/) for runnable scripts.
+
+---
+
+## Choosing a client
+
+| Controller | Protocol | Class | Auth | Default port |
+|---|---|---|---|---|
+| **IRC5** (RobotWare 6.x) | RWS 1.0 | `RwsClient` | HTTP Digest | 80 (real), 80 / 11811 (VC) |
+| **OmniCore** (RobotWare 7.x) | RWS 2.0 | `RwsClient2` | HTTP Basic | 443 (real), 5466 (VC HTTPS) |
+
+Both classes expose **the same method names** for ~140 endpoints (controller state, RAPID execution, modules, variables, motion, I/O, file service, CFG database, mastership, event log, etc.). The protocol differences (URL shapes, response format, mastership-domain naming, `$HOME` vs `HOME`) are handled internally — your code looks the same.
+
+If you need a single typed reference that holds either:
+
+```ts
+import { createAdapter, type IRWSAdapter } from 'abb-rws-client';
+
+const adapter: IRWSAdapter = await createAdapter({ host: '192.168.125.1' });
+// adapter is RWS1Adapter or RWS2Adapter — both implement IRWSAdapter
+```
+
+---
+
+## RWS 1.0 explicit usage
 
 ```ts
 import { RwsClient, RwsError } from 'abb-rws-client';
 
 const client = new RwsClient({
   host: '192.168.125.1',
-  username: 'Default User',
+  username: 'Admin',
   password: 'robotics',
 });
 
@@ -85,6 +135,138 @@ await client.disconnect();
 
 ---
 
+## RWS 2.0 explicit usage
+
+```ts
+import { RwsClient2 } from 'abb-rws-client';
+
+// RWS 2.0 takes a base URL (scheme + host + port).
+//   Real OmniCore:  https://<host>:443
+//   OmniCore VC:    https://127.0.0.1:5466
+const client = new RwsClient2(
+  'https://127.0.0.1:5466',
+  'Admin',
+  'robotics',
+);
+
+await client.connect();
+
+// Same method names as RWS 1.0 — only the underlying protocol differs.
+console.log('state:', await client.getControllerState());
+console.log('joints:', await client.getJointPositions());
+
+// RAPID variable read — RWS 2.0 symbol API uses suffix-style URLs internally
+// (`/rw/rapid/symbol/{symburl}/data`); the method shape is the same.
+const tool0 = await client.getRapidVariable('T_ROB1', 'BASE', 'tool0');
+
+// WebSocket subscriptions over `robapi2_subscription` subprotocol.
+const unsubscribe = await client.subscribe(
+  ['controllerstate', 'execution'],
+  (event) => console.log(event.resource, '=', event.value),
+);
+
+await unsubscribe();
+await client.disconnect();
+```
+
+### Notable RWS 2.0 quirks (handled automatically)
+
+These are documented because they bite anyone who tries to write an RWS 2.0 client from scratch:
+
+- **HTTP Basic auth**, not Digest (RWS 1.0).
+- **XHTML responses only** — `Accept: application/json` returns 406. Library uses `Accept: application/xhtml+xml;v=2.0`.
+- **Path-based actions** — `/rw/rapid/execution/stop`, not `?action=stop`.
+- **Mastership domains collapsed** — both `'rapid'` and `'cfg'` map to `'edit'`. The adapter maps internally so either name works.
+- **File service home** is `'HOME'`, not `'$HOME'`.
+- **Symbol API path is suffix-style** — `/rw/rapid/symbol/{symburl}/data` (RWS 1.0 puts `/data` at the front).
+- **Module unload** is `POST /rw/rapid/tasks/{task}/unloadmod` with body, NOT `DELETE` on the module URL (returns 405).
+- **Self-signed TLS** on virtual controllers — library uses `rejectUnauthorized: false` for HTTPS.
+- **WebSocket subscription URL** comes from the `Location` header (real hardware) or the XHTML body (VC). Subprotocol: `robapi2_subscription`.
+
+---
+
+## Multi-robot orchestration
+
+For applications that talk to several controllers, use `MultiRobotManager`:
+
+```ts
+import { MultiRobotManager } from 'abb-rws-client';
+
+const multi = MultiRobotManager.fromConfigs([
+  { id: 'cell-A', name: 'Cell A IRB120',  host: '192.168.125.1', port: 80,   useHttps: false, username: 'Admin', password: 'robotics' },
+  { id: 'cell-B', name: 'Cell B IRB1200', host: '192.168.125.2', port: 443,  useHttps: true,  username: 'Admin', password: 'robotics' },
+]);
+
+multi.onError((msg, actions) => {
+  console.error(`Robot error: ${msg}`);
+  return Promise.resolve(undefined); // headless: just log
+});
+
+multi.onDidChange(() => {
+  console.log(`active=${multi.activeId} state=${multi.state.ctrlstate}`);
+});
+
+for (const { id } of multi.entries) {
+  await multi.connectRobot(id);
+}
+// One robot is "active" at a time (handy for UIs); state for all is polled.
+multi.setActive('cell-B');
+```
+
+`MultiRobotManager` wraps individual `RobotManager` instances. Each `RobotManager` handles its own:
+- Auto port discovery (probes 5466 / 9403 / 443 / 80 / 11811 in that order, plus a wide-scan fallback when none of those answer — RobotStudio assigns random VC ports above 30000)
+- Protocol auto-detection (`WWW-Authenticate: Digest` → RWS 1.0; `Basic` → RWS 2.0)
+- Hybrid polling cadence: **5 s when WebSocket subscriptions are active** (positions only — state-change resources stream over WS); **1 s when subscriptions failed** (full state coverage via polling)
+- WebSocket subscriptions with automatic polling fallback (RWS 2.0 VC notably rejects the `robapi2_subscription` subprotocol — fallback kicks in)
+- Reconnect-on-failure (3-strike, surfaces via `onError` listener)
+- Clean `GET /logout` on disconnect — releases server-side mastership and frees the session slot
+
+You can also create a `RobotManager` directly if you only have one robot.
+
+---
+
+## `RobotManager` — higher-level surface
+
+`RobotManager` wraps either client with operational helpers that handle mastership, polling, and protocol differences for you. In addition to delegating every protocol method to the underlying client, it exposes:
+
+- **`getRmmpPrivilege()`**, **`requestRmmp(level)`** — Remote Mastership Privilege management. Required on OmniCore in AUTO mode for any modify op.
+- **`getMastershipStatus(domain?)`** — read who currently holds rapid/cfg/motion mastership (uid + application name).
+- **`setOperationMode('AUTO' | 'MANR' | 'MANF')`** — VC-only switch with auto-routing through MANR for AUTO ↔ MANF (the controller rejects direct transitions). Acquires `edit` mastership for the higher-privilege direction.
+- **`setSpeedRatio(0..100)`** — wraps `edit` mastership; uses the live-verified `?action=setspeedratio&speed-ratio=N` form on RWS 2.0 (the bare endpoint returns 400).
+- **`createBackup(name)`**, **`restoreBackup(name)`**, **`getBackupStatus()`**, **`listBackups()`** — `/ctrl/backup/...`
+- **`callServiceRoutine(task, name, args?)`** — invoke a service routine remotely (calibration, brake check, etc.).
+- **`calcJointsFromCartesian(...)`** — inverse kinematics. **`calcCartesianFromJoints(...)`** — forward kinematics.
+- **`setActiveTool(mechunit, name)`**, **`setActiveWobj(mechunit, name)`** — switch active persistent tooldata / wobjdata.
+- **CFG write** — `setCfgInstance` / `createCfgInstance` / `removeCfgInstance` / `loadCfgFile` / `saveCfgFile`. Each acquires `edit` mastership for the duration.
+- **DIPC** — `listDipcQueues` / `createDipcQueue` / `sendDipcMessage` / `readDipcMessage` / `removeDipcQueue`. Bidirectional messaging between RAPID and external clients.
+- **`listFileVolumes()`** — every controller volume (HOME, BACKUP, DATA, ADDINDATA, PRODUCTS, RAMDISK, TEMP).
+- **`getModuleSource(task, name)`** — pull a module's RAPID text in one call.
+- **`compressPath(source, dest)`** — controller-side compression.
+- **`validateRapidValue(task, value, datatype)`** — pre-flight a literal before writing.
+
+Every method returns `Promise<...>` and throws `RwsError` on failure.
+
+---
+
+## Logging
+
+The lib ships a no-op logger by default. Hosts (CLIs, services, the VS Code extension) install their own:
+
+```ts
+import { setLogger } from 'abb-rws-client';
+
+setLogger({
+  info:  (msg) => console.log(`[info]  ${msg}`),
+  warn:  (msg) => console.warn(`[warn]  ${msg}`),
+  error: (msg, err) => console.error(`[error] ${msg}`, err),
+  show:  () => { /* bring log surface to front; no-op for CLIs */ },
+});
+```
+
+Internal lifecycle events (connect/disconnect, polling cycles, subscription state, error recovery) flow through this.
+
+---
+
 ## API Reference
 
 ### Constructor
@@ -97,7 +279,7 @@ new RwsClient(options: RwsClientOptions)
 |--------|------|---------|-------------|
 | `host` | `string` | — | Controller IP or hostname |
 | `port` | `number` | `80` | HTTP port |
-| `username` | `string` | `'Default User'` | RWS username |
+| `username` | `string` | `'Admin'` | RWS username |
 | `password` | `string` | `'robotics'` | RWS password |
 | `requestIntervalMs` | `number` | `55` | Min ms between requests (enforces < 20 req/sec) |
 | `timeout` | `number` | `5000` | Request timeout in ms |
@@ -301,7 +483,7 @@ try {
 
 ## Session Persistence
 
-The IRC5 controller allows a maximum of **70 concurrent RWS sessions**. Persist the session cookie across restarts to always reuse the same slot:
+IRC5 controllers allow a maximum of **70 concurrent RWS sessions**; OmniCore controllers also have a finite session pool (the exact number isn't published, but heavy probing without `/logout` returns HTTP 503 once it fills). Persist the session cookie across restarts to always reuse the same slot — the lib calls `/logout` on `disconnect()` to free the slot cleanly, but a saved cookie is the most robust path:
 
 ```ts
 import fs from 'fs';
@@ -322,14 +504,16 @@ await client.connect(); // reuses the existing session slot
 
 ## Rate Limits
 
-| Constraint | Value |
-|------------|-------|
-| Max request rate | 20 req/sec |
-| Client enforced interval | 55 ms between requests |
-| Max concurrent sessions | 70 |
-| Session inactivity timeout | 5 minutes |
-| Max session lifetime | 25 minutes |
-| Max file upload | 800 MB |
+| Constraint | Value | Source |
+|------------|-------|--------|
+| Max request rate | 20 req/sec | Both protocols (controller-enforced) |
+| Client-enforced interval | 55 ms between requests | This package, default |
+| Max concurrent sessions | 70 (IRC5) / finite (OmniCore) | Controller-enforced |
+| Session inactivity timeout | 5 minutes (IRC5) | Controller-enforced |
+| Max session lifetime | 25 minutes (IRC5) | Controller-enforced |
+| Max file upload | 800 MB (IRC5) | Controller-enforced; OmniCore is similar |
+
+OmniCore-specific limits aren't fully documented by ABB; what the lib observes empirically matches the IRC5 numbers within an order of magnitude.
 
 ---
 
@@ -337,10 +521,13 @@ await client.connect(); // reuses the existing session slot
 
 | | RobotWare 6.x (RWS 1.0) | RobotWare 7.x (RWS 2.0) |
 |--|--|--|
-| This package | ✅ Supported | ❌ Not compatible |
-| IRC5 controller | ✅ | n/a |
-| OmniCore controller | n/a | ❌ |
-| RobotStudio virtual | ✅ (127.0.0.1) | ❌ |
+| This package | ✅ `RwsClient` | ✅ `RwsClient2` |
+| IRC5 controller (real) | ✅ | n/a |
+| OmniCore controller (real) | n/a | ✅ |
+| RobotStudio virtual controller | ✅ (RW6.x VC) | ✅ (RW7.x VC) |
+| Auto-detect from one entry point | ✅ via `createClient()` | ✅ via `createClient()` |
+
+**Live-tested matrix** as of v0.7.1: RobotWare 7.21 (OmniCore VC, RWS 2.0), RobotWare 6.16 (IRC5 VC, RWS 1.0). 116 unit tests + 339 live protocol-coverage tests pass against both.
 
 ---
 

package/dist/HttpSession.d.ts.map

@@ -1 +1 @@
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+{"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();

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