abb-rws-client 0.5.0 → 0.7.2

package/dist/MultiRobotManager.js

@@ -0,0 +1,129 @@
+import * as crypto from 'crypto';
+import { RobotManager } from './RobotManager.js';
+/**
+ * Manages multiple RobotManager instances.
+ * One robot is "active" at a time — all panels display that robot's state.
+ */
+export class MultiRobotManager {
+    managers = new Map();
+    configMap = new Map();
+    _activeId = null;
+    handlers = [];
+    errorListener = null;
+    // ── Accessors ──────────────────────────────────────────────────────────────
+    /** The currently selected robot's manager, or null if no robots configured. */
+    get active() {
+        return this._activeId ? (this.managers.get(this._activeId) ?? null) : null;
+    }
+    get activeId() { return this._activeId; }
+    /** All robots with their configs and managers. */
+    get entries() {
+        return [...this.managers.entries()].map(([id, manager]) => ({
+            id, config: this.configMap.get(id), manager,
+        }));
+    }
+    get configs() { return [...this.configMap.values()]; }
+    // ── State interface (satisfies providers that only need state) ─────────────
+    get state() {
+        return this.active?.state ?? {
+            connected: false, host: '', ctrlstate: null, opmode: null,
+            execstate: null, execCycle: null, speedRatio: null, coldetstate: null,
+            tasks: [], modules: [], mechunits: [], joints: null, cartesian: null,
+            cartesianFull: null, identity: null, systemInfo: null, eventLog: [], ioSignals: [],
+        };
+    }
+    onDidChange(fn) { this.handlers.push(fn); }
+    /**
+     * Install an error listener that gets attached to every current AND future
+     * RobotManager. Convenience for hosts that want a single sink for connection
+     * failures across all robots.
+     */
+    onError(fn) {
+        this.errorListener = fn;
+        for (const mgr of this.managers.values()) {
+            mgr.onError(fn);
+        }
+    }
+    // Delegated methods for providers that call manager methods directly
+    async listDirectory(remotePath) {
+        const m = this.active;
+        if (!m) {
+            throw new Error('No active robot');
+        }
+        return m.listDirectory(remotePath);
+    }
+    // ── Robot management ───────────────────────────────────────────────────────
+    addRobot(config) {
+        const mgr = new RobotManager();
+        mgr.onDidChange(() => this.notify());
+        if (this.errorListener) {
+            mgr.onError(this.errorListener);
+        }
+        this.managers.set(config.id, mgr);
+        this.configMap.set(config.id, config);
+        if (!this._activeId) {
+            this._activeId = config.id;
+        }
+        this.notify();
+    }
+    updateConfig(id, patch) {
+        const existing = this.configMap.get(id);
+        if (existing) {
+            this.configMap.set(id, { ...existing, ...patch });
+            this.notify();
+        }
+    }
+    removeRobot(id) {
+        this.managers.get(id)?.disconnect().catch(() => { });
+        this.managers.delete(id);
+        this.configMap.delete(id);
+        if (this._activeId === id) {
+            this._activeId = [...this.managers.keys()][0] ?? null;
+        }
+        this.notify();
+    }
+    setActive(id) {
+        if (this.managers.has(id)) {
+            this._activeId = id;
+            this.notify();
+        }
+    }
+    // ── Per-robot connect/disconnect ───────────────────────────────────────────
+    async connectRobot(id) {
+        const mgr = this.managers.get(id);
+        const cfg = this.configMap.get(id);
+        if (!mgr || !cfg) {
+            throw new Error(`Robot ${id} not found`);
+        }
+        // Pass stored port/useHttps so same-host robots go to different ports
+        await mgr.connect(cfg.host, cfg.username, cfg.password, cfg.port, cfg.useHttps);
+        // If RobotManager auto-recovered a different port (RobotStudio reassigned it),
+        // persist the new port so future connects skip the scan step.
+        const actualPort = mgr.currentPort;
+        const actualUseHttps = mgr.currentUseHttps;
+        if (actualPort !== undefined && actualPort !== cfg.port) {
+            this.configMap.set(id, { ...cfg, port: actualPort, useHttps: actualUseHttps });
+        }
+        if (!this.active?.state.connected) {
+            this._activeId = id;
+        }
+        this.notify();
+    }
+    async disconnectRobot(id) {
+        await this.managers.get(id)?.disconnect();
+    }
+    // ── Serialization ──────────────────────────────────────────────────────────
+    /** Create a MultiRobotManager from persisted configs, with backward compatibility for legacy single-robot settings. */
+    static fromConfigs(configs) {
+        const m = new MultiRobotManager();
+        configs.forEach(c => m.addRobot(c));
+        return m;
+    }
+    /** Generate a new robot config ID. */
+    static newId() {
+        return crypto.randomUUID ? crypto.randomUUID() : Math.random().toString(36).slice(2);
+    }
+    // ── Internal ───────────────────────────────────────────────────────────────
+    notify() { this.handlers.forEach(h => h()); }
+}
+//# sourceMappingURL=MultiRobotManager.js.map

package/dist/MultiRobotManager.js.map

@@ -0,0 +1 @@
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package/dist/RWS1Adapter.d.ts

@@ -0,0 +1,297 @@
+import { RwsClient } from './RwsClient.js';
+import type { ExecutionCycle, JointTarget, RobTarget, RapidSymbolSearchParams, RestartMode, MastershipDomain, SubscriptionResource, SubscriptionEvent } from './types.js';
+import type { IRWSAdapter } from './IRWSAdapter.js';
+interface RWS1Credentials {
+    host: string;
+    port: number;
+    username: string;
+    password: string;
+}
+/**
+ * RWS 1.0 adapter — thin wrapper around RwsClient (abb-rws-client).
+ * Every method delegates directly; zero logic change from pre-adapter behavior.
+ * Targets ABB IRC5 controllers running RobotWare 6.x.
+ */
+export declare class RWS1Adapter implements IRWSAdapter {
+    private readonly client;
+    private readonly creds?;
+    constructor(client: RwsClient, creds?: RWS1Credentials | undefined);
+    connect(): Promise<void>;
+    disconnect(): Promise<void>;
+    getSessionCookie(): string | null;
+    getControllerState(): Promise<import("./types.js").ControllerState>;
+    setControllerState(s: 'motoron' | 'motoroff'): Promise<void>;
+    getOperationMode(): Promise<import("./types.js").OperationMode>;
+    getSpeedRatio(): Promise<number>;
+    setSpeedRatio(r: number): Promise<void>;
+    getCollisionDetectionState(): Promise<import("./types.js").CollisionDetectionState>;
+    lockOperationMode(pin: string, p?: boolean): Promise<void>;
+    unlockOperationMode(): Promise<void>;
+    setOperationMode(mode: 'AUTO' | 'MANR' | 'MANF'): Promise<void>;
+    getRapidExecutionState(): Promise<import("./types.js").ExecutionState>;
+    getRapidExecutionInfo(): Promise<import("./types.js").ExecutionInfo>;
+    startRapid(): Promise<void>;
+    stopRapid(): Promise<void>;
+    resetRapid(): Promise<void>;
+    setExecutionCycle(c: ExecutionCycle): Promise<void>;
+    getRapidTasks(): Promise<import("./types.js").RapidTask[]>;
+    activateRapidTask(t: string): Promise<void>;
+    deactivateRapidTask(t: string): Promise<void>;
+    activateAllRapidTasks(): Promise<void>;
+    deactivateAllRapidTasks(): Promise<void>;
+    listModules(task: string): Promise<string[]>;
+    /** RWS 1.0 module-list also exposes name + type (SysMod / ProgMod) per entry. */
+    listModulesDetailed(task: string): Promise<Array<{
+        name: string;
+        type: string;
+    }>>;
+    loadModule(task: string, path: string, r?: boolean): Promise<void>;
+    unloadModule(task: string, name: string): Promise<void>;
+    getRapidVariable(t: string, m: string, s: string): Promise<string>;
+    setRapidVariable(t: string, m: string, s: string, v: string): Promise<void>;
+    validateRapidValue(t: string, v: string, d: string): Promise<boolean>;
+    getRapidSymbolProperties(t: string, m: string, s: string): Promise<import("./types.js").RapidSymbolProperties>;
+    searchRapidSymbols(p: RapidSymbolSearchParams): Promise<import("./types.js").RapidSymbolInfo[]>;
+    getActiveUiInstruction(): Promise<import("./types.js").UiInstruction | null>;
+    setUiInstructionParam(su: string, up: string, v: string): Promise<void>;
+    getJointPositions(u?: string): Promise<JointTarget>;
+    getCartesianFull(u?: string): Promise<import("./types.js").CartesianFull>;
+    /** RwsClient has no listMechunits — IRC5 always has ROB_1 as the standard mechunit. */
+    listMechunits(): Promise<string[]>;
+    getSystemInfo(): Promise<import("./types.js").SystemInfo>;
+    getControllerIdentity(): Promise<import("./types.js").ControllerIdentity>;
+    getControllerClock(): Promise<import("./types.js").ControllerClock>;
+    setControllerClock(Y: number, Mo: number, D: number, H: number, Mi: number, S: number): Promise<void>;
+    restartController(m: RestartMode): Promise<void>;
+    getEventLog(d?: number, l?: string): Promise<import("./types.js").ElogMessage[]>;
+    clearEventLog(d?: number): Promise<void>;
+    clearAllEventLogs(): Promise<void>;
+    listAllSignals(s?: number, l?: number): Promise<import("./types.js").Signal[]>;
+    readSignal(n: string, d: string, name: string): Promise<import("./types.js").Signal>;
+    writeSignal(n: string, d: string, name: string, v: string): Promise<void>;
+    listNetworks(): Promise<import("./types.js").IoNetwork[]>;
+    listDevices(network: string): Promise<import("./types.js").IoDevice[]>;
+    listDirectory(path: string): Promise<import("./types.js").FileEntry[]>;
+    readFile(path: string): Promise<string>;
+    uploadFile(path: string, content: string): Promise<void>;
+    deleteFile(path: string): Promise<void>;
+    createDirectory(parent: string, dir: string): Promise<void>;
+    copyFile(src: string, dst: string): Promise<void>;
+    requestMastership(d: MastershipDomain): Promise<void>;
+    releaseMastership(d: MastershipDomain): Promise<void>;
+    /** Request mastership on all domains (cfg + motion + rapid) at once. */
+    requestMastershipAll(): Promise<void>;
+    /** Release mastership on all domains at once. */
+    releaseMastershipAll(): Promise<void>;
+    /**
+     * RWS 1.0 doesn't expose `request-with-id` / `release-with-id` — those are
+     * RWS 2.0 / RobotWare 7+ additions. The `?` in the IRWSAdapter signature
+     * means we don't have to implement on this side; calls just throw.
+     */
+    /**
+     * RWS 1.0 doesn't expose a watchdog endpoint — heartbeat is RWS 2.0 only.
+     * The optional method on IRWSAdapter is left undefined here so callers can
+     * feature-detect (`if ('resetMastershipWatchdog' in adapter)`).
+     */
+    /** Read mastership status for one domain. */
+    getMastershipStatus(d: MastershipDomain): Promise<{
+        mastership: string;
+        uid?: string;
+        application?: string;
+    }>;
+    /** List mastership domains (RWS 1.0: ['cfg', 'motion', 'rapid']). */
+    listMastershipDomains(): Promise<string[]>;
+    listSystemDevices(): Promise<Array<{
+        id: string;
+        name: string;
+    }>>;
+    getDeviceTree(group: string): Promise<string>;
+    listAllIoDevices(): Promise<Array<{
+        name: string;
+        network: string;
+        lstate: string;
+        pstate: string;
+        address: string;
+    }>>;
+    /**
+     * Forward kinematics on RWS 1.0. Same VC-license caveat as IK.
+     */
+    calcCartesianFromJoints(joints: JointTarget, mechunit?: string, tool?: string, wobj?: string): Promise<RobTarget>;
+    subscribe(resources: SubscriptionResource[], handler: (event: SubscriptionEvent) => void): Promise<() => Promise<void>>;
+    /** Monotonic counter required by RWS jog endpoint (rejects duplicate ccount values). */
+    private jogCcount;
+    jog(params: {
+        mode: 'Joint' | 'Cartesian';
+        axes: [number, number, number, number, number, number];
+        speed: number;
+        mechunit?: string;
+    }): Promise<void>;
+    /**
+     * Generic GET that returns `_embedded._state[0]` (single resource) or [] (list).
+     * Most RWS 1.0 endpoints with `?json=1` return this HAL-like envelope.
+     * Returns empty result for HTTP 204 (no content) — common on /ctrl/options etc.
+     */
+    private rws1Get;
+    /** Generic POST that throws on >=400, returns the parsed JSON body. */
+    private rws1Post;
+    getRobotType(): Promise<{
+        type: string;
+        variant?: string;
+    }>;
+    getLicenseInfo(): Promise<{
+        entries: Array<Record<string, string>>;
+    }>;
+    listProducts(): Promise<Array<Record<string, string>>>;
+    getEnergyStats(): Promise<Record<string, string>>;
+    getReturnCode(code: number, lang?: string): Promise<{
+        code: number;
+        title: string;
+        desc: string;
+    } | null>;
+    listControllerOptions(): Promise<Array<{
+        name: string;
+        description?: string;
+    }>>;
+    getMotionChangeCount(): Promise<number>;
+    getMotionErrorState(): Promise<{
+        state: string;
+        details?: Record<string, string>;
+    }>;
+    getNonMotionExecution(): Promise<boolean>;
+    setNonMotionExecution(enabled: boolean): Promise<void>;
+    getMechunitInfo(mechunit?: string): Promise<Record<string, string>>;
+    getMechunitBaseFrame(mechunit?: string): Promise<{
+        x: number;
+        y: number;
+        z: number;
+        q1: number;
+        q2: number;
+        q3: number;
+        q4: number;
+    }>;
+    getMechunitAxes(mechunit?: string): Promise<Array<Record<string, string>>>;
+    getActiveTool(mechunit?: string): Promise<{
+        name: string;
+        data?: Record<string, string>;
+    }>;
+    getActiveWobj(mechunit?: string): Promise<{
+        name: string;
+        data?: Record<string, string>;
+    }>;
+    getActivePayload(mechunit?: string): Promise<{
+        name: string;
+        data?: Record<string, string>;
+    }>;
+    listAliasIO(): Promise<Array<{
+        alias: string;
+        signal: string;
+    }>>;
+    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[]>;
+    listCfgTypes(domain: string): Promise<string[]>;
+    listCfgInstances(domain: string, type: string): Promise<string[]>;
+    getCfgInstance(domain: string, type: string, instance: string): Promise<Record<string, string>>;
+    listBackups(): Promise<Array<{
+        name: string;
+        created?: string;
+        size?: number;
+    }>>;
+    getBackupStatus(): Promise<{
+        active: boolean;
+        progress?: number;
+        phase?: string;
+    }>;
+    getRmmpPrivilege(): Promise<string>;
+    requestRmmp(level?: 'modify' | 'exclusive'): Promise<void>;
+    createBackup(name: string): Promise<void>;
+    restoreBackup(name: string): Promise<void>;
+    listProgress(): Promise<Array<{
+        id: string;
+        state: string;
+    }>>;
+    getProgress(id: string): Promise<{
+        state: string;
+        details?: Record<string, string>;
+    } | null>;
+    listDipcQueues(): Promise<Array<{
+        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): Promise<{
+        payload: string;
+        type: string;
+    } | null>;
+    removeDipcQueue(name: string): Promise<void>;
+    getSafetyStatus(): Promise<{
+        state: string;
+        details?: Record<string, string>;
+    }>;
+    listSafetyZones(): Promise<Array<Record<string, string>>>;
+    runCyclicBrakeCheck(): Promise<void>;
+    getVirtualTime(): Promise<{
+        time: number;
+        running: boolean;
+        speed?: number;
+    }>;
+    setVirtualTimeRunning(running: boolean): Promise<void>;
+    setVirtualTimeScale(scale: number): Promise<void>;
+    listVisionSystems(): Promise<Array<{
+        name: string;
+        status?: string;
+    }>>;
+    getVisionSystemInfo(name: string): Promise<Record<string, string>>;
+    triggerVisionJob(system: string): Promise<void>;
+    saveModule(task: string, moduleName: string, filepath: string): Promise<void>;
+    listModuleRoutines(task: string, moduleName: string): Promise<Array<{
+        name: string;
+        type: string;
+    }>>;
+    listBreakpoints(task: string): Promise<Array<{
+        module: string;
+        row: number;
+        col?: number;
+    }>>;
+    holdToRun(task: string, action: 'press' | 'release'): Promise<void>;
+    startProductionMode(): Promise<void>;
+    getNetworkConfig(): Promise<Record<string, string>>;
+    getDnsConfig(): Promise<Record<string, string>>;
+    getRoutingTable(): Promise<Array<Record<string, string>>>;
+    getTimezone(): Promise<{
+        tz: string;
+        raw: Record<string, string>;
+    }>;
+    getCompatibility(): Promise<{
+        compatible: boolean;
+        details?: Record<string, string>;
+    }>;
+    setMechunitForJogging(mechunit: string): Promise<void>;
+    setRobtargetForJogging(target: {
+        x: number;
+        y: number;
+        z: number;
+        q1: number;
+        q2: number;
+        q3: number;
+        q4: number;
+    }): Promise<void>;
+    calcJointsFromCartesian(pos: RobTarget, seedJoints?: JointTarget, mechunit?: string): Promise<JointTarget>;
+    private digestPost;
+}
+export {};
+//# sourceMappingURL=RWS1Adapter.d.ts.map

package/dist/RWS1Adapter.d.ts.map

@@ -0,0 +1 @@
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