abb-rws-client 0.7.2 → 1.0.0

package/dist/MdnsDiscovery.d.ts

@@ -0,0 +1,57 @@
+/** A controller found via mDNS. RW6 units carry no TXT → only name/host/port. */
+export interface MdnsController {
+    /** Full mDNS instance label, e.g. `RobotWebServices_MyRobot`. */
+    instanceName: string;
+    /** Controller system name — the instance label minus the `RobotWebServices_` prefix. */
+    systemName: string;
+    /** IPv4 address (A record of the SRV target, else the responder's source address). */
+    host: string;
+    /** RWS port — TXT `RwsPort` when present, else the SRV port. */
+    port: number;
+    /** RobotWare version from TXT `RwVer` (RW7 only). */
+    rwVersion?: string;
+    /** System GUID from TXT `SysGuid` (RW7 only). */
+    sysGuid?: string;
+    /** PC SDK (RobApi) port from TXT `RobApiP` (RW7 only). */
+    robApiPort?: number;
+    /**
+     * Heuristic, not a probe: RW7/OmniCore advertisements carry TXT metadata
+     * (`RwsPort`/`RwVer`) → 'rws2'; advertisements with no TXT data → 'rws1'
+     * (matches RW6 behavior); TXT present but without the ABB keys → 'unknown'.
+     * Confirm with `RobotManager.probeSpecificPort` before trusting it.
+     */
+    probableProtocol: 'rws1' | 'rws2' | 'unknown';
+}
+/** Minimal slice of `dgram.Socket` used here — injectable for offline tests. */
+export interface MdnsSocket {
+    on(event: 'message', cb: (msg: Buffer, rinfo: {
+        address: string;
+        port: number;
+    }) => void): void;
+    on(event: 'error', cb: (err: Error) => void): void;
+    on(event: string, cb: (...args: never[]) => void): void;
+    bind(port: number, address: string, cb: () => void): void;
+    send(msg: Uint8Array, port: number, address: string, cb?: (err: Error | null) => void): void;
+    setMulticastInterface(addr: string): void;
+    close(): void;
+}
+export interface MdnsDiscoveryOptions {
+    /** How long to collect replies before resolving. Default 2000 ms. */
+    timeoutMs?: number;
+    /** Test seam — defaults to `dgram.createSocket('udp4')`. */
+    socketFactory?: () => MdnsSocket;
+    /**
+     * IPv4 interface addresses to use as multicast egress (in addition to the
+     * OS default route). Defaults to every local IPv4 address — on Windows the
+     * default-route interface is often NOT the one the VCs/robots live on.
+     */
+    interfaceAddrs?: string[];
+}
+/**
+ * One-shot mDNS browse for ABB controllers. Resolves after `timeoutMs`
+ * (default 2000) with every `RobotWebServices_*` instance heard, deduped by
+ * instance name. Never rejects — socket errors resolve with what was
+ * collected so far.
+ */
+export declare function discoverControllersMdns(opts?: MdnsDiscoveryOptions): Promise<MdnsController[]>;
+//# sourceMappingURL=MdnsDiscovery.d.ts.map

package/dist/MdnsDiscovery.d.ts.map

@@ -0,0 +1 @@
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package/dist/MdnsDiscovery.js

@@ -0,0 +1,313 @@
+/**
+ * mDNS/Bonjour discovery of ABB controllers — zero dependencies (node:dgram +
+ * hand-rolled DNS wire parsing).
+ *
+ * Live-verified 2026-07-08/09 against five RobotStudio VCs (1× RW6.16 IRC5,
+ * 4× RW7.21 OmniCore) on this network:
+ *   - Every controller/VC advertises the `_http._tcp.local` service with
+ *     instance name `RobotWebServices_<systemname>`. ABB's manual documents
+ *     browsing the `rws` SUBTYPE (`dns-sd -B _http._tcp,rws`), so we query
+ *     `rws._sub._http._tcp.local` first and plain `_http._tcp.local` as a
+ *     fallback (some stacks don't answer subtype PTR queries).
+ *   - RW7 VCs attach TXT records: `RwVer=7.21.0 SysGuid=<guid> RwsPort=5466
+ *     RobApiP=2558 WanIp= VC=`. RW6 VCs advertise name + SRV(port) only —
+ *     NO TXT metadata. That asymmetry is the protocol heuristic below.
+ *   - The SRV target is the machine hostname (e.g. `DESKTOP-X.local`); the
+ *     address comes from the A record in the additionals section, falling
+ *     back to the UDP responder's source address.
+ *
+ * Strategy: one-shot LEGACY unicast query (RFC 6762 §6.7) — bind an ephemeral
+ * UDP port (never 5353 itself; mDNSResponder owns it), send standard DNS PTR
+ * queries to 224.0.0.251:5353, and collect the unicast replies until the
+ * timeout. Windows multicast egress is per-interface, so when the host has
+ * several IPv4 interfaces the query is re-sent through each one.
+ */
+import * as dgram from 'dgram';
+import * as os from 'os';
+const MDNS_ADDR = '224.0.0.251';
+const MDNS_PORT = 5353;
+const QUERY_NAMES = ['rws._sub._http._tcp.local', '_http._tcp.local'];
+const INSTANCE_PREFIX = 'RobotWebServices_';
+// DNS record types we care about
+const TYPE_A = 1;
+const TYPE_PTR = 12;
+const TYPE_TXT = 16;
+const TYPE_SRV = 33;
+// ─── Wire encoding ────────────────────────────────────────────────────────────
+/** Build a standard one-question DNS PTR query (legacy unicast — plain QCLASS IN). */
+function buildPtrQuery(name, id) {
+    const parts = [];
+    const header = Buffer.alloc(12);
+    header.writeUInt16BE(id, 0);
+    header.writeUInt16BE(1, 4); // QDCOUNT
+    parts.push(header);
+    for (const label of name.split('.')) {
+        if (label.length === 0) {
+            continue;
+        }
+        const lb = Buffer.from(label, 'utf8');
+        parts.push(Buffer.from([lb.length]), lb);
+    }
+    const tail = Buffer.alloc(5);
+    tail.writeUInt16BE(TYPE_PTR, 1); // byte 0 is the root-label terminator
+    tail.writeUInt16BE(1, 3); // QCLASS IN
+    parts.push(tail);
+    return Buffer.concat(parts);
+}
+// ─── Wire parsing ─────────────────────────────────────────────────────────────
+/**
+ * Decode a (possibly compressed) domain name. Returns the labels and the
+ * offset just past the name in the original (non-pointer) stream. Throws on
+ * truncation and pointer loops — callers treat any throw as "malformed
+ * packet, ignore".
+ */
+function readName(buf, offset) {
+    const labels = [];
+    let pos = offset;
+    let next = -1; // set on the first compression jump
+    let jumps = 0;
+    for (;;) {
+        if (pos >= buf.length) {
+            throw new Error('name runs past end of packet');
+        }
+        const len = buf[pos];
+        if (len === 0) {
+            pos += 1;
+            break;
+        }
+        if ((len & 0xc0) === 0xc0) {
+            if (pos + 1 >= buf.length) {
+                throw new Error('truncated compression pointer');
+            }
+            if (++jumps > 64) {
+                throw new Error('compression pointer loop');
+            }
+            if (next < 0) {
+                next = pos + 2;
+            }
+            pos = ((len & 0x3f) << 8) | buf[pos + 1];
+        }
+        else if ((len & 0xc0) !== 0) {
+            throw new Error('reserved label type');
+        }
+        else {
+            if (pos + 1 + len > buf.length) {
+                throw new Error('label runs past end of packet');
+            }
+            labels.push(buf.toString('utf8', pos + 1, pos + 1 + len));
+            pos += 1 + len;
+        }
+    }
+    return { labels, next: next < 0 ? pos : next };
+}
+/** Parse a TXT rdata (length-prefixed `key=value` strings) into a lowercase-keyed map. */
+function parseTxt(buf, start, len) {
+    const out = {};
+    const end = start + len;
+    let pos = start;
+    while (pos < end) {
+        const l = buf[pos];
+        pos += 1;
+        if (l === 0) {
+            continue;
+        }
+        const s = buf.toString('utf8', pos, Math.min(pos + l, end));
+        pos += l;
+        const eq = s.indexOf('=');
+        const key = (eq >= 0 ? s.slice(0, eq) : s).toLowerCase();
+        if (key) {
+            out[key] = eq >= 0 ? s.slice(eq + 1) : '';
+        }
+    }
+    return out;
+}
+/**
+ * Parse one reply packet into the store. Answers, authority, and additionals
+ * are treated uniformly — responders put the A record for the SRV target in
+ * additionals. Throws on malformed data (caller ignores the packet).
+ */
+function ingestPacket(buf, srcAddr, store) {
+    if (buf.length < 12) {
+        throw new Error('packet shorter than DNS header');
+    }
+    if ((buf.readUInt16BE(2) & 0x8000) === 0) {
+        return;
+    } // a query, not a response
+    const qdCount = buf.readUInt16BE(4);
+    const rrCount = buf.readUInt16BE(6) + buf.readUInt16BE(8) + buf.readUInt16BE(10);
+    let pos = 12;
+    for (let i = 0; i < qdCount; i++) {
+        pos = readName(buf, pos).next + 4; // skip QTYPE + QCLASS
+    }
+    const register = (labels) => {
+        const key = labels.join('.').toLowerCase();
+        store.instances.set(key, { instanceLabel: labels[0], srcAddr });
+        return key;
+    };
+    for (let i = 0; i < rrCount; i++) {
+        const { labels, next } = readName(buf, pos);
+        pos = next;
+        if (pos + 10 > buf.length) {
+            throw new Error('record header runs past end of packet');
+        }
+        const type = buf.readUInt16BE(pos);
+        const rdLen = buf.readUInt16BE(pos + 8);
+        pos += 10;
+        if (pos + rdLen > buf.length) {
+            throw new Error('rdata runs past end of packet');
+        }
+        if (type === TYPE_PTR) {
+            const target = readName(buf, pos).labels;
+            if (target[0]?.startsWith(INSTANCE_PREFIX)) {
+                register(target);
+            }
+        }
+        else if (type === TYPE_SRV && labels[0]?.startsWith(INSTANCE_PREFIX)) {
+            if (rdLen < 8) {
+                throw new Error('SRV rdata too short');
+            }
+            const port = buf.readUInt16BE(pos + 4);
+            const target = readName(buf, pos + 6).labels.join('.');
+            store.srv.set(register(labels), { target, port });
+        }
+        else if (type === TYPE_TXT && labels[0]?.startsWith(INSTANCE_PREFIX)) {
+            store.txt.set(register(labels), parseTxt(buf, pos, rdLen));
+        }
+        else if (type === TYPE_A && rdLen >= 4) {
+            store.a.set(labels.join('.').toLowerCase(), `${buf[pos]}.${buf[pos + 1]}.${buf[pos + 2]}.${buf[pos + 3]}`);
+        }
+        pos += rdLen;
+    }
+}
+// ─── Aggregation ──────────────────────────────────────────────────────────────
+function positiveInt(value) {
+    if (!value) {
+        return undefined;
+    }
+    const n = parseInt(value, 10);
+    return Number.isFinite(n) && n > 0 ? n : undefined;
+}
+function buildControllers(store) {
+    const byInstance = new Map();
+    for (const [key, inst] of store.instances) {
+        const srv = store.srv.get(key);
+        const txt = store.txt.get(key);
+        const hasTxtData = txt !== undefined && Object.keys(txt).length > 0;
+        const port = positiveInt(txt?.['rwsport']) ?? srv?.port;
+        if (!port) {
+            continue;
+        } // no SRV and no RwsPort — nothing to connect to
+        const host = (srv && store.a.get(srv.target.toLowerCase())) ?? inst.srcAddr;
+        const controller = {
+            instanceName: inst.instanceLabel,
+            systemName: inst.instanceLabel.slice(INSTANCE_PREFIX.length),
+            host,
+            port,
+            probableProtocol: hasTxtData
+                ? (txt['rwsport'] || txt['rwver'] ? 'rws2' : 'unknown')
+                : 'rws1',
+        };
+        const rwVersion = txt?.['rwver'];
+        if (rwVersion) {
+            controller.rwVersion = rwVersion;
+        }
+        const sysGuid = txt?.['sysguid'];
+        if (sysGuid) {
+            controller.sysGuid = sysGuid;
+        }
+        const robApiPort = positiveInt(txt?.['robapip']);
+        if (robApiPort !== undefined) {
+            controller.robApiPort = robApiPort;
+        }
+        if (!byInstance.has(controller.instanceName)) {
+            byInstance.set(controller.instanceName, controller);
+        }
+    }
+    return [...byInstance.values()];
+}
+/** Non-internal-first list of local IPv4 addresses, for multicast egress retries. */
+function ipv4InterfaceAddrs() {
+    const addrs = [];
+    for (const infos of Object.values(os.networkInterfaces())) {
+        for (const info of infos ?? []) {
+            // Node <18.0 reports family as the string 'IPv4', ≥18.0 sometimes as the number 4
+            if ((info.family === 'IPv4' || info.family === 4) && !info.internal) {
+                addrs.push(info.address);
+            }
+        }
+    }
+    return addrs;
+}
+/**
+ * One-shot mDNS browse for ABB controllers. Resolves after `timeoutMs`
+ * (default 2000) with every `RobotWebServices_*` instance heard, deduped by
+ * instance name. Never rejects — socket errors resolve with what was
+ * collected so far.
+ */
+export function discoverControllersMdns(opts = {}) {
+    const timeoutMs = opts.timeoutMs ?? 2000;
+    const factory = opts.socketFactory ?? (() => dgram.createSocket({ type: 'udp4', reuseAddr: true }));
+    return new Promise(resolve => {
+        const store = { instances: new Map(), srv: new Map(), txt: new Map(), a: new Map() };
+        let socket;
+        try {
+            socket = factory();
+        }
+        catch {
+            resolve([]);
+            return;
+        }
+        let settled = false;
+        const finish = () => {
+            if (settled) {
+                return;
+            }
+            settled = true;
+            clearTimeout(timer);
+            try {
+                socket.close();
+            }
+            catch { /* already closed */ }
+            resolve(buildControllers(store));
+        };
+        const timer = setTimeout(finish, timeoutMs);
+        socket.on('error', () => finish());
+        socket.on('message', (msg, rinfo) => {
+            try {
+                ingestPacket(msg, rinfo.address, store);
+            }
+            catch {
+                // malformed or non-DNS packet — 5353 traffic is noisy, just skip it
+            }
+        });
+        try {
+            socket.bind(0, '0.0.0.0', () => {
+                const queries = QUERY_NAMES.map((name, i) => buildPtrQuery(name, i + 1));
+                const sendAll = () => {
+                    for (const q of queries) {
+                        try {
+                            socket.send(q, MDNS_PORT, MDNS_ADDR, () => { });
+                        }
+                        catch { /* ditto */ }
+                    }
+                };
+                sendAll(); // OS default multicast egress
+                // Windows picks ONE egress interface per send — retry through each
+                // IPv4 interface so controllers on non-default-route networks answer.
+                for (const addr of opts.interfaceAddrs ?? ipv4InterfaceAddrs()) {
+                    try {
+                        socket.setMulticastInterface(addr);
+                        sendAll();
+                    }
+                    catch {
+                        // interface can't multicast (VPN/virtual adapters) — skip
+                    }
+                }
+            });
+        }
+        catch {
+            finish();
+        }
+    });
+}
+//# sourceMappingURL=MdnsDiscovery.js.map

package/dist/MdnsDiscovery.js.map

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

@@ -1,5 +1,5 @@
 import { RobotManager } from './RobotManager.js';
-import type { RobotState, ErrorListener } from './RobotManager.js';
+import type { RobotState, ErrorListener, RobotManagerOptions } from './RobotManager.js';
 import type { FileEntry } from './types.js';
 export interface RobotConfig {
     id: string;
@@ -17,11 +17,14 @@ export interface RobotConfig {
  * One robot is "active" at a time — all panels display that robot's state.
  */
 export declare class MultiRobotManager {
+    private readonly managerOptions?;
     private managers;
     private configMap;
     private _activeId;
     private handlers;
     private errorListener;
+    /** Options forwarded to every RobotManager this instance creates (current and future). */
+    constructor(managerOptions?: RobotManagerOptions | undefined);
     /** The currently selected robot's manager, or null if no robots configured. */
     get active(): RobotManager | null;
     get activeId(): string | null;
@@ -48,7 +51,7 @@ export declare class MultiRobotManager {
     connectRobot(id: string): Promise<void>;
     disconnectRobot(id: string): Promise<void>;
     /** Create a MultiRobotManager from persisted configs, with backward compatibility for legacy single-robot settings. */
-    static fromConfigs(configs: RobotConfig[]): MultiRobotManager;
+    static fromConfigs(configs: RobotConfig[], opts?: RobotManagerOptions): MultiRobotManager;
     /** Generate a new robot config ID. */
     static newId(): string;
     private notify;

package/dist/MultiRobotManager.d.ts.map

@@ -1 +1 @@
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package/dist/MultiRobotManager.js

@@ -5,11 +5,16 @@ import { RobotManager } from './RobotManager.js';
  * One robot is "active" at a time — all panels display that robot's state.
  */
 export class MultiRobotManager {
+    managerOptions;
     managers = new Map();
     configMap = new Map();
     _activeId = null;
     handlers = [];
     errorListener = null;
+    /** Options forwarded to every RobotManager this instance creates (current and future). */
+    constructor(managerOptions) {
+        this.managerOptions = managerOptions;
+    }
     // ── Accessors ──────────────────────────────────────────────────────────────
     /** The currently selected robot's manager, or null if no robots configured. */
     get active() {
@@ -54,7 +59,7 @@ export class MultiRobotManager {
     }
     // ── Robot management ───────────────────────────────────────────────────────
     addRobot(config) {
-        const mgr = new RobotManager();
+        const mgr = new RobotManager(this.managerOptions);
         mgr.onDidChange(() => this.notify());
         if (this.errorListener) {
             mgr.onError(this.errorListener);
@@ -114,8 +119,8 @@ export class MultiRobotManager {
     }
     // ── Serialization ──────────────────────────────────────────────────────────
     /** Create a MultiRobotManager from persisted configs, with backward compatibility for legacy single-robot settings. */
-    static fromConfigs(configs) {
-        const m = new MultiRobotManager();
+    static fromConfigs(configs, opts) {
+        const m = new MultiRobotManager(opts);
         configs.forEach(c => m.addRobot(c));
         return m;
     }

package/dist/MultiRobotManager.js.map

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package/dist/RWS1Adapter.d.ts

@@ -56,7 +56,7 @@ export declare class RWS1Adapter implements IRWSAdapter {
     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. */
+    /** List mechanical units from the controller (positioners/track units show up beyond ROB_1). */
     listMechunits(): Promise<string[]>;
     getSystemInfo(): Promise<import("./types.js").SystemInfo>;
     getControllerIdentity(): Promise<import("./types.js").ControllerIdentity>;
@@ -117,7 +117,7 @@ export declare class RWS1Adapter implements IRWSAdapter {
      * 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>>;
+    subscribe(resources: SubscriptionResource[], handler: (event: SubscriptionEvent) => void, _onLost?: () => void): Promise<() => Promise<void>>;
     /** Monotonic counter required by RWS jog endpoint (rejects duplicate ccount values). */
     private jogCcount;
     jog(params: {
@@ -202,6 +202,36 @@ export declare class RWS1Adapter implements IRWSAdapter {
     listCfgTypes(domain: string): Promise<string[]>;
     listCfgInstances(domain: string, type: string): Promise<string[]>;
     getCfgInstance(domain: string, type: string, instance: string): Promise<Record<string, string>>;
+    /**
+     * Update attributes on an existing configuration instance.
+     * Live-verified 2026-07-09 on IRC5 VC RW6.16 via probe-cfg-rws1.mjs:
+     *   ✓ POST /rw/cfg/{domain}/{type}/instances/{instance}?action=set
+     *     body: PLAIN form values `Attr=value&…` (percent-encoded) → 204,
+     *     partial attribute sets accepted.
+     * Acquires cfg-domain mastership around the write. (The VC accepts cfg
+     * writes without it, but real controllers arbitrate cfg access through
+     * mastership — and taking it when free is harmless.)
+     */
+    setCfgInstance(domain: string, type: string, instance: string, attrs: Record<string, string>): Promise<void>;
+    /**
+     * Create a new configuration instance, then apply `attrs`.
+     * Live-verified 2026-07-09 on IRC5 VC RW6.16:
+     *   ✓ POST /rw/cfg/{domain}/{type}/instances?action=create-default
+     *     body name={instance} → 201 (duplicate name → 400), then the
+     *     ?action=set shape above for the attribute values.
+     * Acquires cfg-domain mastership once around the create+set pair.
+     */
+    createCfgInstance(domain: string, type: string, instance: string, attrs: Record<string, string>): Promise<void>;
+    /**
+     * Delete a configuration instance.
+     * Live-verified 2026-07-09 on IRC5 VC RW6.16:
+     *   ✓ DELETE /rw/cfg/{domain}/{type}/instances/{instance} → 204
+     *     (reading the instance back afterwards → 400 "unknown instance",
+     *     unlike RWS 2.0 which answers 404).
+     */
+    removeCfgInstance(domain: string, type: string, instance: string): Promise<void>;
+    /** Shared ?action=set POST — plain `Attr=value` form pairs (RWS 1.0 wire shape). */
+    private postCfgSet;
     listBackups(): Promise<Array<{
         name: string;
         created?: string;
@@ -257,7 +287,35 @@ export declare class RWS1Adapter implements IRWSAdapter {
     }>>;
     getVisionSystemInfo(name: string): Promise<Record<string, string>>;
     triggerVisionJob(system: string): Promise<void>;
+    /**
+     * Save a loaded module's program-memory source to controller disk.
+     * Live-verified 2026-07-09 on IRC5 VC RW6.16:
+     *   POST /rw/rapid/tasks/{task}?action=savemod is DEAD — 400 ARG_ERROR
+     *   (-1073445879, rws_resource_rapid_task.cpp[952]) for every body shape
+     *   including the empty body, and the task resource advertises no savemod
+     *   action. The working endpoint is the module-save action (same one
+     *   readModuleViaSave uses):
+     *     POST /rw/rapid/modules/{module}?task={task}&action=save
+     *     body name=<file>&path=<dir>  → 204
+     *   The controller blindly appends '.mod' to the given name — even when it
+     *   already ends in .mod (name=save1.mod wrote $TEMP/save1.mod.mod) — so a
+     *   trailing .mod/.sys extension on the destination is stripped here.
+     * `filepath` may be a directory ('$TEMP'), a full destination path
+     * ('$HOME/backups/Copy.mod'), or a bare file name ('Copy.mod', saved under
+     * $HOME); a directory destination saves under the module's own name.
+     */
     saveModule(task: string, moduleName: string, filepath: string): Promise<void>;
+    getModuleSource(task: string, moduleName: string): Promise<string>;
+    /**
+     * Read a module's source by round-tripping it through the $TEMP volume.
+     * Live-verified 2026-07-08 on IRC5 VC RW6.16:
+     *   POST /rw/rapid/modules/{module}?task={task}&action=save  body name=<tmp>&path=$TEMP
+     *   → 204, no mastership required. The controller ALWAYS appends '.mod' to
+     *   the given name (even for SysMod modules — never '.sys'), so the name is
+     *   passed without extension. Note the $-root has no trailing colon/slash,
+     *   unlike RWS 2.0's 'TEMP:'.
+     */
+    private readModuleViaSave;
     listModuleRoutines(task: string, moduleName: string): Promise<Array<{
         name: string;
         type: string;

package/dist/RWS1Adapter.d.ts.map

@@ -1 +1 @@
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