npm - abb-rws-client - Versions diffs - 0.7.2 → 1.0.0 - Mend

abb-rws-client 0.7.2 → 1.0.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (70) hide show

package/CHANGELOG.md +137 -0
package/README.md +17 -8
package/dist/HalJsonParser.d.ts +55 -0
package/dist/HalJsonParser.d.ts.map +1 -0
package/dist/HalJsonParser.js +155 -0
package/dist/HalJsonParser.js.map +1 -0
package/dist/HttpSession.d.ts.map +1 -1
package/dist/HttpSession.js +13 -2
package/dist/HttpSession.js.map +1 -1
package/dist/IRWSAdapter.d.ts +7 -1
package/dist/IRWSAdapter.d.ts.map +1 -1
package/dist/MdnsDiscovery.d.ts +57 -0
package/dist/MdnsDiscovery.d.ts.map +1 -0
package/dist/MdnsDiscovery.js +313 -0
package/dist/MdnsDiscovery.js.map +1 -0
package/dist/MultiRobotManager.d.ts +5 -2
package/dist/MultiRobotManager.d.ts.map +1 -1
package/dist/MultiRobotManager.js +8 -3
package/dist/MultiRobotManager.js.map +1 -1
package/dist/RWS1Adapter.d.ts +60 -2
package/dist/RWS1Adapter.d.ts.map +1 -1
package/dist/RWS1Adapter.js +152 -4
package/dist/RWS1Adapter.js.map +1 -1
package/dist/ResourceMapper.d.ts +4 -0
package/dist/ResourceMapper.d.ts.map +1 -1
package/dist/ResourceMapper.js +9 -1
package/dist/ResourceMapper.js.map +1 -1
package/dist/RobotManager.d.ts +72 -12
package/dist/RobotManager.d.ts.map +1 -1
package/dist/RobotManager.js +255 -50
package/dist/RobotManager.js.map +1 -1
package/dist/RwsClient2.d.ts +150 -10
package/dist/RwsClient2.d.ts.map +1 -1
package/dist/RwsClient2.js +599 -236
package/dist/RwsClient2.js.map +1 -1
package/dist/WsSubscriber.d.ts +31 -5
package/dist/WsSubscriber.d.ts.map +1 -1
package/dist/WsSubscriber.js +104 -50
package/dist/WsSubscriber.js.map +1 -1
package/dist/detect.d.ts +12 -3
package/dist/detect.d.ts.map +1 -1
package/dist/detect.js +69 -25
package/dist/detect.js.map +1 -1
package/dist/index.d.ts +3 -1
package/dist/index.d.ts.map +1 -1
package/dist/index.js +2 -0
package/dist/index.js.map +1 -1
package/dist/types.js +3 -3
package/dist/types.js.map +1 -1
package/examples/05-remote-control-rmmp.mjs +10 -12
package/examples/06-pull-module-source.mjs +13 -20
package/package.json +62 -60
package/src/HalJsonParser.ts +137 -0
package/src/HttpSession.ts +460 -0
package/src/IRWSAdapter.ts +422 -0
package/src/Logger.ts +54 -0
package/src/MdnsDiscovery.ts +336 -0
package/src/MultiRobotManager.ts +159 -0
package/src/RWS1Adapter.ts +1018 -0
package/src/RWS2Adapter.ts +19 -0
package/src/ResourceMapper.ts +517 -0
package/src/ResponseParser.ts +710 -0
package/src/RobotManager.ts +1705 -0
package/src/RwsClient.ts +1150 -0
package/src/RwsClient2.ts +2214 -0
package/src/WsSubscriber.ts +350 -0
package/src/XhtmlParser.ts +53 -0
package/src/detect.ts +261 -0
package/src/index.ts +83 -0
package/src/types.ts +336 -0

package/dist/RobotManager.js.map CHANGED Viewed

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package/dist/RwsClient2.d.ts CHANGED Viewed

@@ -9,10 +9,15 @@ import type { ControllerState, OperationMode, ExecutionState, ExecutionCycle, Ex
  * 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)
+ * - GETs are negotiated as HAL JSON (Accept: application/hal+json;v=2.0 —
+ *   live-verified 2026-07-09 on RW7.21 for every GET family) with an automatic
+ *   per-instance fallback to application/xhtml+xml;v=2.0 for older RW7
+ *   releases; form-POST responses and subscription events are XHTML-only
  * - Mastership domains: 'edit' replaces both 'cfg' and 'rapid'
  * - FileService home: 'HOME' not '$HOME'
- * - Self-signed TLS on virtual controllers → rejectUnauthorized: false
+ * - Self-signed TLS on all shipping controllers → verification is OFF by default;
+ *   pass `{ rejectUnauthorized: true }` to keep it on (e.g. controllers with a
+ *   properly installed certificate).
  */
 export declare class RwsClient2 {
     private readonly baseUrl;
@@ -22,15 +27,42 @@ export declare class RwsClient2 {
     private readonly httpsAgent;
     private readonly httpAgent;
     private readonly isHttps;
+    /** Per-request timeout in ms (constructor `opts.timeout`, default 10000). */
+    private readonly timeoutMs;
+    /** When true, TLS certificate verification stays ON everywhere (requests, subscription POST, WebSocket). */
+    private readonly rejectUnauthorized;
     /** 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);
+    constructor(baseUrl: string, username: string, password: string, opts?: {
+        timeout?: number;
+        rejectUnauthorized?: boolean;
+    });
+    /** Primary GET representation. Officially supported on RWS 2.0; live-verified
+     *  2026-07-09 on OmniCore VC RW7.21 for every GET endpoint family in this client. */
+    private static readonly ACCEPT_HAL;
+    /** Representation for writes, fileservice, subscriptions, and the fallback GET path. */
+    private static readonly ACCEPT_XHTML;
+    /** Set once a controller rejects hal+json (HTTP 406 or a non-JSON reply to a
+     *  hal+json GET) — older RW7 releases predate HAL JSON. All subsequent GETs on
+     *  this instance then go straight to XHTML instead of re-negotiating each time. */
+    private preferXhtml;
+    /** GET paths that must keep the XHTML Accept: fileservice serves raw file bytes
+     *  (a content-type-based negotiation retry would double every file read, and the
+     *  service rejects some Accept values), and /logout's body is ignored anyway. */
+    private static isXhtmlOnlyPath;
+    /** Picks the parser for a response body: HAL JSON (primary GET representation)
+     *  or XHTML (fallback GETs, form-POST responses). Both expose the same reads. */
+    private static parse;
+    /** Error block from either representation (JSON status.code/msg or XHTML spans). */
+    private static extractError;
     /**
      * Core HTTP request. acceptExtra lists additional success status codes beyond 200/204.
      * Used by subscribe() to accept HTTP 201 (Created) from POST /subscription.
+     * acceptOverride pins the Accept header for callers that must not negotiate
+     * (e.g. getDeviceTree, which promises a raw XHTML document).
      */
     private req;
     connect(): Promise<void>;
@@ -143,11 +175,44 @@ export declare class RwsClient2 {
     createDirectory(parentPath: string, dirName: string): Promise<void>;
     copyFile(sourcePath: string, destPath: string): Promise<void>;
     listCfgDomains(): Promise<string[]>;
+    /**
+     * Next-page path from a paginated list response, resolved relative to the
+     * parent of the current request path (matches the controller's relative
+     * hrefs; live-verified on the XHTML `rel="next"` links and, 2026-07-09 on
+     * RW7.21, on the HAL `_links.next.href` form). Both representations XML-escape
+     * ampersands in the href — even inside JSON strings — hence the unescape.
+     * Returns '' when there is no further page.
+     */
+    private static nextPagePath;
     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. Requires 'edit'
+     * mastership (callers hold it; RobotManager wraps these with mastership).
+     *
+     * Live-verified 2026-07-09 on OmniCore VC RW7.21 via probe-cfg-rws2.mjs:
+     *   ✓ POST /rw/cfg/{domain}/{type}/instances/{instance}
+     *     body: each attribute in BRACKET representation `Attr=[value,1]` joined
+     *     by '&', values literal (not percent-encoded), Content-Type
+     *     application/x-www-form-urlencoded;v=2.0 → 204. Partial attribute sets
+     *     are accepted; unknown attribute names → 400 "Error set attribute".
+     *   ✗ POST /rw/cfg/{domain}/{type}/{instance} (no /instances/) → 404
+     */
     setCfgInstance(domain: string, type: string, instance: string, attrs: Record<string, string>): Promise<void>;
+    /**
+     * Create a new configuration instance, then apply `attrs`. Requires 'edit'
+     * mastership. Live-verified 2026-07-09 on OmniCore VC RW7.21:
+     *   ✓ POST /rw/cfg/{domain}/{type}/instances/create-default  body name={instance} → 201,
+     *     followed by the setCfgInstance shape above for the attribute values.
+     *   ✗ POST /rw/cfg/{domain}/{type}/{instance}/create → 404 (endpoint doesn't exist)
+     */
     createCfgInstance(domain: string, type: string, instance: string, attrs: Record<string, string>): Promise<void>;
+    /**
+     * Delete a configuration instance. Requires 'edit' mastership.
+     * Live-verified 2026-07-09 on OmniCore VC RW7.21:
+     *   ✓ DELETE /rw/cfg/{domain}/{type}/instances/{instance} → 204 (readback → 404)
+     */
     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>;
@@ -239,7 +304,9 @@ export declare class RwsClient2 {
         id: string;
         name: string;
     }>>;
-    /** Drill into a device group (e.g. 'HW_DEVICES'). Returns sub-tree as raw XHTML map. */
+    /** Drill into a device group (e.g. 'HW_DEVICES'). Returns sub-tree as raw XHTML map.
+     *  Accept is pinned to XHTML so the promised raw format never changes under
+     *  the HAL JSON negotiation. */
     getDeviceTree(group: string): Promise<string>;
     /**
      * List ALL configured I/O devices across every network in one call.
@@ -335,6 +402,15 @@ export declare class RwsClient2 {
     getMechunitPjoints(mechunit?: string): Promise<Record<string, number>>;
     getMechunitInfo(mechunit?: string): Promise<Record<string, string>>;
     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 OmniCore VC RW7.21:
+     *   POST /rw/rapid/tasks/{task}/modules/{module}/save  body name=<tmp>&path=TEMP:
+     *   → 204, no mastership required. The controller ALWAYS appends '.modx' to
+     *   the given name (even for SysMod modules — never '.sysx'), so the name is
+     *   passed without extension. TEMP: avoids any risk of clobbering HOME files.
+     */
+    private readModuleViaSave;
     getModuleInfo(task: string, moduleName: string): Promise<Record<string, string>>;
     listModuleSymbols(task: string, moduleName: string): Promise<Array<{
         name: string;
@@ -355,7 +431,26 @@ export declare class RwsClient2 {
      * 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>>;
+    /** First reconnect delay after a dropped subscription WebSocket (doubles per attempt). */
+    private static readonly WS_RECONNECT_BASE_MS;
+    /** Give up re-subscribing after this many consecutive failed attempts. */
+    private static readonly WS_RECONNECT_MAX_ATTEMPTS;
+    /** How long to wait for the WebSocket upgrade to complete before treating the attempt as failed. */
+    private static readonly WS_OPEN_TIMEOUT_MS;
+    /**
+     * POST /subscription — accept HTTP 201 (Created).
+     * Captures the Location header (authoritative WS URL) and the group resource
+     * path (`/subscription/{id}` — the URL a DELETE must target to free the group).
+     *
+     * Rides the client's main HTTP session: live-verified 2026-07-09 on OmniCore
+     * VC RW7.21 (probe-sub-session.mjs) — POST /subscription with the existing
+     * session Cookie returns 201 with NO Set-Cookie (no new session minted) and
+     * the WebSocket authenticates with that same cookie. Without the Cookie the
+     * controller mints one session per subscribe, and reconnect loops would burn
+     * through the 5-sessions-per-IP budget.
+     */
+    private createSubscription;
+    subscribe(resources: SubscriptionResource[], handler: (event: SubscriptionEvent) => void, onLost?: () => void): Promise<() => Promise<void>>;
     /**
      * Effective RMMP privilege held by THIS session.
      * The controller's /users/rmmp returns whoever currently holds the privilege —
@@ -373,6 +468,56 @@ export declare class RwsClient2 {
         speed: number;
         mechunit?: string;
     }): Promise<void>;
+    /** Shared POST for the VC-only simulation endpoints. */
+    private simPost;
+    /**
+     * Engage the (internal) emergency stop — controller state goes to
+     * `emergencystop`. Live-verified 2026-07-09 on OmniCore VC RW7.21:
+     *   POST /rw/panel/emergency-stop  body `state=off` → 204.
+     * The polarity is INVERTED from the ABB Swagger example: state=off OPENS the
+     * safety chain (engages the stop), state=on closes it again. Fully reversible
+     * on a VC via {@link simResetEmergencyStop} — no physical reset step exists
+     * there (unlike real hardware, which latches until the button is released).
+     */
+    simEmergencyStop(): Promise<void>;
+    /** Release the simulated emergency stop (`state=on`) — controller returns to
+     *  `motoroff`. See {@link simEmergencyStop} for the polarity note. */
+    simResetEmergencyStop(): Promise<void>;
+    /**
+     * Engage the general stop (controller state → `guardstop`); pass `false` to
+     * release it again (→ `motoroff`). Live-verified 2026-07-09 on OmniCore VC
+     * RW7.21: POST /rw/panel/general-stop, `state=off` engages / `state=on`
+     * releases (same inverted polarity as the e-stop endpoints).
+     */
+    simGeneralStop(engage?: boolean): Promise<void>;
+    /**
+     * Engage the automatic stop (controller state → `guardstop`); pass `false` to
+     * release it. Live-verified 2026-07-09 on OmniCore VC RW7.21:
+     * POST /rw/panel/auto-stop, `state=off` engages / `state=on` releases.
+     */
+    simAutoStop(engage?: boolean): Promise<void>;
+    /**
+     * Press (`true`) or release (`false`) the simulated three-position enabling
+     * device. Live-verified 2026-07-09 on OmniCore VC RW7.21:
+     *   POST /rw/panel/enable-switch  body `state=on|off` → 204.
+     * This endpoint's polarity is direct (no inversion). In AUTO the controller
+     * accepts the call as a no-op; driving motors on requires manual mode.
+     */
+    simEnableSwitch(on: boolean): Promise<void>;
+    /**
+     * Teleport a mechanical unit to absolute joint values (degrees) — the VC
+     * equivalent of dragging the robot in RobotStudio; no motors, mastership, or
+     * program stop needed. Live-verified 2026-07-09 on OmniCore VC RW7.21:
+     *   POST /rw/motionsystem/mechunits/{mechunit}/position
+     *   body `rob_joint=[j1,j2,j3,j4,j5,j6]&ext_joint=[e1,e2,e3,e4,e5,e6]` → 204
+     * BOTH keys are required by the controller (omitting either → 400
+     * "No rob_joint parameter"), which is why `extJoints` defaults to six zeros.
+     * The readback (`getJointPositions`) may show sub-µdeg float rounding.
+     * Caveat (live-verified 2026-07-09): while an operation-mode change is
+     * pending (opmode AUTO_CH — FlexPendant acknowledge outstanding) the endpoint
+     * answers 403 "Operation not allowed for user in current operation mode".
+     */
+    teleportMechunit(mechunit: string, joints: number[], extJoints?: number[]): Promise<void>;
     getLicenseInfo(): Promise<{
         entries: Array<Record<string, string>>;
     }>;
@@ -429,10 +574,5 @@ export declare class RwsClient2 {
         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

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