abb-rws-client 0.5.0 → 0.7.2

package/dist/types.d.ts.map

@@ -1 +1 @@
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package/dist/types.js.map

@@ -1 +1 @@
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+{"version":3,"file":"types.js","sourceRoot":"","sources":["../src/types.ts"],"names":[],"mappings":"AAAA,oCAAoC;AACpC,gGAAgG;AAChG,2NAA2N;AAqS3N;;;GAGG;AACH,MAAM,OAAO,QAAS,SAAQ,KAAK;IACxB,IAAI,CAAe;IACnB,UAAU,CAAU;IACpB,SAAS,CAAU;IAE5B,YAAY,OAAe,EAAE,IAAkB,EAAE,UAAmB,EAAE,SAAkB;QACtF,KAAK,CAAC,OAAO,CAAC,CAAC;QACf,IAAI,CAAC,IAAI,GAAG,UAAU,CAAC;QACvB,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC;QACjB,IAAI,CAAC,UAAU,GAAG,UAAU,CAAC;QAC7B,IAAI,CAAC,SAAS,GAAG,SAAS,CAAC;QAC3B,oFAAoF;QACpF,MAAM,CAAC,cAAc,CAAC,IAAI,EAAE,GAAG,CAAC,MAAM,CAAC,SAAS,CAAC,CAAC;IACpD,CAAC;CACF"}

package/examples/01-quickstart-auto.mjs

@@ -0,0 +1,20 @@
+// Auto-detect protocol — works for both IRC5 (RWS 1.0) and OmniCore (RWS 2.0).
+// Useful when your code has to support both controller generations.
+
+import { createClient, RwsClient2 } from 'abb-rws-client';
+
+const client = await createClient({
+  host: process.env.RWS_HOST || '127.0.0.1',
+  // 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' | 'init' | …
+const mode  = await client.getOperationMode();     // 'AUTO' | 'MANR' | 'MANF'
+const speed = await client.getSpeedRatio();
+const exec  = await client.getRapidExecutionState();
+
+console.log({ state, mode, speed, execstate: exec });
+
+await client.disconnect();

package/examples/02-rws1-explicit.mjs

@@ -0,0 +1,30 @@
+// Explicit RWS 1.0 client — for IRC5 controllers (RobotWare 6.x).
+// Use this when you only target RWS 1.0 and don't need protocol detection.
+
+import { RwsClient } from 'abb-rws-client';
+
+const client = new RwsClient({
+  host: process.env.RWS_HOST || '192.168.125.1',
+  port: 80,
+  username: 'Admin',
+  password: 'robotics',
+});
+
+await client.connect();
+
+// Controller / panel
+console.log('state:', await client.getControllerState());
+console.log('opmode:', await client.getOperationMode());
+
+// Motion
+console.log('joints:', await client.getJointPositions());
+console.log('cartesian:', await client.getCartesianPosition());
+
+// RAPID
+console.log('tasks:', (await client.getRapidTasks()).map(t => t.name));
+console.log('modules:', await client.listModules('T_ROB1'));
+
+// I/O
+console.log('signals (first 5):', (await client.listAllSignals(0, 5)).map(s => `${s.name}=${s.value}`));
+
+await client.disconnect();

package/examples/03-rws2-explicit.mjs

@@ -0,0 +1,26 @@
+// Explicit RWS 2.0 client — for OmniCore controllers (RobotWare 7.x).
+// Use this when you only target RWS 2.0 and don't need protocol detection.
+
+import { RwsClient2 } from 'abb-rws-client';
+
+// RWS 2.0 wants a base URL (scheme + host + port) instead of separate fields.
+// Real OmniCore: https://<host>:443     |   VC: https://127.0.0.1:5466
+const client = new RwsClient2(
+  process.env.RWS_URL || 'https://127.0.0.1:5466',
+  'Admin',
+  'robotics',
+);
+
+await client.connect();
+
+console.log('state:', await client.getControllerState());
+console.log('opmode:', await client.getOperationMode());
+console.log('joints:', await client.getJointPositions());
+console.log('tasks:', (await client.getRapidTasks()).map(t => t.name));
+
+// RWS 2.0 symbol API: suffix-style (different from RWS 1.0).
+// Read a known-good symbol from BASE module:
+const tool0 = await client.getRapidVariable('T_ROB1', 'BASE', 'tool0');
+console.log('tool0:', tool0.slice(0, 60), '…');
+
+await client.disconnect();

package/examples/04-multi-robot.mjs

@@ -0,0 +1,35 @@
+// Multi-robot orchestration — manages multiple controllers in one process.
+// The MultiRobotManager keeps one robot "active" at a time (handy for UIs)
+// while still polling state for all of them.
+
+import { MultiRobotManager } from 'abb-rws-client';
+
+const multi = MultiRobotManager.fromConfigs([
+  { id: 'irb120-cell-A', name: 'Cell A IRB120',  host: '127.0.0.1', port: 5466,  useHttps: true,  username: 'Admin', password: 'robotics' },
+  { id: 'irb1200-cell-B', name: 'Cell B IRB1200', host: '127.0.0.1', port: 80,    useHttps: false, username: 'Admin', password: 'robotics' },
+]);
+
+// Single sink for connection failures across all robots.
+multi.onError(async (msg, actions) => {
+  console.error(`[MultiRobot] ${msg} — actions: ${actions.join(', ')}`);
+  return undefined; // headless: just log, don't auto-reconnect
+});
+
+multi.onDidChange(() => {
+  const a = multi.active;
+  if (a) {
+    console.log(`[${multi.activeId}] state=${a.state.ctrlstate} mode=${a.state.opmode}`);
+  }
+});
+
+// Connect each robot independently — failures don't stop the others.
+for (const { id } of multi.entries) {
+  await multi.connectRobot(id).catch(e => console.warn(`Could not connect ${id}: ${e.message}`));
+}
+
+// Run for 30s, observing state changes, then clean shutdown.
+await new Promise(r => setTimeout(r, 30_000));
+
+for (const { id } of multi.entries) {
+  await multi.disconnectRobot(id).catch(() => {});
+}

package/examples/05-remote-control-rmmp.mjs

@@ -0,0 +1,52 @@
+// Acquire Remote Mastership Privilege (RMMP) before doing modify ops.
+//
+// Without RMMP, AUTO-mode modify operations (start RAPID, set PP, write
+// variables, etc.) return HTTP 403 even when mastership is acquired. RMMP
+// is a separate user-level grant: requesting it triggers a popup on the
+// FlexPendant; the operator taps Allow once and you have write access.
+//
+// This is what RobotStudio Online does — that's why it "just works".
+
+import { RobotManager, RWS2Adapter, RwsClient2 } from 'abb-rws-client';
+
+const client = new RwsClient2({
+  host: process.env.RWS_HOST || '127.0.0.1',
+  port: Number(process.env.RWS_PORT) || 5466,
+  username: process.env.RWS_USER || 'Admin',
+  password: process.env.RWS_PASS || 'robotics',
+});
+await client.connect();
+
+const robot = new RobotManager({ adapter: new RWS2Adapter(client) });
+await robot.start();
+
+// 1) Check current RMMP state
+let priv = await robot.getRmmpPrivilege();
+console.log(`Current RMMP: ${priv}`);
+
+// 2) If no privilege, request it. The FlexPendant pops up; operator approves.
+if (priv === 'none') {
+  console.log('Requesting RMMP — operator must approve on the FlexPendant…');
+  await robot.requestRmmp('modify');
+
+  // Poll until the operator approves (or 30s timeout)
+  for (let i = 0; i < 30; i++) {
+    await new Promise(r => setTimeout(r, 1000));
+    priv = await robot.getRmmpPrivilege();
+    if (priv === 'modify' || priv === 'exclusive') { break; }
+    process.stdout.write('.');
+  }
+  console.log();
+}
+
+if (priv === 'modify' || priv === 'exclusive') {
+  console.log(`✓ ${priv} privilege granted. Modify ops will now work in AUTO.`);
+  // Example: PP-to-Main + start
+  // await robot.resetRapid();
+  // await robot.startRapid();
+} else {
+  console.log(`✗ Operator did not grant RMMP. Cannot do modify ops.`);
+}
+
+await robot.stop();
+await client.disconnect();

package/examples/06-pull-module-source.mjs

@@ -0,0 +1,38 @@
+// Download a loaded module's RAPID source from the controller.
+//
+// This is the typical "git workflow" entry point: pull what's currently
+// running, diff against your repo, push back when ready.
+//
+// Run: RWS_HOST=192.168.125.1 node examples/06-pull-module-source.mjs MotionTest
+
+import { createClient } from 'abb-rws-client';
+import { RobotManager, RWS2Adapter } from 'abb-rws-client';
+import * as fs from 'node:fs/promises';
+
+const moduleName = process.argv[2] ?? 'user';
+
+const client = await createClient({
+  host: process.env.RWS_HOST || '127.0.0.1',
+  port: Number(process.env.RWS_PORT) || undefined,
+});
+
+// Wrap with RobotManager only if you need lifecycle features. For a one-shot
+// pull, the raw client is enough.
+const isRws2 = client.constructor.name === 'RwsClient2';
+let source;
+if (isRws2) {
+  // RwsClient2 doesn't expose getModuleSource directly — go through the adapter.
+  const robot = new RobotManager({ adapter: new RWS2Adapter(client) });
+  await robot.start();
+  source = await robot.getModuleSource('T_ROB1', moduleName);
+  await robot.stop();
+} else {
+  // RWS 1.0 has it on the client.
+  source = await client.getModuleSource?.('T_ROB1', moduleName) ?? '';
+}
+
+await fs.writeFile(`${moduleName}.mod`, source, 'utf8');
+console.log(`✓ Wrote ${moduleName}.mod (${source.length} bytes)`);
+console.log('Now: git diff, edit, git commit, push back via loadModule.');
+
+await client.disconnect();

package/package.json

@@ -1,6 +1,24 @@
 {
   "name": "abb-rws-client",
-  "version": "0.5.0",
+  "version": "0.7.2",
+  "description": "Typed TypeScript/Node.js client for ABB Robot Web Services — supports both RWS 1.0 (IRC5/RobotWare 6) and RWS 2.0 (OmniCore/RobotWare 7).",
+  "keywords": [
+    "abb",
+    "robot",
+    "rws",
+    "robot-web-services",
+    "irc5",
+    "omnicore",
+    "robotstudio",
+    "robotware",
+    "industrial-robot"
+  ],
+  "license": "MIT",
+  "homepage": "https://github.com/merajsafari/abb-rws-client",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/merajsafari/abb-rws-client.git"
+  },
   "type": "module",
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
@@ -11,16 +29,25 @@
     }
   },
   "files": [
-    "dist"
+    "dist",
+    "examples",
+    "README.md",
+    "LICENSE",
+    "CHANGELOG.md"
   ],
+  "engines": {
+    "node": ">=18"
+  },
   "scripts": {
     "build": "tsc",
     "test": "vitest run",
     "test:watch": "vitest",
-    "lint": "eslint src"
+    "lint": "eslint src",
+    "prepublishOnly": "npm run build && npm test"
   },
   "devDependencies": {
     "@types/node": "^20.0.0",
+    "@types/ws": "^8.18.1",
     "@typescript-eslint/eslint-plugin": "^8.0.0",
     "@typescript-eslint/parser": "^8.0.0",
     "eslint": "^9.0.0",
@@ -28,7 +55,6 @@
     "vitest": "^1.6.1"
   },
   "dependencies": {
-    "abb-rws-client": "file:abb-rws-client-0.1.4.tgz",
     "ws": "^8.20.0"
   }
 }