abb-rws-client 0.5.0 → 0.7.2

package/dist/RwsClient2.d.ts

@@ -0,0 +1,438 @@
+import type { ControllerState, OperationMode, ExecutionState, ExecutionCycle, ExecutionInfo, CollisionDetectionState, RapidTask, JointTarget, CartesianFull, RobTarget, SystemInfo, ControllerIdentity, ControllerClock, ElogMessage, Signal, IoNetwork, IoDevice, FileEntry, RapidSymbolProperties, RapidSymbolInfo, RapidSymbolSearchParams, UiInstruction, RestartMode, MastershipDomain, SubscriptionResource, SubscriptionEvent } from './types.js';
+/**
+ * RWS 2.0 protocol client for ABB OmniCore controllers (RobotWare 7.x).
+ *
+ * Companion to `RwsClient` (RWS 1.0 / IRC5 / RobotWare 6.x). If you don't know
+ * which protocol your controller uses, prefer `createClient(host)` from this
+ * package — it probes the auth challenge and returns the right client.
+ *
+ * Key differences vs RWS 1.0 (all confirmed by live virtual-controller probing):
+ * - HTTP Basic auth instead of Digest
+ * - Path-based actions: /rw/rapid/execution/stop (not ?action=stop)
+ * - XHTML responses only (Accept: application/xhtml+xml;v=2.0)
+ * - Mastership domains: 'edit' replaces both 'cfg' and 'rapid'
+ * - FileService home: 'HOME' not '$HOME'
+ * - Self-signed TLS on virtual controllers → rejectUnauthorized: false
+ */
+export declare class RwsClient2 {
+    private readonly baseUrl;
+    private lastReqTime;
+    private static readonly MIN_MS;
+    private readonly authHeader;
+    private readonly httpsAgent;
+    private readonly httpAgent;
+    private readonly isHttps;
+    /** Session cookie set by the controller on first auth — REQUIRED to avoid creating
+     *  a new session per request (controller's session pool fills in seconds otherwise). */
+    private sessionCookie;
+    /** Signal name → {network, device} — populated by listAllSignals for writeSignal lookups */
+    private readonly sigCoords;
+    constructor(baseUrl: string, username: string, password: string);
+    /**
+     * Core HTTP request. acceptExtra lists additional success status codes beyond 200/204.
+     * Used by subscribe() to accept HTTP 201 (Created) from POST /subscription.
+     */
+    private req;
+    connect(): Promise<void>;
+    disconnect(): Promise<void>;
+    getSessionCookie(): string | null;
+    getControllerState(): Promise<ControllerState>;
+    setControllerState(state: 'motoron' | 'motoroff'): Promise<void>;
+    getOperationMode(): Promise<OperationMode>;
+    getSpeedRatio(): Promise<number>;
+    /**
+     * Set the speed ratio (0-100). Live-verified format on OmniCore VC RW7.21
+     * via scripts/probe-speedratio.js (2026-05-07):
+     *   ✓ POST /rw/panel/speedratio?action=setspeedratio  body speed-ratio=N
+     *     (RWS 1.0 wire format — OmniCore kept the legacy path)
+     *     Requires `edit` mastership: 403 "user does not have required
+     *     mastership" without it.
+     *   ✗ POST /rw/panel/speedratio  body speedratio=N  → 400 "Invalid input form data"
+     *   ✗ POST /rw/panel/speedratio/set                 → 404 (path doesn't exist)
+     *
+     * Acquires `edit` mastership internally and releases it after.
+     */
+    setSpeedRatio(ratio: number): Promise<void>;
+    getCollisionDetectionState(): Promise<CollisionDetectionState>;
+    lockOperationMode(pin: string, permanent?: boolean): Promise<void>;
+    unlockOperationMode(): Promise<void>;
+    /**
+     * Switch the controller's operation mode. **Virtual controllers only** —
+     * real hardware respects the FlexPendant key switch.
+     *
+     * Endpoint + wire format — ALL live-verified on OmniCore VC RW7.x via
+     * scripts/probe-opmode-write.js (2026-05-07):
+     *   ✓ POST /rw/panel/opmode  body opmode=auto  → AUTO (200 OK)
+     *   ✓ POST /rw/panel/opmode  body opmode=man   → MANR (200 OK)
+     *   ✓ POST /rw/panel/opmode  body opmode=manf  → MANF (200 OK) — NOTE: `manf`,
+     *      NOT `manfs` as RWS 1.0 uses. RWS 2.0 dropped the 's'.
+     *   ✗ POST /rw/panel/opmode/set                → 404 (path doesn't exist)
+     *   ✗ POST /rw/panel/opmode  body opmode=AUTO  → 400 invalid value
+     *   ✗ POST /rw/panel/opmode  body opmode=manr  → 400 invalid value
+     *
+     * The wire value is lowercase and uses the RWS 1.0 abbreviations *except*
+     * for MANF (`manf` on RWS 2.0 vs `manfs` on RWS 1.0). And NEITHER matches
+     * the GET-response casing (`AUTO`/`MANR`/`MANF`). This asymmetry is one
+     * of the documented protocol quirks of RWS 2.0.
+     *
+     * Side note: the controller pops up a confirmation dialog on the FlexPendant
+     * after the call returns 200 OK; the operator must approve before the mode
+     * actually flips. There is no API path to bypass this — UAS-grant changes
+     * are FlexPendant-only by design.
+     */
+    setOperationMode(mode: 'AUTO' | 'MANR' | 'MANF'): Promise<void>;
+    getRapidExecutionState(): Promise<ExecutionState>;
+    getRapidExecutionInfo(): Promise<ExecutionInfo>;
+    startRapid(): Promise<void>;
+    stopRapid(): Promise<void>;
+    resetRapid(): Promise<void>;
+    setExecutionCycle(cycle: ExecutionCycle): Promise<void>;
+    getRapidTasks(): Promise<RapidTask[]>;
+    activateRapidTask(task: string): Promise<void>;
+    deactivateRapidTask(task: string): Promise<void>;
+    activateAllRapidTasks(): Promise<void>;
+    deactivateAllRapidTasks(): Promise<void>;
+    listModules(task: string): Promise<string[]>;
+    /**
+     * Returns each loaded module's name + type (SysMod | ProgMod | …).
+     * Single round-trip — same endpoint as `listModules` but exposes more fields.
+     */
+    listModulesDetailed(task: string): Promise<Array<{
+        name: string;
+        type: string;
+    }>>;
+    loadModule(task: string, path: string, replace?: boolean): Promise<void>;
+    unloadModule(task: string, name: string): 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[]>;
+    getActiveUiInstruction(): Promise<UiInstruction | null>;
+    setUiInstructionParam(stackurl: string, uiparam: string, value: string): Promise<void>;
+    getJointPositions(mechunit?: string): Promise<JointTarget>;
+    getCartesianFull(mechunit?: string): Promise<CartesianFull>;
+    listMechunits(): Promise<string[]>;
+    getSystemInfo(): Promise<SystemInfo>;
+    getControllerIdentity(): Promise<ControllerIdentity>;
+    getControllerClock(): Promise<ControllerClock>;
+    setControllerClock(year: number, month: number, day: number, hour: number, min: number, sec: number): Promise<void>;
+    restartController(mode?: RestartMode): Promise<void>;
+    getEventLog(domain?: number): Promise<ElogMessage[]>;
+    clearEventLog(domain?: number): Promise<void>;
+    clearAllEventLogs(): Promise<void>;
+    listAllSignals(start?: number, limit?: number): Promise<Signal[]>;
+    readSignal(network: string, device: string, name: string): Promise<Signal>;
+    writeSignal(network: string, device: string, name: string, value: string): Promise<void>;
+    listNetworks(): Promise<IoNetwork[]>;
+    listDevices(network: string): Promise<IoDevice[]>;
+    private rws2Path;
+    listDirectory(path: string): Promise<FileEntry[]>;
+    readFile(path: string): Promise<string>;
+    uploadFile(path: string, content: string): Promise<void>;
+    deleteFile(path: string): Promise<void>;
+    /**
+     * Create a directory under `parentPath`. Live-verified RWS 2.0 API:
+     *   POST /fileservice/{parent}/create
+     *   body: fs-newname={dirName}
+     *
+     * The earlier shape (`/fileservice/{parent}/{dirName}/create` with no body)
+     * returned 404 because the controller treated `{parent}/{dirName}` as the
+     * parent and looked for an already-existing `{dirName}` segment.
+     */
+    createDirectory(parentPath: string, dirName: string): Promise<void>;
+    copyFile(sourcePath: string, destPath: string): Promise<void>;
+    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>>;
+    setCfgInstance(domain: string, type: string, instance: string, attrs: Record<string, string>): Promise<void>;
+    createCfgInstance(domain: string, type: string, instance: string, attrs: Record<string, string>): Promise<void>;
+    removeCfgInstance(domain: string, type: string, instance: string): Promise<void>;
+    loadCfgFile(filepath: string, action?: 'add' | 'replace' | 'add-with-reset'): Promise<void>;
+    saveCfgFile(domain: string, filepath: string): Promise<void>;
+    listBackups(): Promise<Array<{
+        name: string;
+        created?: string;
+        size?: number;
+    }>>;
+    createBackup(name: string): Promise<void>;
+    restoreBackup(name: string): Promise<void>;
+    getBackupStatus(): Promise<{
+        active: boolean;
+        progress?: number;
+        phase?: 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>;
+    }>;
+    setActiveTool(mechunit: string, toolName: string): Promise<void>;
+    setActiveWobj(mechunit: string, wobjName: string): Promise<void>;
+    callServiceRoutine(task: string, routineName: string, args?: Record<string, string>): Promise<void>;
+    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, timeoutMs?: number): Promise<{
+        payload: string;
+        type: string;
+    } | null>;
+    removeDipcQueue(name: string): Promise<void>;
+    private rws2Domain;
+    requestMastership(domain: MastershipDomain): Promise<void>;
+    releaseMastership(domain: MastershipDomain): Promise<void>;
+    /** Request mastership on ALL domains at once (RWS 2.0). Cheaper than calling per-domain. */
+    requestMastershipAll(): Promise<void>;
+    /** Release mastership on ALL domains at once (RWS 2.0). */
+    releaseMastershipAll(): Promise<void>;
+    /**
+     * Request mastership on `domain` and receive a numeric ID token. Use the ID
+     * with `releaseMastershipWithId()` from a different session — useful when a
+     * client needs mastership to outlive the cookie that acquired it (e.g. a
+     * webapp that periodically reconnects). Token-based release is the only way
+     * to free a stuck mastership after session loss without a controller restart.
+     */
+    requestMastershipWithId(domain: MastershipDomain): Promise<number>;
+    /**
+     * Release mastership previously acquired via `requestMastershipWithId()`.
+     * Body parameter is `mastershipid` (no dash — controller-specific naming
+     * confirmed via 400 "Invalid value" probing; the dash variant returns the
+     * same error code as a missing value).
+     */
+    releaseMastershipWithId(domain: MastershipDomain, id: number): Promise<void>;
+    /**
+     * Reset the edit-mastership watchdog (RobotWare 7.8+). The controller has a
+     * heartbeat timer (default 2000 ms, configurable via `SYS/MASTER_BOOL/HeartBeat`);
+     * if the holding client doesn't ping during execution, motors go off and execution
+     * stops. Call this periodically (every ~1s) when holding mastership during a long
+     * RAPID run. No-op on RW6.x and on configurations with `Select=false`.
+     */
+    resetMastershipWatchdog(): Promise<void>;
+    /** Read mastership status for one domain — returns 'nomaster' | 'remote' | 'local' | similar. */
+    getMastershipStatus(domain: MastershipDomain): Promise<{
+        mastership: string;
+        uid?: string;
+        application?: string;
+    }>;
+    /** List all mastership domains the controller exposes (typically `['edit', 'motion']`). */
+    listMastershipDomains(): Promise<string[]>;
+    /**
+     * List the top-level device groupings (typically HW_DEVICES, SW_RESOURCES).
+     * This is the entry point for the controller's hardware inventory tree.
+     * Drill into each group with `getDeviceTree(group)`.
+     */
+    listSystemDevices(): Promise<Array<{
+        id: string;
+        name: string;
+    }>>;
+    /** Drill into a device group (e.g. 'HW_DEVICES'). Returns sub-tree as raw XHTML map. */
+    getDeviceTree(group: string): Promise<string>;
+    /**
+     * List ALL configured I/O devices across every network in one call.
+     * (`listDevices(network)` is the per-network variant — both are fine; this
+     * one's handy when you want a flat overview without enumerating networks first.)
+     */
+    listAllIoDevices(): Promise<Array<{
+        name: string;
+        network: string;
+        lstate: string;
+        pstate: string;
+        address: string;
+    }>>;
+    /**
+     * Forward kinematics: compute Cartesian pose from joint angles.
+     * Mirror of `calcJointsFromCartesian()` (which is inverse kinematics).
+     *
+     * Note: like IK, virtual controllers without the PC Interface (616-1) option
+     * generally reject this — the response comes back HTTP 200 but the body
+     * contains a retcode error link instead of the result. Real hardware with
+     * PC Interface licensed returns a valid pose.
+     */
+    calcCartesianFromJoints(joints: JointTarget, mechunit?: string, tool?: string, wobj?: string): Promise<RobTarget>;
+    listVisionSystems(): Promise<Array<{
+        name: string;
+        status?: string;
+    }>>;
+    getVisionSystemInfo(name: string): Promise<Record<string, string>>;
+    listVisionJobs(system: string): Promise<Array<{
+        name: string;
+        active?: boolean;
+    }>>;
+    triggerVisionJob(system: string, job: 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;
+        timeSlice?: number;
+    }>;
+    setVirtualTimeRunning(running: boolean): Promise<void>;
+    setVirtualTimeScale(scale: number): Promise<void>;
+    listCertificates(): Promise<Array<{
+        name: string;
+        subject?: string;
+        expires?: string;
+    }>>;
+    uploadCertificate(name: string, pem: string): Promise<void>;
+    removeCertificate(name: string): Promise<void>;
+    getRegistry(): Promise<Record<string, string>>;
+    compressPath(source: string, destination: string): Promise<void>;
+    listFileVolumes(): Promise<string[]>;
+    setProgramPointer(task: string, params: {
+        module?: string;
+        routine: string;
+        row?: number;
+        col?: number;
+    }): Promise<void>;
+    setPPToCursor(task: string, module: string, row: number, col: number): Promise<void>;
+    stepRapid(task: string, mode: 'into' | 'over' | 'out'): Promise<void>;
+    holdToRun(task: string, action: 'press' | 'release'): Promise<void>;
+    listBreakpoints(task: string): Promise<Array<{
+        module: string;
+        row: number;
+        col?: number;
+    }>>;
+    setBreakpoint(task: string, module: string, row: number, col?: number): Promise<void>;
+    removeBreakpoint(task: string, module: string, row: number, col?: number): Promise<void>;
+    getMechunitBaseFrame(mechunit?: string): Promise<{
+        x: number;
+        y: number;
+        z: number;
+        q1: number;
+        q2: number;
+        q3: number;
+        q4: number;
+    }>;
+    setMechunitBaseFrame(mechunit: string, frame: {
+        x: number;
+        y: number;
+        z: number;
+        q1: number;
+        q2: number;
+        q3: number;
+        q4: number;
+    }): Promise<void>;
+    getMechunitAxes(mechunit?: string): Promise<Array<Record<string, string>>>;
+    getMechunitPjoints(mechunit?: string): Promise<Record<string, number>>;
+    getMechunitInfo(mechunit?: string): Promise<Record<string, string>>;
+    getModuleSource(task: string, moduleName: string): Promise<string>;
+    getModuleInfo(task: string, moduleName: string): Promise<Record<string, string>>;
+    listModuleSymbols(task: string, moduleName: string): Promise<Array<{
+        name: string;
+        type: string;
+        dattyp?: string;
+    }>>;
+    getTaskStructuralChangeCount(task: string): Promise<number>;
+    getTaskMotion(task: string): Promise<Record<string, string>>;
+    getTaskActivationRecord(task: string): Promise<Record<string, string>>;
+    getTaskProgramInfo(task: string): Promise<Record<string, string>>;
+    /**
+     * Maps a SubscriptionResource to the RWS 2.0 path;stateParam string.
+     * Semicolons must NOT be URL-encoded — the controller requires them literal.
+     */
+    private static rws2ResourcePath;
+    /**
+     * Map a resource URL path back to its friendly name for handleSubscriptionEvent.
+     * Works with both /rw/panel/ctrlstate (RWS 1.0) and /rw/panel/ctrl-state (RWS 2.0).
+     */
+    static resourcePathToName(path: string): string;
+    subscribe(resources: SubscriptionResource[], handler: (event: SubscriptionEvent) => void): Promise<() => Promise<void>>;
+    /**
+     * Effective RMMP privilege held by THIS session.
+     * The controller's /users/rmmp returns whoever currently holds the privilege —
+     * we have to check `rmmpheldbyme` to know whether it's us or some other user.
+     * Returns 'none' if another user holds it (we'd need to re-request for our own session).
+     */
+    getRmmpPrivilege(): Promise<string>;
+    /** Request 'modify' privilege. Triggers a FlexPendant approval popup. */
+    requestRmmp(level?: 'modify' | 'exclusive'): Promise<void>;
+    /** Monotonic counter required by /rw/motionsystem/jog (controller rejects same value twice). */
+    private jogCcount;
+    jog(params: {
+        mode: 'Joint' | 'Cartesian';
+        axes: [number, number, number, number, number, number];
+        speed: number;
+        mechunit?: string;
+    }): Promise<void>;
+    getLicenseInfo(): Promise<{
+        entries: Array<Record<string, string>>;
+    }>;
+    listProducts(): Promise<Array<Record<string, string>>>;
+    getRobotType(): Promise<{
+        type: string;
+        variant?: 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;
+    }>>;
+    listFeatures(): Promise<Array<Record<string, string>>>;
+    getMotionChangeCount(): Promise<number>;
+    getMotionErrorState(): Promise<{
+        state: string;
+        details?: Record<string, string>;
+    }>;
+    getNonMotionExecution(): Promise<boolean>;
+    setNonMotionExecution(enabled: boolean): Promise<void>;
+    getCollisionPredictionMode(): Promise<string>;
+    setCollisionPredictionMode(mode: string): Promise<void>;
+    getEnableRequest(): Promise<{
+        state: string;
+        raw: Record<string, string>;
+    }>;
+    listAliasIO(): Promise<Array<{
+        alias: string;
+        signal: string;
+    }>>;
+    getTaskSelection(): Promise<{
+        selected: string[];
+        available: string[];
+    }>;
+    setTaskSelection(tasks: string[]): Promise<void>;
+    getProgramPointer(task: string): Promise<{
+        module?: string;
+        routine?: string;
+        row?: number;
+        col?: number;
+        executionType?: string;
+    }>;
+    getMotionPointer(task: string): Promise<{
+        module?: string;
+        routine?: string;
+        row?: number;
+        col?: number;
+        state?: string;
+    }>;
+    calcJointsFromCartesian(pos: RobTarget, seedJoints?: JointTarget, mechunit?: string): Promise<JointTarget>;
+    /**
+     * Send a DELETE request to an absolute URL (used to clean up subscriptions).
+     * The URL is absolute (https://host:port/poll/{id}) so we can't use req() directly.
+     */
+    private reqDelete;
+}
+//# sourceMappingURL=RwsClient2.d.ts.map

package/dist/RwsClient2.d.ts.map

@@ -0,0 +1 @@
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