abb-rws-client 0.7.2 → 1.0.0

package/dist/RobotManager.d.ts

@@ -1,4 +1,5 @@
 import type { RapidTask, JointTarget, RobTarget, CartesianFull, ElogMessage, FileEntry, SystemInfo, ControllerIdentity, CollisionDetectionState, RapidSymbolProperties, RapidSymbolInfo, RapidSymbolSearchParams, UiInstruction, RestartMode, Signal, IoNetwork, IoDevice } from './types.js';
+import type { MdnsController } from './MdnsDiscovery.js';
 /**
  * Listener signature for `onError`. The host (VS Code extension, CLI, etc.) can
  * decide how to surface the error — e.g. `vscode.window.showErrorMessage` with
@@ -8,6 +9,22 @@ import type { RapidTask, JointTarget, RobTarget, CartesianFull, ElogMessage, Fil
  * RobotManager respects 'Reconnect' specifically (re-runs connect with the prior config).
  */
 export type ErrorListener = (msg: string, actions: string[]) => Promise<string | undefined>;
+export interface RobotManagerOptions {
+    /**
+     * Fast-poll cadence in ms, used when WebSocket subscriptions are unavailable.
+     * Default 1000, clamped to ≥200 (below that the controller's ~20 req/s limit
+     * starts rejecting the poll burst). When subscriptions are active, polling
+     * drops to 5× this value (positions only).
+     */
+    refreshIntervalMs?: number;
+    /**
+     * Verify TLS certificates on HTTPS controllers. Default false — virtual and
+     * real controllers alike ship self-signed certs, so verification stays off
+     * unless the deployment has a CA-signed cert on the controller. Applies to
+     * port probing and to the RWS 2.0 client this manager constructs.
+     */
+    strictTls?: boolean;
+}
 export interface RobotState {
     connected: boolean;
     host: string;
@@ -50,8 +67,15 @@ export declare class RobotManager {
     private subscriptionActive;
     /** In-flight connect promise — used to dedupe rapid-clicks so we never run two connects in parallel. */
     private connectingPromise;
+    /** Args of the in-flight connect, so a repeat call can tell "same target" from "new target". */
+    private connectingArgs;
     /** Monotonic counter so old polling timers can detect they've been superseded and self-cancel. */
     private pollGeneration;
+    /** Bumped by disconnect() so an in-flight doConnect() can detect it was cancelled and unwind. */
+    private connectEpoch;
+    private readonly refreshIntervalMs;
+    private readonly strictTls;
+    constructor(opts?: RobotManagerOptions);
     get state(): RobotState;
     /** The port currently in use (or last attempted). Useful for persisting auto-recovered port changes. */
     get currentPort(): number | undefined;
@@ -70,7 +94,7 @@ export declare class RobotManager {
     /** Common ports to check on any host. */
     private static readonly PROBE_PORTS;
     /** Returns ALL responding controllers on a single host. */
-    static detectAllControllers(host: string): Promise<ProbeResult[]>;
+    static detectAllControllers(host: string, strictTls?: boolean): Promise<ProbeResult[]>;
     /**
      * Scan a set of standard ABB hosts for any responding RWS controller.
      * Uses a shorter timeout (1.5 s) for snappy discovery UX.
@@ -80,16 +104,31 @@ export declare class RobotManager {
      * TCP scan of the local-VC port range — this catches RobotStudio VCs whose
      * ports are randomly assigned each startup.
      */
-    static discoverControllers(extraHosts?: string[]): Promise<DiscoveredController[]>;
+    static discoverControllers(extraHosts?: string[], strictTls?: boolean): Promise<DiscoveredController[]>;
+    /**
+     * Discover controllers via mDNS/Bonjour — additive alternative to the TCP
+     * probing of `discoverControllers`. Both real controllers and RobotStudio
+     * VCs advertise `RobotWebServices_<systemname>` on `_http._tcp.local`
+     * (VCs via the mDNSResponder service RobotStudio installs), so this finds
+     * VCs on their randomly-assigned ports without a port scan, and carries
+     * RW7 metadata (version, GUID, ports) from the TXT records.
+     *
+     * `probableProtocol` is a heuristic from the advertisement (RW7 attaches
+     * TXT metadata, RW6 does not) — confirm with `probeSpecificPort` before
+     * connecting. See MdnsDiscovery.ts for the live-verified wire details.
+     */
+    static discoverControllersMdns(opts?: {
+        timeoutMs?: number;
+    }): Promise<MdnsController[]>;
     /** Returns only the first responding controller (used internally during connect). */
-    static detectController(host: string): Promise<ProbeResult | null>;
+    static detectController(host: string, strictTls?: boolean): Promise<ProbeResult | null>;
     /**
      * Probe an exact host:port to discover its auth type and protocol.
      * Tries HTTPS first (most OmniCore VCs use it), then HTTP.
      * Returns null only if neither responds — protects against guessing wrong
      * (e.g. RobotStudio-assigned port 5466 is HTTPS but doesn't fit any heuristic).
      */
-    static probeSpecificPort(host: string, port: number): Promise<ProbeResult | null>;
+    static probeSpecificPort(host: string, port: number, strictTls?: boolean): Promise<ProbeResult | null>;
     /** Fast TCP-only check to see if a port is accepting connections. */
     private static tcpPing;
     /**
@@ -102,20 +141,28 @@ export declare class RobotManager {
      * Heavy operation — only call when standard-port detection finds nothing.
      * Prefer host=127.0.0.1; scanning a remote host this aggressively is rude.
      */
-    static wideHostScan(host: string): Promise<DiscoveredController[]>;
+    static wideHostScan(host: string, strictTls?: boolean): Promise<DiscoveredController[]>;
     /**
      * Connect to a controller.
      * @param port     If provided, skip auto-detection and use this port directly.
      *                 Required when two controllers share the same host IP.
      * @param useHttps If provided alongside port, sets the protocol explicitly.
      *
-     * Rapid duplicate calls are coalesced — concurrent callers receive the same
-     * in-flight promise. Without this, fast double-clicks would spawn parallel
-     * adapters/timers and overwhelm the controller's session pool.
+     * Rapid duplicate calls with the SAME target are coalesced — concurrent
+     * callers receive the same in-flight promise. Without this, fast double-clicks
+     * would spawn parallel adapters/timers and overwhelm the controller's session
+     * pool. A call with a DIFFERENT target instead cancels the in-flight attempt
+     * and connects fresh — otherwise the caller ends up connected, but not to
+     * what it asked for. Same for a SAME-target call after a disconnect() has
+     * cancelled the in-flight attempt: coalescing onto it would hand the caller
+     * a promise that resolves with the manager still disconnected.
      */
     connect(host: string, username: string, password: string, port?: number, useHttps?: boolean): Promise<void>;
+    private startConnect;
     private doConnect;
     disconnect(): Promise<void>;
+    /** Teardown used by doConnect/startConnect for their own reconnect cycles — must not cancel the attempt that invoked it. */
+    private disconnectInternal;
     refresh(): Promise<void>;
     setMotorsOn(): Promise<void>;
     setMotorsOff(): Promise<void>;
@@ -142,6 +189,13 @@ export declare class RobotManager {
     setOperationMode(mode: 'AUTO' | 'MANR' | 'MANF'): Promise<void>;
     /** Single hop. Used internally + as the building block for multi-hop transitions. */
     private setOpmodeOnce;
+    private simAdapter;
+    simEmergencyStop(): Promise<void>;
+    simResetEmergencyStop(): Promise<void>;
+    simGeneralStop(engage?: boolean): Promise<void>;
+    simAutoStop(engage?: boolean): Promise<void>;
+    simEnableSwitch(on: boolean): Promise<void>;
+    teleportMechunit(mechunit: string, joints: number[], extJoints?: number[]): Promise<void>;
     /**
      * Wrap an op with auto-acquire-and-release of 'rapid'/'edit' mastership.
      *
@@ -188,7 +242,7 @@ export declare class RobotManager {
      * trap, etc.), we leave it alone.
      */
     startRapid(): Promise<void>;
-    /** Active task name. We currently target T_ROB1; future: track multi-task. */
+    /** Active task name — the task flagged active, else the first task, else T_ROB1. */
     private activeTaskName;
     stopRapid(): Promise<void>;
     resetRapid(): Promise<void>;
@@ -320,7 +374,7 @@ export declare class RobotManager {
     } | {
         entries: never[];
     }>;
-    listProducts(): Promise<never[] | Record<string, string>[]>;
+    listProducts(): Promise<Record<string, string>[] | never[]>;
     getRobotType(): Promise<{
         type: string;
         variant?: string;
@@ -335,7 +389,7 @@ export declare class RobotManager {
         name: string;
         description?: string;
     }[]>;
-    listFeatures(): Promise<never[] | Record<string, string>[]>;
+    listFeatures(): Promise<Record<string, string>[] | never[]>;
     getMotionChangeCount(): Promise<number>;
     getMotionErrorState(): Promise<{
         state: string;
@@ -465,7 +519,7 @@ export declare class RobotManager {
         q3: number;
         q4: number;
     } | null>;
-    getMechunitAxes(m?: string): Promise<never[] | Record<string, string>[]>;
+    getMechunitAxes(m?: string): Promise<Record<string, string>[] | never[]>;
     getMechunitInfo(m?: string): Promise<{}>;
     getTaskStructuralChangeCount(t: string): Promise<number>;
     getTaskMotion(t: string): Promise<{}>;
@@ -524,6 +578,12 @@ export declare class RobotManager {
      * polling covers all state at full frequency.
      */
     private startSubscriptions;
+    /**
+     * Adapter reports the event stream as terminally lost (WS reconnect attempts
+     * exhausted). Drop back to the fast polling cadence so state stays fresh —
+     * without this the manager keeps the 5× slow poll and the UI goes stale.
+     */
+    private handleSubscriptionLost;
     private handleSubscriptionEvent;
     private loadSessionCookie;
     private saveSessionCookie;

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