@kuriousdesign/machine-sdk 1.0.25 → 1.0.26

package/dist/custom-types/Devices/Axis.d.ts

@@ -102,3 +102,23 @@ export interface AxisSts {
     SkippingPositionCorrectionBeforeGearing: boolean;
     DualAxisStopType: number;
 }
+export declare enum AxisMethods {
+    NONE = 0,
+    JOG_CMD = 1,
+    MOVE_ABS_CMD = 2,
+    MOVE_OP_MIN_MAX = 3,
+    ENFORCE_RAIL_BRAKES = 4,
+    START_STREAM = 5,
+    STOP = 6
+}
+export declare function axisMethodIdToString(method: AxisMethods): string;
+export declare enum AxisProcesses {
+    NONE = 0,
+    VERIFY_POSITION = 1,
+    PERFORM_MASTERING = 2,
+    BACK_AND_FORTH = 3,
+    HOME_TO_HARDSTOP = 4,
+    ALIGNMENT_ANALYSIS_MOVE = 5,
+    MOVE_TO_SHIPPING_POSITION = 6
+}
+export declare function axisProcessIdToString(process: AxisProcesses): string;

package/dist/custom-types/Devices/Axis.js

@@ -1,8 +1,70 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.AxisDriveTypes = void 0;
+exports.AxisProcesses = exports.AxisMethods = exports.AxisDriveTypes = void 0;
+exports.axisMethodIdToString = axisMethodIdToString;
+exports.axisProcessIdToString = axisProcessIdToString;
 var AxisDriveTypes;
 (function (AxisDriveTypes) {
     AxisDriveTypes[AxisDriveTypes["STINGRAY"] = 0] = "STINGRAY";
     AxisDriveTypes[AxisDriveTypes["BOSCH_FSOE"] = 1] = "BOSCH_FSOE";
 })(AxisDriveTypes || (exports.AxisDriveTypes = AxisDriveTypes = {}));
+var AxisMethods;
+(function (AxisMethods) {
+    AxisMethods[AxisMethods["NONE"] = 0] = "NONE";
+    AxisMethods[AxisMethods["JOG_CMD"] = 1] = "JOG_CMD";
+    AxisMethods[AxisMethods["MOVE_ABS_CMD"] = 2] = "MOVE_ABS_CMD";
+    AxisMethods[AxisMethods["MOVE_OP_MIN_MAX"] = 3] = "MOVE_OP_MIN_MAX";
+    AxisMethods[AxisMethods["ENFORCE_RAIL_BRAKES"] = 4] = "ENFORCE_RAIL_BRAKES";
+    AxisMethods[AxisMethods["START_STREAM"] = 5] = "START_STREAM";
+    AxisMethods[AxisMethods["STOP"] = 6] = "STOP";
+})(AxisMethods || (exports.AxisMethods = AxisMethods = {}));
+function axisMethodIdToString(method) {
+    switch (method) {
+        case AxisMethods.NONE:
+            return "None";
+        case AxisMethods.JOG_CMD:
+            return "Jog Command";
+        case AxisMethods.MOVE_ABS_CMD:
+            return "Move Absolute Command";
+        case AxisMethods.MOVE_OP_MIN_MAX:
+            return "Move Operational Min/Max";
+        case AxisMethods.ENFORCE_RAIL_BRAKES:
+            return "Enforce Rail Brakes";
+        case AxisMethods.START_STREAM:
+            return "Start Stream";
+        case AxisMethods.STOP:
+            return "Stop";
+        default:
+            return "Unknown";
+    }
+}
+var AxisProcesses;
+(function (AxisProcesses) {
+    AxisProcesses[AxisProcesses["NONE"] = 0] = "NONE";
+    AxisProcesses[AxisProcesses["VERIFY_POSITION"] = 1] = "VERIFY_POSITION";
+    AxisProcesses[AxisProcesses["PERFORM_MASTERING"] = 2] = "PERFORM_MASTERING";
+    AxisProcesses[AxisProcesses["BACK_AND_FORTH"] = 3] = "BACK_AND_FORTH";
+    AxisProcesses[AxisProcesses["HOME_TO_HARDSTOP"] = 4] = "HOME_TO_HARDSTOP";
+    AxisProcesses[AxisProcesses["ALIGNMENT_ANALYSIS_MOVE"] = 5] = "ALIGNMENT_ANALYSIS_MOVE";
+    AxisProcesses[AxisProcesses["MOVE_TO_SHIPPING_POSITION"] = 6] = "MOVE_TO_SHIPPING_POSITION";
+})(AxisProcesses || (exports.AxisProcesses = AxisProcesses = {}));
+function axisProcessIdToString(process) {
+    switch (process) {
+        case AxisProcesses.NONE:
+            return "None";
+        case AxisProcesses.VERIFY_POSITION:
+            return "Verify Position";
+        case AxisProcesses.PERFORM_MASTERING:
+            return "Perform Mastering";
+        case AxisProcesses.BACK_AND_FORTH:
+            return "Back and Forth";
+        case AxisProcesses.HOME_TO_HARDSTOP:
+            return "Home to Hardstop";
+        case AxisProcesses.ALIGNMENT_ANALYSIS_MOVE:
+            return "Alignment Analysis Move";
+        case AxisProcesses.MOVE_TO_SHIPPING_POSITION:
+            return "Move to Shipping Position";
+        default:
+            return "Unknown";
+    }
+}

package/dist/custom-types/Machine.d.ts

@@ -12,3 +12,13 @@ export interface SystemFaultData {
     list: FaultCodeData[];
     present: boolean;
 }
+export interface Machine {
+    estopCircuit_OK: boolean;
+    estopCircuitDelayed_OK: boolean;
+    fenceCircuit_OK: boolean;
+    guardDoors_LOCKED: boolean;
+    networkHealth_OK: boolean;
+    ethercatMaster_OK: boolean;
+    ethercatSlaves_OK: boolean;
+    supplyAir_OK: boolean;
+}

package/dist/custom-types/Machine.js

@@ -1,7 +1,2 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-// export interface Machine {
-//   user: UserData;
-//   errors: SystemFaultData;
-//   warnings: SystemFaultData;
-// }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@kuriousdesign/machine-sdk",
-  "version": "1.0.25",
+  "version": "1.0.26",
   "description": "Shared data types and helpers for machine-related repositories",
   "main": "dist/index.js",
   "types": "dist/index.d.ts",

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

@@ -30,4 +30,32 @@ export const initialApiOpcuaData: ApiOpcuaData = {
   orchResp: {} as ApiOpcuaReqData,
   req: {} as ApiOpcuaReqData,
   resp: {} as ApiOpcuaReqData
-};
+};
+
+export enum ApiReqRespStates {
+  INACTIVE = 0,
+  REQUEST_READY = 1,
+  REJECTED_INVALID_CHECKSUM = 2,
+  REJECTED_ACTION_NOT_ACCEPTED = 3,
+  REJECTED_INVALID_SENDERID = 4,
+  ACCEPTED = 1000
+}
+
+export function apiReqRespStateToString(state: ApiReqRespStates): string {
+  switch (state) {
+    case ApiReqRespStates.INACTIVE:
+      return "INACTIVE";
+    case ApiReqRespStates.REQUEST_READY:
+      return "REQUEST_READY";
+    case ApiReqRespStates.REJECTED_INVALID_CHECKSUM:
+      return "REJECTED_INVALID_CHECKSUM";
+    case ApiReqRespStates.REJECTED_ACTION_NOT_ACCEPTED:
+      return "REJECTED_ACTION_NOT_ACCEPTED";
+    case ApiReqRespStates.REJECTED_INVALID_SENDERID:
+      return "REJECTED_INVALID_SENDERID";
+    case ApiReqRespStates.ACCEPTED:
+      return "ACCEPTED";
+    default:
+      return "UNKNOWN";
+  }
+}

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

@@ -1,6 +1,6 @@
 export enum AxisDriveTypes {
-	STINGRAY = 0,
-	BOSCH_FSOE = 1
+    STINGRAY = 0,
+    BOSCH_FSOE = 1
 }
 
 //ignored-
@@ -10,12 +10,12 @@ export interface AxisCfg {
     Unit: string;
     AtPosTol: number; // note: this may already be defined in the drive (if using bosch fsoe) difference between data.actualPosition and data.targetPosition below threshold and used during validation to determine if checked position matches the stored mastering position
 
-    
+
     IgnoreSoftwareLimits: boolean;
     IgnoreLimitSwitches: boolean;
-    
+
     Ignores: boolean[]; // use AxisPermissives ENUM
-    
+
     SoftwareLimitPositive: number; // this is the limit that will produce an error if exceeded
     SoftwareLimitNegative: number;
     OperationalPositionMin: number; // this is the nominal operation minimum
@@ -25,7 +25,7 @@ export interface AxisCfg {
     SensorPositions: number[];
     //ignored-MotionProfiles: AxisMotionProfileData[]; // normal use case motion profiles, not e-stopping or error related
     AxisType: number;
-    
+
     //ignored-ValidationSensor: AxisSensors; // used for homing or position verification
     //ignored-PositionReferencingMethod: PositionReferencingMethods; // homing or position verification
     VerificationSensorOffsetFromZero: number;
@@ -34,18 +34,18 @@ export interface AxisCfg {
     AutoPositionVerifyDuringReset: boolean; // set to true if you want the axis to automatically try to position verify during reset
     hasDynamicPositiveLimit: boolean;
     hasDynamicNegativeLimit: boolean;
-    
+
     HomingToHardstopDir: number; // use -1.0 for negative and 1.0 for positive
     MaxCurrentWhileHomingToHardstop: number; // if homing in neg direction, then use a negative value only used if using home_to_hardstop_<dir> as the position verification method.
     MaxCurrentNormalOperation: number; // max current allowed during normal operation, ignore unless using homing to hardstop
-    
+
     updateScalingIsNeeded: boolean; // set this to TRUE to enforce scaling changes
     //ignored-SoftMotionScalingParams: SoftMotionScalingParams;
-    
+
     // DUAL AXIS ONLY
     GearingPositionTolerance: number; // mm, (dual Axis only) used for checking differences between geared axes while synced
     AxesPositionToleranceForSkew: number; // mm, (dual Axis only) used for checking if axes have gone beyond their mechanical limit for position differences before ruining the machine
-    
+
     ShippingPosition: number; // mm, this should be something that is between the hardstop positions
     KeepMasteredStatusAtStartup: boolean; // if TRUE, this will maintain the mastered status/homed status of the axis after a power cycle
 }
@@ -60,7 +60,7 @@ export interface AxisMotionProfileData {
 
 export interface AxisSts {
     Cfg: AxisCfg; // read-only
-    
+
     actualPosition: number;
     // actualSetpoint: number; // use the enum associated with setpoints
     actualVelocity: number;
@@ -68,15 +68,15 @@ export interface AxisSts {
     ActualTorque: number;
     ActualCurrent: number;
     //ignored-ActualControllerMode: SMC_CONTROLLER_MODE;
-    
+
     ActiveStreamType: number;
-    
+
     AxisRefState: number; // uses SMC_AXIS_STATE;
-    
+
     targetPosition: number; // used for MoveAbs or MoveRel, change value before issuing your mc cmd, result should be echoed in setPosition after corresponding MC Cmd
     targetSetpoint: number;
     targetVelocity: number; // used for jogging, change value before issuing your mc cmd, result should be echoed in setVelocity after corresponding MC Cmd
-    
+
     targetDir: number; // used for jogging and moving, 1.0 for fwd and -1.0 for bckwd
     // targetAccel: number;
     targetMaxCurrent: number; // only used for homing to hardstop of swing arms
@@ -84,19 +84,19 @@ export interface AxisSts {
     targetMotionProfileId: number;
     targetMotionProfileData: AxisMotionProfileData; // used for moving and jogging, change value before issuing your mc cmd, result should be echoed in setVelocity/setAcceleration after corresponding MC Cmd
     TargetControllerMode: number; // uses SMC_CONTROLLER_MODE;
-    
+
     setPosition: number; // this value is updated by the drive
     setVelocity: number; // this value is updated by the drive
     setAccel: number; // this value is updated by the drive
     setTorque: number; // this value is updated by the drive
     setJerk: number; // this value is updated by the drive
-    
+
     // STATUS BITS
     isEnabled: boolean;
     isHoming: boolean; // used to indicate that axis in the process of homing or used to indicate that axis is in the process of verifying its position
     isHomed: boolean; // used to indicate that axis has homed to a sensor and updated its position accordingly or used to indicate that position has been verified, useful when using absolute encoders that don't require homing (overwriting of known zero position)
     isMastered: boolean; // used to indicate that axis has been mastered, useful for axes that require position verification as their position referencing method
-    
+
     mutingSwAndHwLimitsWhileHoming: boolean;
     //ignored-DriveHwLimitsEnforcement: AxisLimitEnforcements; // this status is set after calling the set software limits
     //ignored-DriveSwLimitsEnforcement: AxisLimitEnforcements;
@@ -108,48 +108,48 @@ export interface AxisSts {
     isMoving: boolean; // axis is moving to a position
     isGeared: boolean; // axis is moving synchronously with another axis
     isTorquing: boolean; // axis is in torque mode and actively applying torque
-    
+
     // DRIVE RELATED
     DriveStatusMsg: string;
     DriveHasError: boolean;
     DriveIsStoppingMotor: boolean; // is True when motor faults and starts stopping itself
     DriveStoppedMotor: boolean; // True after motor finishes stopping itself. clears when you reset the motor
-    
+
     SoftMotionHasError: boolean;
     SoftMotionErrorId: number; // uses SMC_ERROR;
-    
+
     ConfiguredSoftLimitTravelRange: number; // determined by the sw limits;
     HomeOffsetFromZero: number; // units, this is a read-only value, the retain var HomeOffsetFromZero is used (this might be deprecated)
-    
+
     CalculatedStoppingPosition: number;
     TravelLimitNegative: number;
     TravelLimitPositive: number;
 
     //ignored-Permissives: AxisPermissiveStsData[]; // Array of NUM_PERMISSIVES length
     RestrictedToSlow: boolean; // (TODO: replace this with NOT Permissives.FullSpeed_OK) used to speed limit the axis when it is not homed or has software and hardware limits disabled
-    
+
     //ignored-RailBrakes: RailBrakeInputs;
     Sensors: boolean[]; // Array of MAX_NUM_SENSORS length
-    
+
     targetEncoderSetpoint: number;
-    
+
     targetMasterAxisDevId: number;
     targetMasterAxisRefPointer: any; // TypeScript doesn't have direct pointer equivalents
     actualMasterAxisDevId: number;
     actualMasterAxisRefPointer: any; // TypeScript doesn't have direct pointer equivalents
-    
+
     RecordedPosition: number; // use this to save position information, useful for mastering and position verification processes
     //ignored-Interlocks: AxisInterlocks;
-    
+
     ignoringRailBrakes: boolean;
     EtherCatComms_OK: boolean;
-    
+
     // ROBOT CONTROLLER STATE
     RcHomingState: number; // uses enumRcAxisHomingState;
     RcControlMode: number; // uses enumRcAxisMode;
 
     isStreaming: boolean;
-    
+
     // DUAL AXIS ONLY
     PositionDifference: number; // (Dual Axis Only) difference between the axes: axis1 - axis2
     AxesPositionDifference_OK: boolean; // (Dual Axis Only)status stating difference in position between two axes while moving or idle is acceptable, based on cfg.GearingPositionTolerance
@@ -157,3 +157,66 @@ export interface AxisSts {
     SkippingPositionCorrectionBeforeGearing: boolean; // (Dual Axis Only)this is usually TRUE if the axes are first being setup
     DualAxisStopType: number; // uses DualAxisStopTypes; // (Dual Axis Only)
 }
+
+
+export enum AxisMethods {
+    NONE = 0,
+    JOG_CMD = 1,
+    MOVE_ABS_CMD = 2,
+    MOVE_OP_MIN_MAX = 3,
+    ENFORCE_RAIL_BRAKES = 4,
+    START_STREAM = 5,
+    STOP = 6
+}
+
+export function axisMethodIdToString(method: AxisMethods): string {
+    switch (method) {
+        case AxisMethods.NONE:
+            return "None";
+        case AxisMethods.JOG_CMD:
+            return "Jog Command";
+        case AxisMethods.MOVE_ABS_CMD:
+            return "Move Absolute Command";
+        case AxisMethods.MOVE_OP_MIN_MAX:
+            return "Move Operational Min/Max";
+        case AxisMethods.ENFORCE_RAIL_BRAKES:
+            return "Enforce Rail Brakes";
+        case AxisMethods.START_STREAM:
+            return "Start Stream";
+        case AxisMethods.STOP:
+            return "Stop";
+        default:
+            return "Unknown";
+    }
+}
+
+export enum AxisProcesses {
+    NONE = 0,
+    VERIFY_POSITION = 1,
+    PERFORM_MASTERING = 2,
+    BACK_AND_FORTH = 3,
+    HOME_TO_HARDSTOP = 4,
+    ALIGNMENT_ANALYSIS_MOVE = 5,
+    MOVE_TO_SHIPPING_POSITION = 6
+}
+
+export function axisProcessIdToString(process: AxisProcesses): string {
+    switch (process) {
+        case AxisProcesses.NONE:
+            return "None";
+        case AxisProcesses.VERIFY_POSITION:
+            return "Verify Position";
+        case AxisProcesses.PERFORM_MASTERING:
+            return "Perform Mastering";
+        case AxisProcesses.BACK_AND_FORTH:
+            return "Back and Forth";
+        case AxisProcesses.HOME_TO_HARDSTOP:
+            return "Home to Hardstop";
+        case AxisProcesses.ALIGNMENT_ANALYSIS_MOVE:
+            return "Alignment Analysis Move";
+        case AxisProcesses.MOVE_TO_SHIPPING_POSITION:
+            return "Move to Shipping Position";
+        default:
+            return "Unknown";
+    }
+}

package/src/custom-types/Machine.ts

@@ -21,3 +21,14 @@ export interface SystemFaultData {
 //   errors: SystemFaultData;
 //   warnings: SystemFaultData;
 // }
+
+export interface Machine {
+    estopCircuit_OK: boolean;
+    estopCircuitDelayed_OK: boolean;
+    fenceCircuit_OK: boolean;
+    guardDoors_LOCKED: boolean;
+    networkHealth_OK: boolean;
+    ethercatMaster_OK: boolean;
+    ethercatSlaves_OK: boolean;
+    supplyAir_OK: boolean;
+}