@kuriousdesign/machine-sdk 1.0.0 → 1.0.1

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@kuriousdesign/machine-sdk",
-  "version": "1.0.0",
+  "version": "1.0.1",
   "description": "Shared data types and helpers for machine-related repositories",
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
@@ -8,7 +8,12 @@
     "build": "tsc",
     "test": "echo \"Error: no test specified\" && exit 1"
   },
-  "keywords": ["machine", "sdk", "data-types", "helpers"],
+  "keywords": [
+    "machine",
+    "sdk",
+    "data-types",
+    "helpers"
+  ],
   "author": "kuriousdesign (https://github.com/kuriousDesign)",
   "license": "MIT",
   "devDependencies": {
@@ -22,4 +27,4 @@
     "url": "https://github.com/kuriousDesign/machine-sdk/issues"
   },
   "homepage": "https://github.com/kuriousDesign/machine-sdk#readme"
-}
+}

package/src/custom-types/AppState.ts

@@ -0,0 +1,116 @@
+import { PartState, Page } from "../enums";
+import { ButtonBar, StatusBar } from "./HMI";
+import { PartData } from "./PartData";
+import { Device } from "./Devices/BaseDevice";
+import { GlobalConstants } from "./GlobalConstants";
+import {
+  RackData,
+  RackHmiPbs,
+  RecipeData,
+  RecipeManagerPbs,
+  RobPositionData,
+  SystemFaultData,
+  TaskQueue,
+  UserData,
+  UserManagerFB,
+  RobData,
+} from ".";
+
+export enum NodeId {
+  // new node ids
+  ButtonBar = "Main.HMI.ButtonBar",
+  StatusBar = "Main.HMI.StatusBar",
+  RackPbs = "Main.HMI.RackPbs",
+  ROB = "Main.ROB",
+  CNC = "Main.CNC",
+  DBRR = "Main.DBRR",
+  WASH = "Main.WASH",
+  PartData = "Main.PartData",
+  TaskQueue = "Main.TaskQueue",
+  GlobalConstants = "GlobalConstants", // TODO: add this to monitored items
+  MachineUser = "Machine.User",
+  MachineErrors = "Machine.Errors",
+  MachineWarnings = "Machine.Warnings",
+  RackData = "Main.RackData",
+  RecipeData = "Main.RecipeData",
+  ActiveJobRecipe = "Main.Job.ActiveRecipe",
+  RecipeManagerState = "Main.RecipeManagerFB.State",
+  RecipeManagerPbs = "Main.RecipeManagerFB.Pbs",
+  RemoteControlPage = "Main.HMI.RemoteControlPage",
+  RobData = "Main.RobData",
+
+  // TODO: add following to montored items, correctly
+  UserManagerFB = "Main.UserManagerFB",
+}
+
+export interface AppState {
+  [NodeId.StatusBar]: StatusBar;
+  [NodeId.ButtonBar]: ButtonBar;
+  [NodeId.RackPbs]: RackHmiPbs;
+  [NodeId.ROB]: Device;
+  [NodeId.CNC]: Device;
+  [NodeId.DBRR]: Device;
+  [NodeId.WASH]: Device;
+  [NodeId.PartData]: PartData;
+  [NodeId.TaskQueue]: TaskQueue;
+  [NodeId.GlobalConstants]: GlobalConstants;
+  [NodeId.MachineUser]: UserData;
+  [NodeId.MachineErrors]: SystemFaultData;
+  [NodeId.MachineWarnings]: SystemFaultData;
+  [NodeId.RackData]: RackData;
+  [NodeId.RecipeData]: RecipeData[];
+  [NodeId.ActiveJobRecipe]: RecipeData;
+  [NodeId.RecipeManagerState]: number;
+  [NodeId.RecipeManagerPbs]: RecipeManagerPbs;
+  [NodeId.UserManagerFB]: UserManagerFB;
+  [NodeId.RemoteControlPage]: Page;
+  [NodeId.RobData]: RobData;
+}
+
+export enum InputNodeId {
+  ButtonBarStopBtnClick = "Main.HMI.ButtonBar.StopBtn.wasClicked",
+  ButtonBarUnloadbtnClick = "Main.HMI.ButtonBar.UnloadBtn.wasClicked",
+  ButtonBarUnlockbtnClick = "Main.HMI.ButtonBar.UnlockBtn.wasClicked",
+  ButtonBarEnergizebtnClick = "Main.HMI.ButtonBar.EnergizeBtn.wasClicked",
+  ButtonBarStartbtnClick = "Main.HMI.ButtonBar.StartBtn.wasClicked",
+  ButtonBarLockbtnClick = "Main.HMI.ButtonBar.LockBtn.wasClicked",
+  ButtonBarResetbtnClick = "Main.HMI.ButtonBar.ResetBtn.wasClicked",
+  ButtonBarJobchangeBtnClick = "Main.HMI.ButtonBar.JobChangeBtn.wasClicked",
+  ButtonBarClearFaultsBtnClick = "Main.HMI.ButtonBar.ClearFaultsBtn.wasClicked",
+
+  PartDataDoneShelf = "Main.PartData.DoneShelf",
+  PartDataRawShelf = "Main.PartData.RawShelf",
+
+  Username = "Machine.User.Username",
+  Password = "Machine.User.Password",
+  LoginBtnBlick = "Machine.User.HmiLoginBtn.wasClicked",
+  LogoutBtnBlick = "Machine.User.HmiLogoutBtn.wasClicked",
+
+  EditRawShelfBtnClick = "Main.HMI.RackPbs.EditRawShelfBtn.wasClicked",
+  EditDoneShelfBtnClick = "Main.HMI.RackPbs.EditDoneShelfBtn.wasClicked",
+  ShelfCancelBtnClick = "Main.HMI.RackPbs.CancelBtn.wasClicked",
+  ShelfSaveBtnClick = "Main.HMI.RackPbs.SaveBtn.wasClicked",
+
+  RecipeManagerEditBtnClick = "Main.recipeManagerFB.pbs.EditBtn.wasClicked",
+  RecipeManagerChangeBtnClick = "Main.recipeManagerFB.pbs.ChangeBtn.wasClicked",
+  RecipeManagerJobSetupBtnClick = "Main.recipeManagerFB.pbs.JobSetupBtn.wasClicked",
+  RecipeManagerActivateBtnClick = "Main.recipeManagerFB.pbs.ActivateBtn",
+  RecipeManagerCancelBtnClick = "Main.recipeManagerFB.pbs.CancelBtn",
+  RecipeManagerStartSetupBtnClick = "Main.recipeManagerFB.pbs.StartSetupBtn",
+  RecipeManagerFinishSetupBtnClick = "Main.recipeManagerFB.pbs.FinishSetupBtn",
+
+  RecipeData = "Main.RecipeData",
+  ActiveJobRecipe = "Machine.Job.ActiveRecipe",
+  JobBatchQuantity = "Machine.Job.BatchQty",
+
+  ActivePage = "Main.HMI.ActivePage",
+
+  CncPart1 = "Main.PartData.Cnc[0]",
+  CncPart2 = "Main.PartData.Cnc[1]",
+  PreOpPart1 = "Main.PartData.CncPreOp[0]",
+  PreOpPart2 = "Main.PartData.CncPreOp[1]",
+  PostOpPart1 = "Main.PartData.CncPostOp[0]",
+  PostOpPart2 = "Main.PartData.CncPostOp[1]",
+  RobotPart1 = "Main.PartData.Robot[0]",
+  RobotPart2 = "Main.PartData.Robot[1]",
+}

package/src/custom-types/Com.ts

@@ -0,0 +1,19 @@
+export interface NewValue {
+  nodeId: string;
+  value: any
+}
+
+export interface UserInput {
+  nodeId: string;
+  nodeDataType: any;
+  value: any
+}
+
+export interface LoginInput {
+  username: string,
+  password: string,
+}
+
+export interface RecipeDeleteInput {
+  index: number,
+}

package/src/custom-types/Devices/BaseDevice.ts

@@ -0,0 +1,41 @@
+export interface DeviceCfg {
+  mnemonic: string; //short hand notation for the device, e.g. ROB for Robot
+  id: number; //calculation using ChildId and Parent Id, where Id = (100*ParentId + LocalId)
+  childId: number;
+  parentId: number;
+}
+
+export interface DeviceFaultData {
+  list: number[];
+  present: boolean; //status
+}
+
+export interface DeviceInputs {
+  instantKill_ON: boolean
+}
+
+export interface DeviceParentCmds {
+  reset: boolean;
+  stop: boolean;
+  clearFlts: boolean;
+  start: boolean;
+  abort: boolean;
+  kill: boolean;
+}
+
+export interface DeviceStatus {
+  state: number;
+  //Faulted: BOOL;
+  //HasWarnings: BOOL;
+  stepNum: number;
+  colorCode: number; //color to indicate the current status
+}
+
+export interface Device {
+  cfg: DeviceCfg;
+  is: DeviceStatus;
+  cmds: DeviceParentCmds;
+  errors: DeviceFaultData;
+  warnings: DeviceFaultData;
+  i: DeviceInputs;
+}

package/src/custom-types/GlobalConstants.ts

@@ -0,0 +1,4 @@
+export interface GlobalConstants {
+  HIDE_LEFT_TWO_COLUMNS: boolean;
+  HIDE_RIGHT_COLUMN: boolean;
+}

package/src/custom-types/HMI.ts

@@ -0,0 +1,52 @@
+import { FaultCodeData } from "./Machine";
+import { BannerMode, Color, DeviceState, VisibilityState } from "..";
+
+
+export interface ComponentAnimation {
+  visibility: VisibilityState; //enum
+  needsExpertUser: boolean; //requires expert user to be active user in order to function
+  backgroundColor: Color; //enum
+  accentColor: Color; //enum
+  fontColor: Color; //enum
+  wasClicked: boolean; //this is set by the UI and reset by the PLC
+}
+
+export interface ButtonBar {
+  stopBtn: ComponentAnimation;
+  unloadBtn: ComponentAnimation;
+  loadBtn: ComponentAnimation;
+  unlockBtn: ComponentAnimation;
+  startBtn: ComponentAnimation;
+  lockBtn: ComponentAnimation;
+  resetBtn: ComponentAnimation;
+  jobChangeBtn: ComponentAnimation;
+  clearFaultsBtn: ComponentAnimation;
+  energizeBtn: ComponentAnimation;
+}
+
+export interface StatusBar {
+  jobName: string;
+  statusMsg: DeviceState;
+  status: number;
+  cncTimeLeft: number[]; // get the second element in the array
+  goodCnt: number;
+  batchQty: number;
+  dateAndTime: string; //format : 1970-01-01T00:00:00.000Z
+  bannerMode: BannerMode;
+  faultCodeData: FaultCodeData;
+}
+
+export interface RackHmiPbs {
+  editRawShelfBtn: ComponentAnimation;
+  editDoneShelfBtn: ComponentAnimation;
+  cancelBtn: ComponentAnimation;
+  saveBtn: ComponentAnimation;
+}
+
+export interface HmiData {
+  buttonBar: ButtonBar;
+  statusBar: StatusBar;
+  rackPbs: RackHmiPbs;
+  heartbeatPLC: number;
+  heartbeatHMI: number;
+}

package/src/custom-types/Machine.ts

@@ -0,0 +1,23 @@
+import { ComponentAnimation } from ".";
+
+export interface UserData {
+  activeUser: number;
+  hmiLoginBtn: ComponentAnimation;
+  hmiLogoutBtn: ComponentAnimation;
+}
+
+export interface FaultCodeData {
+  deviceId: number;
+  code: number;
+}
+
+export interface SystemFaultData {
+  list: FaultCodeData[];
+  present: boolean;
+}
+
+// export interface Machine {
+//   user: UserData;
+//   errors: SystemFaultData;
+//   warnings: SystemFaultData;
+// }

package/src/custom-types/PartData.ts

@@ -0,0 +1,11 @@
+import { PartState } from "../enums";
+export interface PartData {
+  cncPreOp: [PartState, PartState];
+  cnc: [PartState, PartState];
+  cncPostOp: [PartState, PartState];
+  doneShelf: PartState[];
+  rawShelf: PartState[];
+  robot: [PartState, PartState];
+  washer: [PartState, PartState];
+  hmiEditingAllowed: boolean;
+}

package/src/custom-types/RackData.ts

@@ -0,0 +1,21 @@
+import { RobPositionData } from "..";
+
+export interface ShelfPartPositionData {
+  index: number;
+  colNum: number;
+  posLetter: number;
+  offest: RobPositionData;
+}
+
+export interface RackShelfData {
+  nextPart: ShelfPartPositionData;
+  lastPart: ShelfPartPositionData;
+  isEmpty: boolean;
+  isFull: boolean;
+  isEditMode: boolean;
+}
+
+export interface RackData {
+  raw: RackShelfData;
+  done: RackShelfData;
+}

package/src/custom-types/RecipeData.ts

@@ -0,0 +1,7 @@
+export interface RecipeData {
+  partName: string;
+  extrusionType: number;
+  extrusionLength_mm: number;
+  ncProgramNumber: number;
+  partWeight_kg: number;
+}

package/src/custom-types/RecipeManagerFB.ts

@@ -0,0 +1,11 @@
+import { ComponentAnimation } from ".";
+
+export interface RecipeManagerPbs {
+    editBtn: ComponentAnimation;
+    changeBtn: ComponentAnimation;
+    jobSetupBtn: ComponentAnimation;
+    activateBtn: boolean;
+    startSetupBtn: boolean;
+    finishSetupBtn: boolean;
+    cancelBtn: boolean;
+}

package/src/custom-types/RobData.ts

@@ -0,0 +1,27 @@
+import { TaskData, RobPositions, TaskId } from "..";
+
+export interface RobData {
+  zone: RobZoneData;
+  pos: RobPositions;
+  dest: RobPositions;
+  cartesian: RobPositionData;
+  taskReq: TaskId; //incoming task request
+  taskData: TaskData;
+  recipeOffsets: RobPositionData[];
+}
+
+export interface RobPositionData {
+  x: number;
+  y: number;
+  z: number;
+  wdeg: number;
+  pdeg: number;
+  rdeg: number;
+}
+
+export interface RobZoneData {
+  cncHorzShuttle: boolean;
+  waypointShuttle: boolean; //Joint moves, wrist is holding parts upright and at a distance that allows robot to rotate about J1 without fear of collision, basically just moving J1
+  dcsNoGo: boolean;
+  outsideOfCnc: boolean;
+}

package/src/custom-types/TaskQueue.ts

@@ -0,0 +1,31 @@
+import { Priority, TaskId } from "..";
+
+export interface TaskQueue {
+  topPriority: Priority;
+  taskList: TaskId[];
+  taskCnt: number;
+  activeTaskIndex: number;
+}
+
+export interface TaskData {
+  id: number;
+  TaskString: string; //like a description
+  T: number; // time in seconds to complete task
+  TaskType: number; //Pick (state change ignored), Load (state change ignored), Move (state change ignored), Move with Process (state change used), Transform/Process (stage change used)
+
+  StartPositionId: number; //starting position required before this task is allowed
+  EndPositionId: number; //ending position after this task is finished
+  GateId: number; //robot-cnc door, for example
+
+  StationId: number; //used for transform processes
+  PartStatusStart: number[];
+  PartStatusEnd: number[];
+  PartId: number; //used for pick and load moves
+
+  OffsetUserFrameId: number; //90 Through 99, corresponds to our PRs 90-99 which correspdond to the user frame
+
+  GripperPositionId: number; //0 for left, 1 for right, 2 for both (used for moves in and out of CNC, and to from washer)
+  LeftGripperMustBeEmpty: boolean;
+
+  isCurrentlyAllowed: boolean; //set this with logic, do not configure
+}

package/src/custom-types/UserManagerFB.ts

@@ -0,0 +1,8 @@
+import { ComponentAnimation } from "./HMI";
+
+export interface UserManagerFB {
+  loginBtn: ComponentAnimation;
+  logoutBtn: ComponentAnimation;
+  username: string;
+  password: string;
+}

package/src/custom-types/index.ts

@@ -0,0 +1,12 @@
+export * from "./Com";
+export * from "./AppState";
+export * from "./HMI";
+export * from "./Devices/BaseDevice";
+export * from "./Machine";
+export * from "./RackData";
+export * from "./GlobalConstants";
+export * from "./RecipeData";
+export * from "./RecipeManagerFB";
+export * from "./UserManagerFB";
+export * from "./TaskQueue";
+export * from "./RobData";

package/src/enums/Colors.ts

@@ -0,0 +1,79 @@
+export enum Color {
+  Transparent = -1,
+  //uses ROYGBIV FOR 1-7
+  Black = 0, //#000000,
+  Red = 1,
+  Orange = 2,
+  Yellow = 3, //#FFFF00,
+  Green = 4,
+  Blue = 5,
+  Indigo = 6,
+  Violet = 7,
+  Gray = 8, //#F2F2F2,
+  White = 9,
+  //Light Colors
+  LightBlack = 10,
+  LightRed = 11, //#FF6B6B
+  LightOrange = 12,
+  LightYellow = 13,
+  LightGreen = 14,
+  LightBlue = 15,
+  LightIndigo = 16,
+  LightViolet = 17,
+  LightGray = 18,
+  LightWhite = 19, //#7F7F7F,
+  //Dark Colors
+  DarkRed = 201, //#D20000
+  DarkYellow = 203, //#F0EA00
+  DarkGray = 208,
+
+  //Bg Colors
+  Light = 1001,
+  Dark = 1002,
+
+  //Action Push Button Background Colors
+  ActionBtn1 = 21, //#F7A143,
+  ActionBtn2 = 22, //#8FAADC,
+  ActionBtn3 = 23, //#FF0000, red
+  ActionBtn4 = 24,
+  ActionBtn5 = 25,
+  ActionBtn6 = 26,
+
+  //General status
+  Good = 31,
+  Warn = 32, //#FFFF00,
+  Error = 33, //#FF0000,
+
+  //Device states
+  Killed = 40,
+  Inactive = 41,
+  Resetting = 42,
+  Idle = 43, //#D9D9D9,
+  Running = 44, //#5CEE82,
+  Done = 45,
+  Aborting = 46,
+  Manual = 47,
+  Paused = 48,
+  Faulted = 49,
+  Stopping = 440,
+
+  //Task List Status
+  TaskDone = 50, //#C5E0B4,
+  TaskActive = 51, //#8FAADC,
+  TaskFuture = 52, //#D9D9D9, same as Idle
+
+  // Mfg-specific colors
+  FanucYellow = 60, //#FFFF00,
+
+  //Part Status
+  Empty = 100, //#373737,
+  Processing = 101, //#ED7D31,
+  Raw = 102, //#A6A6A6,
+  Deburred = 103, //rgba(0,112,192,0.4),
+  Machined = 104, //rgba(0,112,192,0.6),
+  Washed = 105, //rgba(0,112,192,0.8),
+  Dryed = 106, //rgba(0,112,192,1.0),
+  Scrapped = 109, //#FF0000, same as Error
+  Finished = 110, //#5CEE82, same as Running
+  DeburrBottomFinished = 111, //rgba(0,112,192,0.2),
+}

package/src/enums/DeviceId.ts

@@ -0,0 +1,10 @@
+export enum DeviceId {
+  SYS = 0,
+  CON = 1,
+  CNC = 2,
+  ROB = 3,
+  DBRR = 4,
+  SFTY = 5,
+  RACK = 6,
+  WASH = 7,
+}

package/src/enums/Errors.ts

@@ -0,0 +1,30 @@
+import { DeviceId } from "./DeviceId";
+
+export const ErrorsMap: {
+  [key in DeviceId]: {
+    [key: number]: string;
+  };
+} = {
+  [DeviceId.SFTY]: {
+    0: "NoError",
+    1: "EstopDumpValveCh1Off",
+    2: "EstopDumpValveCh2Off",
+    3: "EstopDumpValveCh1On",
+    4: "EstopDumpValveCh2On",
+    5: "FenceDumpValveCh1Off",
+    6: "FenceDumpValveCh2Off",
+    7: "FenceDumpValveCh1On",
+    8: "FenceDumpValveCh2On",
+  },
+  [DeviceId.CNC]: {},
+  [DeviceId.CON]: {},
+  [DeviceId.DBRR]: {},
+  [DeviceId.ROB]: {
+    0: "NoError",
+    1: "ControllerFault",
+    2: "RobotStartedWrongTask",
+  },
+  [DeviceId.SYS]: {},
+  [DeviceId.WASH]: {},
+  [DeviceId.RACK]: {},
+};

package/src/enums/ExtrusionType.ts

@@ -0,0 +1,5 @@
+export enum ExtrusionType {
+  //FORMATTING CUSTOMERNAME_PARTNO, please use all caps
+  ARMY_1703429 = 1,
+  ARMY_1801183 = 2,
+}

package/src/enums/OpcuaDatatype.ts

@@ -0,0 +1,28 @@
+export enum OpcuaDatatype {
+  Null = 0,
+  Boolean = 1,
+  SByte = 2,
+  Byte = 3,
+  Int16 = 4,
+  UInt16 = 5,
+  Int32 = 6,
+  UInt32 = 7,
+  Int64 = 8,
+  UInt64 = 9,
+  Float = 10,
+  Double = 11,
+  String = 12,
+  DateTime = 13,
+  Guid = 14,
+  ByteString = 15,
+  XmlElement = 16,
+  NodeId = 17,
+  ExpandedNodeId = 18,
+  StatusCode = 19,
+  QualifiedName = 20,
+  LocalizedText = 21,
+  ExtensionObject = 22,
+  DataValue = 23,
+  Variant = 24,
+  DiagnosticInfo = 25
+}

package/src/enums/Pages.ts

@@ -0,0 +1,21 @@
+export enum Page {
+  UNCONTROLLED = 0,
+  LOGIN = 1,
+  OPERATION = 2,
+  HOME = 3,
+  SETTINGS = 4,
+
+  RAW_SHELF = 5,
+  EDIT_RAW_SHELF = 6,
+  DONE_SHELF = 7,
+  EDIT_DONE_SHELF = 8,
+
+  RECIPES = 9,
+  EDIT_RECIPES = 10,
+  CHANGE_RECIPE = 11,
+  JOB_SETUP = 13,
+
+  ERRORS = 14,
+  WARNINGS = 15,
+  ROBOT = 16,
+}

package/src/enums/Priorities.ts

@@ -0,0 +1,21 @@
+export enum Priority {
+  //TopPriorities must be ordered from most important (priority = 1) to least important
+  NoPriority = 0, //no priorites were detected
+  StartCnc = 1, //priority to start cnc (get robot out of cnc, close door and start that thing)
+  DropoffMachinedParts = 2, //Dropoff machined parts in the post op (do this after cnc machining and before cnc loading)
+  LoadCnc = 3, //Top priority to load the deburred parts into the cnc
+  FinishPostOp = 4, //Top prioroity to finish parts after the cnc op
+  UnloadCnc = 5, //Top priority to remove machined parts from cnc
+  PrepParts = 6, //Top priority to get two parts deburred into the preop deadnest
+  WaitToUnload = 7,
+  CloseCncDoor = 8,
+
+  //FillRobotWithTwoDeburredParts=11, //sub priority to loading cnc, robot needs to fill both grippers with deburred parts
+  DeburrPart = 20, //sub priorty to loading cnc and robot needs deburred parts
+  PickRawShelf = 21, //sub priority to pick raw shelf
+  PickRawPartFromPreOp = 22, //sub priority to pick raw shelf
+  LoadPreOpWithDeburred = 23,
+  GatherDeburredPartsForCncLoad = 24, //Top priority to grab deburred parts and get in ready position to load cnc (do this before cnc loading)
+  WashParts = 31,
+  RejectScrap = 91, //priority to pick and reject a scrap part
+}

package/src/enums/RobPositions.ts

@@ -0,0 +1,12 @@
+export enum RobPositions {
+  AnyPosition = -1, //used when configuring tasks, this is used for start position id for pure moves
+  Lost = 0,
+  Home = 1,
+  WashPerch = 2,
+  RackPerch = 3, //used for shelf picking and reject
+  DeadNestPerch = 4, //used for preop and postop tasks
+  CncPerch = 5, //standby position outside of cnc door with wrist rotated so parts are horizontal
+  DeburrPerch = 6,
+  CncWaypoint = 7,
+  CncHover = 8,
+}