abb-rws-client 0.7.2 → 1.0.0

package/dist/RWS1Adapter.js

@@ -59,8 +59,16 @@ export class RWS1Adapter {
     // ── Motion ──────────────────────────────────────────────────────────────
     getJointPositions(u) { return this.client.getJointPositions(u); }
     getCartesianFull(u) { return this.client.getCartesianFull(u); }
-    /** RwsClient has no listMechunits — IRC5 always has ROB_1 as the standard mechunit. */
-    async listMechunits() { return ['ROB_1']; }
+    /** List mechanical units from the controller (positioners/track units show up beyond ROB_1). */
+    async listMechunits() {
+        const r = await this.rws1Get('/rw/motionsystem/mechunits');
+        const units = r.states
+            .map(s => (s['_title'] ?? s['name']))
+            .filter(Boolean);
+        // A controller always has at least one mechunit — an empty list means the
+        // response shape drifted; fall back to the standard unit rather than none.
+        return units.length > 0 ? units : ['ROB_1'];
+    }
     // ── System info ─────────────────────────────────────────────────────────
     getSystemInfo() { return this.client.getSystemInfo(); }
     getControllerIdentity() { return this.client.getControllerIdentity(); }
@@ -173,7 +181,9 @@ export class RWS1Adapter {
             q1: +state.q1, q2: +state.q2, q3: +state.q3, q4: +state.q4,
         };
     }
-    subscribe(resources, handler) {
+    subscribe(resources, handler, _onLost) {
+        // _onLost accepted for IRWSAdapter parity; RWS 1.0's WsSubscriber handles
+        // its own reconnects and has no terminal give-up signal to forward yet.
         return this.client.subscribe(resources, handler);
     }
     // ── Jogging ─────────────────────────────────────────────────────────────
@@ -475,6 +485,74 @@ export class RWS1Adapter {
         }
         return out;
     }
+    /**
+     * 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.)
+     */
+    async setCfgInstance(domain, type, instance, attrs) {
+        await this.client.requestMastership('cfg');
+        try {
+            await this.postCfgSet(domain, type, instance, attrs);
+        }
+        finally {
+            await this.client.releaseMastership('cfg').catch(() => { });
+        }
+    }
+    /**
+     * 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.
+     */
+    async createCfgInstance(domain, type, instance, attrs) {
+        await this.client.requestMastership('cfg');
+        try {
+            await this.rws1Post(`/rw/cfg/${domain}/${type}/instances?action=create-default`, `name=${encodeURIComponent(instance)}`);
+            if (Object.keys(attrs).length > 0) {
+                await this.postCfgSet(domain, type, instance, attrs);
+            }
+        }
+        finally {
+            await this.client.releaseMastership('cfg').catch(() => { });
+        }
+    }
+    /**
+     * Delete a configuration instance.
+     * Live-verified 2026-07-09 on IRC5 VC RW6.16:
+     *   ✓ DELETE /rw/cfg/{domain}/{type}/instances/{instance} → 204
+     *     (reading the instance back afterwards → 400 "unknown instance",
+     *     unlike RWS 2.0 which answers 404).
+     */
+    async removeCfgInstance(domain, type, instance) {
+        await this.client.requestMastership('cfg');
+        try {
+            const res = await this.client.request('DELETE', `/rw/cfg/${domain}/${type}/instances/${encodeURIComponent(instance)}?json=1`);
+            if (res.status >= 400) {
+                let msg = `HTTP ${res.status}`;
+                try {
+                    msg = JSON.parse(res.body)._embedded?.status?.msg ?? msg;
+                }
+                catch { /* ok */ }
+                throw new Error(msg);
+            }
+        }
+        finally {
+            await this.client.releaseMastership('cfg').catch(() => { });
+        }
+    }
+    /** Shared ?action=set POST — plain `Attr=value` form pairs (RWS 1.0 wire shape). */
+    async postCfgSet(domain, type, instance, attrs) {
+        const body = Object.entries(attrs).map(([k, v]) => `${k}=${encodeURIComponent(v)}`).join('&');
+        await this.rws1Post(`/rw/cfg/${domain}/${type}/instances/${encodeURIComponent(instance)}?action=set`, body);
+    }
     // ── Backup ─────────────────────────────────────────────────────────────
     async listBackups() {
         try {
@@ -678,8 +756,78 @@ export class RWS1Adapter {
         await this.rws1Post(`/rw/vision/${encodeURIComponent(system)}?action=trigger`, '');
     }
     // ── Stage 12: RAPID extras (4 methods) ─────────────────────────────────
+    /**
+     * 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
+     * $HOME); a directory destination saves under the module's own name.
+     */
     async saveModule(task, moduleName, filepath) {
-        await this.rws1Post(`/rw/rapid/tasks/${task}?action=savemod`, `name=${encodeURIComponent(moduleName)}&filepath=${encodeURIComponent(filepath)}`);
+        const ext = /\.(mod|sys)$/i;
+        const clean = filepath.replace(/\/+$/, '');
+        const slash = clean.lastIndexOf('/');
+        const last = clean.slice(slash + 1);
+        let dir;
+        let name;
+        if (ext.test(last)) {
+            dir = slash >= 0 ? clean.slice(0, slash) : '$HOME';
+            name = last.replace(ext, '');
+        }
+        else {
+            dir = clean || '$HOME';
+            name = moduleName.replace(ext, '');
+        }
+        // Encode per segment, keeping the $HOME/$TEMP root literal (the controller
+        // expects the $-prefix raw; everything after may contain space/#/%/&).
+        const encDir = dir.split('/')
+            .map((seg, i) => (i === 0 && seg.startsWith('$')) ? seg : encodeURIComponent(seg))
+            .join('/');
+        await this.rws1Post(`/rw/rapid/modules/${encodeURIComponent(moduleName)}?task=${encodeURIComponent(task)}&action=save`, `name=${encodeURIComponent(name)}&path=${encDir}`);
+    }
+    async getModuleSource(task, moduleName) {
+        // Program memory is the source of truth — the save round-trip reads it
+        // directly (mastership-free), so it is the PRIMARY path. Reading
+        // $HOME/{module}.mod first would let a stale disk file shadow unsaved
+        // edits, and modules loaded from .pgf / RobotStudio / the FlexPendant
+        // have no $HOME backing file at all (abb-rws-vscode issue #3).
+        try {
+            return await this.readModuleViaSave(task, moduleName);
+        }
+        catch {
+            // Save endpoint failed (permissions, disk, transient) — fall back to the
+            // conventional $HOME location.
+            return this.client.readFile(`$HOME/${moduleName}.mod`);
+        }
+    }
+    /**
+     * 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 $-root has no trailing colon/slash,
+     *   unlike RWS 2.0's 'TEMP:'.
+     */
+    async readModuleViaSave(task, moduleName) {
+        const tmp = `${moduleName}_${Date.now().toString(36)}${Math.floor(Math.random() * 0xffff).toString(36)}`;
+        await this.rws1Post(`/rw/rapid/modules/${encodeURIComponent(moduleName)}?task=${encodeURIComponent(task)}&action=save`, `name=${tmp}&path=$TEMP`);
+        try {
+            return await this.client.readFile(`$TEMP/${tmp}.mod`);
+        }
+        finally {
+            await this.client.deleteFile(`$TEMP/${tmp}.mod`).catch(() => { });
+        }
     }
     async listModuleRoutines(task, moduleName) {
         try {

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package/dist/ResourceMapper.d.ts

@@ -240,6 +240,10 @@ export declare function clearAllElogs(): {
 /**
  * Path for GET (download file or list directory) and PUT (upload file).
  * Use '$HOME/' prefix to target the controller home directory.
+ *
+ * Each segment is percent-encoded so names with spaces, '#', '%', etc. survive
+ * URL parsing. The '$' of IRC5 volume roots ($HOME, $TEMP, …) stays literal —
+ * the controller rejects '%24'.
  */
 export declare function fileServicePath(remotePath: string): string;
 /** DELETE path to remove a file from the controller filesystem. */

package/dist/ResourceMapper.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"ResourceMapper.d.ts","sourceRoot":"","sources":["../src/ResourceMapper.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AAIH,0EAA0E;AAC1E,wBAAgB,eAAe,IAAI,MAAM,CAExC;AAED,+FAA+F;AAC/F,wBAAgB,kBAAkB,CAAC,KAAK,EAAE,SAAS,GAAG,UAAU,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAKhG;AAED,iEAAiE;AACjE,wBAAgB,aAAa,IAAI,MAAM,CAEtC;AAED,mDAAmD;AACnD,wBAAgB,UAAU,IAAI,MAAM,CAEnC;AAED,sFAAsF;AACtF,wBAAgB,aAAa,CAAC,KAAK,EAAE,MAAM,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAK3E;AAID,mCAAmC;AACnC,wBAAgB,UAAU,IAAI,MAAM,CAEnC;AAED,iEAAiE;AACjE,wBAAgB,mBAAmB,IAAI,MAAM,CAE5C;AAED,mDAAmD;AACnD,wBAAgB,UAAU,IAAI;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAK3D;AAED,kDAAkD;AAClD,wBAAgB,SAAS,IAAI;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAK1D;AAED;;;GAGG;AACH,wBAAgB,UAAU,IAAI;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAK3D;AAED;;;GAGG;AACH,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,MAAM,GAAG,SAAS,GAAG,MAAM,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAKpG;AAID,2FAA2F;AAC3F,wBAAgB,uBAAuB,IAAI,MAAM,CAEhD;AAED;;;GAGG;AACH,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,SAAS,GAAG,QAAQ,GAAG,QAAQ,GAAG,QAAQ,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAKlH;AAED;;;;GAIG;AACH,wBAAgB,iBAAiB,CAAC,GAAG,EAAE,MAAM,EAAE,SAAS,EAAE,OAAO,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAKjG;AAED,yDAAyD;AACzD,wBAAgB,mBAAmB,IAAI;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAEpE;AAID,sEAAsE;AACtE,wBAAgB,mBAAmB,IAAI,MAAM,CAE5C;AAED;;;;;;;GAOG;AACH,wBAAgB,qBAAqB,CACnC,QAAQ,EAAE,MAAM,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAC/C;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAKhC;AAID,kEAAkE;AAClE,wBAAgB,iBAAiB,CAAC,IAAI,EAAE,MAAM,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAE9E;AAED,oEAAoE;AACpE,wBAAgB,mBAAmB,CAAC,IAAI,EAAE,MAAM,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAEhF;AAED,+CAA+C;AAC/C,wBAAgB,qBAAqB,IAAI;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAEtE;AAED,iDAAiD;AACjD,wBAAgB,uBAAuB,IAAI;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAExE;AAID;;;GAGG;AACH,wBAAgB,kBAAkB,CAAC,MAAM,EAAE;IACzC,IAAI,EAAE,MAAM,CAAC;IACb,IAAI,CAAC,EAAE,MAAM,CAAC;IACd,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,SAAS,CAAC,EAAE,OAAO,CAAC;IACpB,QAAQ,CAAC,EAAE,MAAM,CAAC;CACnB,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAcjC;AAED;;;;GAIG;AACH,wBAAgB,kBAAkB,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAKhH;AAID;;;;;GAKG;AACH,wBAAgB,qBAAqB,CAAC,QAAQ,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,GAAG,MAAM,CAEtG;AAED;;;;;GAKG;AACH,wBAAgB,WAAW,CAAC,QAAQ,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,GAAG,MAAM,CAE5F;AAED;;;;;;GAMG;AACH,wBAAgB,cAAc,CAC5B,QAAQ,EAAE,MAAM,EAChB,UAAU,EAAE,MAAM,EAClB,UAAU,EAAE,MAAM,EAClB,KAAK,EAAE,MAAM,GACZ;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAKhC;AAID;;;GAGG;AACH,wBAAgB,WAAW,CAAC,QAAQ,SAAU,GAAG,MAAM,CAEtD;AAED;;;;;GAKG;AACH,wBAAgB,SAAS,CAAC,QAAQ,SAAU,EAAE,IAAI,SAAU,EAAE,IAAI,SAAU,GAAG,MAAM,CAEpF;AAED;;;;GAIG;AACH,wBAAgB,aAAa,CAAC,QAAQ,SAAU,GAAG,MAAM,CAExD;AAID;;;;;GAKG;AACH,wBAAgB,UAAU,CAAC,QAAQ,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,EAAE,OAAO,UAAQ,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAKhH;AAED;;;;GAIG;AACH,wBAAgB,SAAS,CAAC,QAAQ,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,GAAG,MAAM,CAEtE;AAED;;;GAGG;AACH,wBAAgB,WAAW,CAAC,QAAQ,EAAE,MAAM,GAAG,MAAM,CAEpD;AAID;;;;GAIG;AACH,wBAAgB,UAAU,CAAC,UAAU,EAAE,MAAM,GAAG,MAAM,CAErD;AAID,yEAAyE;AACzE,wBAAgB,UAAU,IAAI,MAAM,CAEnC;AAED,qEAAqE;AACrE,wBAAgB,kBAAkB,IAAI,MAAM,CAE3C;AAED,iDAAiD;AACjD,wBAAgB,SAAS,IAAI,MAAM,CAElC;AAED;;;GAGG;AACH,wBAAgB,kBAAkB,CAChC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,EACxC,IAAI,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,GACrC;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,MAAM,EAAE,KAAK,CAAA;CAAE,CAM/C;AAID;;;;;GAKG;AACH,wBAAgB,YAAY,CAAC,MAAM,SAAI,EAAE,IAAI,SAAO,GAAG,MAAM,CAE5D;AAED,mEAAmE;AACnE,wBAAgB,eAAe,CAAC,MAAM,SAAI,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAE1E;AAED,iEAAiE;AACjE,wBAAgB,aAAa,IAAI;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAE9D;AAID;;;;;;;GAOG;AACH,wBAAgB,eAAe,CAAC,UAAU,EAAE,MAAM,GAAG,MAAM,CAO1D;AAED,mEAAmE;AACnE,wBAAgB,UAAU,CAAC,UAAU,EAAE,MAAM,GAAG,MAAM,CAErD;AAED;;;;GAIG;AACH,wBAAgB,eAAe,CAAC,UAAU,EAAE,MAAM,GAAG;IAAE,IAAI,EAAE,MAAM,CAAA;CAAE,CAEpE;AAED;;;;;;;;;;;;GAYG;AACH,wBAAgB,QAAQ,CAAC,UAAU,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAM7F;AAID;;;GAGG;AACH,wBAAgB,iBAAiB,CAAC,MAAM,EAAE,KAAK,GAAG,QAAQ,GAAG,OAAO,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAEpG;AAED,qDAAqD;AACrD,wBAAgB,iBAAiB,CAAC,MAAM,EAAE,KAAK,GAAG,QAAQ,GAAG,OAAO,GAAG;IAAE,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE,CAEpG;AAeD;;;;GAIG;AACH,wBAAgB,UAAU,CAAC,KAAK,SAAI,EAAE,KAAK,SAAM,GAAG,MAAM,CAEzD;AAE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package/dist/ResourceMapper.js

@@ -319,10 +319,18 @@ export function clearAllElogs() {
 /**
  * Path for GET (download file or list directory) and PUT (upload file).
  * Use '$HOME/' prefix to target the controller home directory.
+ *
+ * Each segment is percent-encoded so names with spaces, '#', '%', etc. survive
+ * URL parsing. The '$' of IRC5 volume roots ($HOME, $TEMP, …) stays literal —
+ * the controller rejects '%24'.
  */
 export function fileServicePath(remotePath) {
     const normalised = remotePath.replace(/^\//, '');
-    return `/fileservice/${normalised}`;
+    const encoded = normalised
+        .split('/')
+        .map(seg => seg.startsWith('$') ? `$${encodeURIComponent(seg.slice(1))}` : encodeURIComponent(seg))
+        .join('/');
+    return `/fileservice/${encoded}`;
 }
 /** DELETE path to remove a file from the controller filesystem. */
 export function deleteFile(remotePath) {

package/dist/ResourceMapper.js.map

@@ -1 +1 @@
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