@kuriousdesign/machine-sdk 1.0.38 → 1.0.40

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

@@ -3,7 +3,8 @@ import { ButtonBar, StatusBar } from "./HMI";
 import { PartDataDeprecated } from "./Part";
 import { Device } from "./BaseDevice/Device";
 import { GlobalConstants } from "./GlobalConstants";
-import { RackData, RackHmiPbs, RecipeData, RecipeManagerPbs, SystemFaultData, TaskQueue, UserData, UserManagerFB, RobData } from ".";
+import { RackData, RackHmiPbs, RecipeData, RecipeManagerPbs, SystemFaultData, TaskQueue, UserData, UserManagerFB } from ".";
+import { RobData } from "./Devices/Robot";
 export declare enum NodeId {
     ButtonBar = "Main.HMI.ButtonBar",
     StatusBar = "Main.HMI.StatusBar",

package/dist/custom-types/BaseDevice/Device.d.ts

@@ -90,3 +90,7 @@ export interface Device {
     apiOpcua: ApiOpcuaData;
 }
 export declare const initialDevice: Device;
+export interface DeviceLogData {
+    list: DebugLogData[];
+    lastIndex: number;
+}

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

@@ -1,11 +1,13 @@
 export declare enum DeviceTypes {
     Base = 0,
     Axis = 1,
-    BoschAxis = 2,//need to deprecate this soon
+    BoschAxis = 2,
     DualAxis = 3,
     Gantry = 4,
-    Bridge = 5,//used for communication
-    Machine = 6,
-    Robot = 7
+    Bridge = 6,
+    Machine = 7,
+    Robot = 8,
+    Vision = 10,
+    TwoPos = 11
 }
 export declare function deviceTypeToString(deviceType: DeviceTypes): string;

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

@@ -1,4 +1,21 @@
 "use strict";
+// {attribute 'qualified_only'}
+// {attribute 'strict'}
+// TYPE DeviceTypes :
+// (
+// 	Base := 0, 
+// 	Axis := 1,
+// 	BoschAxis:=2,
+// 	DualAxis:=3,
+// 	Gantry:=4,
+// 	System:=5,
+// 	Bridge:=6,
+// 	Conductor:=7,
+// 	Rob:=8,
+// 	Eoat:=9,
+// 	Vision:=10
+// );
+// END_TYPE
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.DeviceTypes = void 0;
 exports.deviceTypeToString = deviceTypeToString;
@@ -9,11 +26,12 @@ var DeviceTypes;
     DeviceTypes[DeviceTypes["BoschAxis"] = 2] = "BoschAxis";
     DeviceTypes[DeviceTypes["DualAxis"] = 3] = "DualAxis";
     DeviceTypes[DeviceTypes["Gantry"] = 4] = "Gantry";
-    DeviceTypes[DeviceTypes["Bridge"] = 5] = "Bridge";
-    DeviceTypes[DeviceTypes["Machine"] = 6] = "Machine";
-    DeviceTypes[DeviceTypes["Robot"] = 7] = "Robot";
+    DeviceTypes[DeviceTypes["Bridge"] = 6] = "Bridge";
+    DeviceTypes[DeviceTypes["Machine"] = 7] = "Machine";
+    DeviceTypes[DeviceTypes["Robot"] = 8] = "Robot";
+    DeviceTypes[DeviceTypes["Vision"] = 10] = "Vision";
+    DeviceTypes[DeviceTypes["TwoPos"] = 11] = "TwoPos";
 })(DeviceTypes || (exports.DeviceTypes = DeviceTypes = {}));
-;
 function deviceTypeToString(deviceType) {
     switch (deviceType) {
         case DeviceTypes.Base:
@@ -32,6 +50,10 @@ function deviceTypeToString(deviceType) {
             return 'Machine';
         case DeviceTypes.Robot:
             return 'Robot';
+        case DeviceTypes.Vision:
+            return 'Vision';
+        case DeviceTypes.TwoPos:
+            return 'Two Position';
         default:
             return 'Unknown';
     }

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

@@ -0,0 +1,52 @@
+export declare enum RobWaypoints {
+    NONE = 0,
+    HOME = 1,
+    FIXTURE_LEFT_PERCH = 2,
+    FIXTURE_RIGHT_PERCH = 3,
+    TOOL_PERCH = 4
+}
+export declare function robotWaypointToString(waypoint: RobWaypoints): string;
+export declare enum RobTools {
+    NONE = 0,
+    WEIGHING_GRIPPER = 1,
+    APPLICATOR = 2,
+    CAMERA = 3
+}
+export declare function robotToolToString(tool: RobTools): string;
+export declare const RobTasks: {
+    NONE: number;
+    RETRIEVE_TOOL: number;
+    RETURN_TOOL: number;
+    GO_TO_WAYPOINT: number;
+    GRIP_PART: number;
+    SAMPLE_WEIGHT: number;
+    REPOSITION_AND_RELEASE_PART: number;
+    REMOVE_FALSE_BOTTOMS: number;
+    HOME_SQUEEGEE_MOTOR: number;
+    WIPE_APPLICATOR: number;
+    PERFORM_APPLICATION_TASK: number;
+    INSERT_FALSE_BOTTOMS: number;
+    TAKE_IMAGES: number;
+};
+export declare function robotTaskToString(task: number): string;
+export interface RobData {
+    zone: RobZoneData;
+    pos: RobWaypoints;
+    dest: RobWaypoints;
+    cartesian: RobPositionData;
+    recipeOffsets: RobPositionData[];
+}
+export interface RobPositionData {
+    x: number;
+    y: number;
+    z: number;
+    wdeg: number;
+    pdeg: number;
+    rdeg: number;
+}
+export interface RobZoneData {
+    cncHorzShuttle: boolean;
+    waypointShuttle: boolean;
+    dcsNoGo: boolean;
+    outsideOfCnc: boolean;
+}

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

@@ -0,0 +1,138 @@
+"use strict";
+// {attribute 'qualified_only'}
+// {attribute 'strict'}
+// TYPE RobWaypoints :
+// (
+// 	NONE := 0, //do not remove or change this
+// 	HOME := 1, //identifier for the robot's home position
+// 	FIXTURE_LEFT_PERCH := 2, //identifier for the fixture perch position
+// 	FIXTURE_RIGHT_PERCH := 3, //identifier for the fixture perch position
+// 	TOOL_PERCH :=4
+// );
+// END_TYPE
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.RobTasks = exports.RobTools = exports.RobWaypoints = void 0;
+exports.robotWaypointToString = robotWaypointToString;
+exports.robotToolToString = robotToolToString;
+exports.robotTaskToString = robotTaskToString;
+var RobWaypoints;
+(function (RobWaypoints) {
+    RobWaypoints[RobWaypoints["NONE"] = 0] = "NONE";
+    RobWaypoints[RobWaypoints["HOME"] = 1] = "HOME";
+    RobWaypoints[RobWaypoints["FIXTURE_LEFT_PERCH"] = 2] = "FIXTURE_LEFT_PERCH";
+    RobWaypoints[RobWaypoints["FIXTURE_RIGHT_PERCH"] = 3] = "FIXTURE_RIGHT_PERCH";
+    RobWaypoints[RobWaypoints["TOOL_PERCH"] = 4] = "TOOL_PERCH";
+})(RobWaypoints || (exports.RobWaypoints = RobWaypoints = {}));
+function robotWaypointToString(waypoint) {
+    switch (waypoint) {
+        case RobWaypoints.NONE:
+            return 'None';
+        case RobWaypoints.HOME:
+            return 'Home';
+        case RobWaypoints.FIXTURE_LEFT_PERCH:
+            return 'Fixture Left Perch';
+        case RobWaypoints.FIXTURE_RIGHT_PERCH:
+            return 'Fixture Right Perch';
+        case RobWaypoints.TOOL_PERCH:
+            return 'Tool Perch';
+        default:
+            return 'Unknown';
+    }
+}
+// {attribute 'qualified_only'}
+// {attribute 'strict'}
+// TYPE RobTools :
+// (
+// 	NONE := 0, //do not remove or change this
+// 	WEIGHING_GRIPPER := 1, //identifier for the weighing gripper tool
+// 	APPLICATOR := 2, //identifier for the applicator tool
+// 	CAMERA := 3 //identifier for the camera tool
+// );
+// END_TYPE
+var RobTools;
+(function (RobTools) {
+    RobTools[RobTools["NONE"] = 0] = "NONE";
+    RobTools[RobTools["WEIGHING_GRIPPER"] = 1] = "WEIGHING_GRIPPER";
+    RobTools[RobTools["APPLICATOR"] = 2] = "APPLICATOR";
+    RobTools[RobTools["CAMERA"] = 3] = "CAMERA";
+})(RobTools || (exports.RobTools = RobTools = {}));
+function robotToolToString(tool) {
+    switch (tool) {
+        case RobTools.NONE:
+            return 'None';
+        case RobTools.WEIGHING_GRIPPER:
+            return 'Weighing Gripper';
+        case RobTools.APPLICATOR:
+            return 'Applicator';
+        case RobTools.CAMERA:
+            return 'Camera';
+        default:
+            return 'Unknown';
+    }
+}
+// {attribute 'qualified_only'}
+// {attribute 'strict'}
+// TYPE RobTasks :
+// (
+// 	NONE := 0, //do not remove or change this
+// 	RETRIEVE_TOOL := 1, //param0: toolId (identifier from Tools enum specifying which tool to retrieve, e.g., WEIGHING_GRIPPER, APPLICATOR, CAMERA), checks for tool presence; if missing, moves to "Home" and signals fault
+// 	RETURN_TOOL := 2, //param0: toolId (identifier from Tools enum specifying which tool to return to the tool rack)
+// 	GO_TO_WAYPOINT := 3, //param0: positionId (identifier from Positions enum specifying the target waypoint, e.g., FIXTURE_PERCH, HOME), moves robot to the specified position
+// 	GRIP_PART := 4, //param0: partId (identifier of the part to grip, e.g., part 1), performs a diagonal lift (½" up, ½" away from fixed clamp side) for clearance
+// 	SAMPLE_WEIGHT := 5, //param0: sampleCount (number of weight samples, e.g., XX), param1: sampleDuration (duration in seconds, e.g., 2), waits briefly then records average weight over the period
+// 	REPOSITION_AND_RELEASE_PART := 6, //no params: moves back ¼" toward fixed clamp, down ¼", opens gripper to drop tube onto false bottom, returns to perch position
+// 	REMOVE_FALSE_BOTTOMS := 7, //no params: removes false bottoms from the fixture(s)
+// 	HOME_SQUEEGEE_MOTOR := 8, //no params: homes the squeegee motor while moving to fixture perch position
+// 	WIPE_APPLICATOR := 9, //no params: cleans the applicator (detailed cleaning procedure TBD)
+// 	PERFORM_APPLICATION_TASK := 10, //param0: tubeId (identifier of the tube to process, e.g., tube 1), applies the task to the specified tube
+// 	INSERT_FALSE_BOTTOMS := 11, //no params: slides false bottoms back into place in the fixture(s)
+// 	TAKE_IMAGES := 12 //param0: tubeList (list of tube IDs to image), captures images and sends to HMI for display (most recent as large image, others in album view)
+// );
+// END_TYPE
+exports.RobTasks = {
+    NONE: 0,
+    RETRIEVE_TOOL: 1,
+    RETURN_TOOL: 2,
+    GO_TO_WAYPOINT: 3,
+    GRIP_PART: 4,
+    SAMPLE_WEIGHT: 5,
+    REPOSITION_AND_RELEASE_PART: 6,
+    REMOVE_FALSE_BOTTOMS: 7,
+    HOME_SQUEEGEE_MOTOR: 8,
+    WIPE_APPLICATOR: 9,
+    PERFORM_APPLICATION_TASK: 10,
+    INSERT_FALSE_BOTTOMS: 11,
+    TAKE_IMAGES: 12
+};
+function robotTaskToString(task) {
+    switch (task) {
+        case exports.RobTasks.NONE:
+            return 'None';
+        case exports.RobTasks.RETRIEVE_TOOL:
+            return 'Retrieve Tool';
+        case exports.RobTasks.RETURN_TOOL:
+            return 'Return Tool';
+        case exports.RobTasks.GO_TO_WAYPOINT:
+            return 'Go To Waypoint';
+        case exports.RobTasks.GRIP_PART:
+            return 'Grip Part';
+        case exports.RobTasks.SAMPLE_WEIGHT:
+            return 'Sample Weight';
+        case exports.RobTasks.REPOSITION_AND_RELEASE_PART:
+            return 'Reposition And Release Part';
+        case exports.RobTasks.REMOVE_FALSE_BOTTOMS:
+            return 'Remove False Bottoms';
+        case exports.RobTasks.HOME_SQUEEGEE_MOTOR:
+            return 'Home Squeegee Motor';
+        case exports.RobTasks.WIPE_APPLICATOR:
+            return 'Wipe Applicator';
+        case exports.RobTasks.PERFORM_APPLICATION_TASK:
+            return 'Perform Application Task';
+        case exports.RobTasks.INSERT_FALSE_BOTTOMS:
+            return 'Insert False Bottoms';
+        case exports.RobTasks.TAKE_IMAGES:
+            return 'Take Images';
+        default:
+            return 'Unknown';
+    }
+}

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

@@ -31,4 +31,5 @@ export declare const GCs: {
     SYSTIME_TO_UTC_SCALAR: number;
     NUM_PARTS_PER_FIXTURE: number;
     MAX_NUM_HW_CARDS: number;
+    NUM_ENTRIES_MACHINE_LOG: number;
 };

package/dist/custom-types/GlobalConstants.js

@@ -80,4 +80,5 @@ exports.GCs = {
     //TASKQUEUE_LEN:INT:=100;
     // HW SIDE
     MAX_NUM_HW_CARDS: 16,
+    NUM_ENTRIES_MACHINE_LOG: 100,
 };

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

@@ -1,4 +1,4 @@
-import { ComponentAnimation, DeviceRegistration, TaskQueue } from ".";
+import { ComponentAnimation, DebugLogData, DeviceLogData, DeviceRegistration, TaskQueue } from ".";
 import { PartDataStatus } from "./Part";
 export interface UserData {
     activeUser: number;
@@ -42,5 +42,12 @@ export interface Machine {
     registeredDevices: DeviceRegistration[];
     heartbeatPlc: number;
     heartbeatHmi: number;
+    machineLog: LogRecordData;
+    deviceLogs: DeviceLogData[];
 }
+export interface LogRecordData {
+    list: DebugLogData[];
+    lastIndex: number;
+}
+export declare const initialLogRecordData: LogRecordData;
 export declare const initialMachine: Machine;

package/dist/custom-types/Machine.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.initialMachine = exports.initialMachineCfg = exports.initialSystemFaultData = exports.initialFaultCodeData = void 0;
+exports.initialMachine = exports.initialLogRecordData = exports.initialMachineCfg = exports.initialSystemFaultData = exports.initialFaultCodeData = void 0;
 const _1 = require(".");
 const Part_1 = require("./Part");
 exports.initialFaultCodeData = {
@@ -20,6 +20,10 @@ exports.initialMachineCfg = {
     apiOpcuaDeviceId: -1,
     ethernetAdapterList: [],
 };
+exports.initialLogRecordData = {
+    list: Array(_1.GCs.NUM_ENTRIES_MACHINE_LOG).fill(null).map(() => ({ ..._1.initialDebugLogData })),
+    lastIndex: 0,
+};
 exports.initialMachine = ({
     estopCircuit_OK: false,
     estopCircuitDelayed_OK: false,
@@ -37,4 +41,6 @@ exports.initialMachine = ({
     registeredDevices: [],
     heartbeatPlc: 0,
     heartbeatHmi: 0,
+    machineLog: { ...exports.initialLogRecordData },
+    deviceLogs: Array(_1.GCs.NUM_DEVICES).fill(null).map(() => ({ ..._1.initialDeviceLogData })),
 });

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

@@ -1,4 +1,4 @@
-import { RobPositionData } from "..";
+import { RobPositionData } from "./Devices/Robot";
 export interface ShelfPartPositionData {
     index: number;
     colNum: number;

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

@@ -1,24 +0,0 @@
-import { TaskData, RobPositions, TaskId } from "..";
-export interface RobData {
-    zone: RobZoneData;
-    pos: RobPositions;
-    dest: RobPositions;
-    cartesian: RobPositionData;
-    taskReq: TaskId;
-    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;
-    dcsNoGo: boolean;
-    outsideOfCnc: boolean;
-}

package/dist/custom-types/RobData.js

@@ -1,2 +1 @@
 "use strict";
-Object.defineProperty(exports, "__esModule", { value: true });

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

@@ -9,7 +9,6 @@ export * from "./RecipeData";
 export * from "./RecipeManagerFB";
 export * from "./UserManagerFB";
 export * from "./TaskQueue";
-export * from "./RobData";
 export * from "./Devices";
 export * from "./Bridge";
 export * from "./Part";

package/dist/custom-types/index.js

@@ -25,7 +25,6 @@ __exportStar(require("./RecipeData"), exports);
 __exportStar(require("./RecipeManagerFB"), exports);
 __exportStar(require("./UserManagerFB"), exports);
 __exportStar(require("./TaskQueue"), exports);
-__exportStar(require("./RobData"), exports);
 __exportStar(require("./Devices"), exports);
 __exportStar(require("./Bridge"), exports);
 __exportStar(require("./Part"), exports);

package/dist/enums/index.d.ts

@@ -5,4 +5,3 @@ export * from "./ExtrusionType";
 export * from "./DeviceId";
 export * from "./TaskId";
 export * from "./Pages";
-export * from "./RobPositions";

package/dist/enums/index.js

@@ -21,4 +21,3 @@ __exportStar(require("./ExtrusionType"), exports);
 __exportStar(require("./DeviceId"), exports);
 __exportStar(require("./TaskId"), exports);
 __exportStar(require("./Pages"), exports);
-__exportStar(require("./RobPositions"), exports);

package/dist/plc-tags/index.d.ts

@@ -11,6 +11,7 @@ export declare const MachineTags: {
     HeartbeatHMI: string;
     parts: string;
     taskQueue: string;
+    machineLog: string;
 };
 export declare const DeviceTags: {
     Cfg: string;
@@ -26,5 +27,6 @@ export declare const DeviceTags: {
     ApiOpcuaHmiReq: string;
     ApiOpcuaHmiResp: string;
 };
+export declare const DeviceLogTags = "Machine.DeviceLogs";
 export * from "./opcua";
 export * from "./mqtt";

package/dist/plc-tags/index.js

@@ -14,7 +14,7 @@ var __exportStar = (this && this.__exportStar) || function(m, exports) {
     for (var p in m) if (p !== "default" && !Object.prototype.hasOwnProperty.call(exports, p)) __createBinding(exports, m, p);
 };
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.DeviceTags = exports.MachineTags = exports.PlcNamespaces = void 0;
+exports.DeviceLogTags = exports.DeviceTags = exports.MachineTags = exports.PlcNamespaces = void 0;
 exports.PlcNamespaces = {
     Machine: 'Machine',
     MachineHw: 'MachineHw',
@@ -29,6 +29,8 @@ exports.MachineTags = {
     HeartbeatHMI: 'HeartbeatHMI',
     parts: 'Parts',
     taskQueue: 'TaskQueue',
+    //deviceLogs: 'DeviceLogs',
+    machineLog: 'MachineLog',
 };
 exports.DeviceTags = {
     Cfg: 'Cfg',
@@ -45,5 +47,6 @@ exports.DeviceTags = {
     ApiOpcuaHmiReq: 'ApiOpcua/HmiReq',
     ApiOpcuaHmiResp: 'ApiOpcua/HmiResp',
 };
+exports.DeviceLogTags = 'Machine.DeviceLogs';
 __exportStar(require("./opcua"), exports);
 __exportStar(require("./mqtt"), exports);

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@kuriousdesign/machine-sdk",
-  "version": "1.0.38",
+  "version": "1.0.40",
   "description": "Shared data types and helpers for machine-related repositories",
   "main": "dist/index.js",
   "types": "dist/index.d.ts",

package/src/custom-types/AppState.ts

@@ -8,13 +8,12 @@ import {
   RackHmiPbs,
   RecipeData,
   RecipeManagerPbs,
-  RobPositionData,
   SystemFaultData,
   TaskQueue,
   UserData,
   UserManagerFB,
-  RobData,
 } from ".";
+import { RobData } from "./Devices/Robot";
 
 export enum NodeId {
   // new node ids

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

@@ -102,10 +102,10 @@ export interface DeviceStatus {
   state: number; // enum for States enum, same as the boolean states in the data structure
   stepNum: number;
   stepDescription: string;
-  
+
   colorCode: number; // color to indicate the current status for HMI purposes
   statusMsg: string; // status string
-  
+
   error: boolean; // state, device or child has an error
   killed: boolean; // device is de-energized
   inactive: boolean; // waiting to be reset
@@ -124,15 +124,15 @@ export interface DeviceStatus {
   ipr: boolean; // IdleOrPausedOrRunning
   kei: boolean; // KilledErrorOrInactive
   runningOrStopping: boolean;
-  
+
   // Children Status
   allChildrenIdle: boolean;
   allChildrenKilled: boolean;
   allChildrenInactive: boolean;
   allChildrenIdleOrError: boolean;
-  
+
   commanderId: number; // used for external control
-  
+
   recordingLogs: boolean;
 }
 
@@ -202,4 +202,17 @@ export const initialDevice: Device = {
   process: initialProcessData,
   script: initialProcessData,
   apiOpcua: initialApiOpcuaData
-};
+};
+
+
+// TYPE DeviceLogData :
+// STRUCT
+// 	List: ARRAY[0..DeviceConstants.NUM_LOG_ENTRIES-1] OF DebugLogData;
+// 	LastIndex:INT; //index of the most recent recorde entries
+// END_STRUCT
+// END_TYPE
+
+export interface DeviceLogData {
+  list: DebugLogData[];
+  lastIndex: number; // index of the most recent recorded entries
+}

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

@@ -1,13 +1,35 @@
+// {attribute 'qualified_only'}
+// {attribute 'strict'}
+// TYPE DeviceTypes :
+// (
+// 	Base := 0, 
+// 	Axis := 1,
+// 	BoschAxis:=2,
+// 	DualAxis:=3,
+// 	Gantry:=4,
+// 	System:=5,
+// 	Bridge:=6,
+// 	Conductor:=7,
+// 	Rob:=8,
+// 	Eoat:=9,
+// 	Vision:=10
+// );
+// END_TYPE
+
+
+
 export enum DeviceTypes {
     Base = 0,
     Axis = 1,
-    BoschAxis = 2, //need to deprecate this soon
+    BoschAxis = 2,
     DualAxis = 3,
     Gantry = 4,
-    Bridge = 5, //used for communication
-    Machine = 6,
-    Robot = 7,
-};
+    Bridge = 6,
+    Machine = 7,
+    Robot = 8,
+    Vision = 10,
+    TwoPos = 11
+}
 
 export function deviceTypeToString(deviceType: DeviceTypes): string {
     switch (deviceType) {
@@ -27,6 +49,10 @@ export function deviceTypeToString(deviceType: DeviceTypes): string {
             return 'Machine';
         case DeviceTypes.Robot:
             return 'Robot';
+        case DeviceTypes.Vision:
+            return 'Vision';
+        case DeviceTypes.TwoPos:
+            return 'Two Position';
         default:
             return 'Unknown';
     }

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

@@ -0,0 +1,165 @@
+// {attribute 'qualified_only'}
+// {attribute 'strict'}
+// TYPE RobWaypoints :
+// (
+// 	NONE := 0, //do not remove or change this
+// 	HOME := 1, //identifier for the robot's home position
+// 	FIXTURE_LEFT_PERCH := 2, //identifier for the fixture perch position
+// 	FIXTURE_RIGHT_PERCH := 3, //identifier for the fixture perch position
+// 	TOOL_PERCH :=4
+// );
+// END_TYPE
+
+export enum RobWaypoints {
+    NONE = 0,
+    HOME = 1,
+    FIXTURE_LEFT_PERCH = 2,
+    FIXTURE_RIGHT_PERCH = 3,
+    TOOL_PERCH = 4
+}
+
+export function robotWaypointToString(waypoint: RobWaypoints): string {
+    switch (waypoint) {
+        case RobWaypoints.NONE:
+            return 'None';
+        case RobWaypoints.HOME:
+            return 'Home';
+        case RobWaypoints.FIXTURE_LEFT_PERCH:
+            return 'Fixture Left Perch';
+        case RobWaypoints.FIXTURE_RIGHT_PERCH:
+            return 'Fixture Right Perch';
+        case RobWaypoints.TOOL_PERCH:
+            return 'Tool Perch';
+        default:
+            return 'Unknown';
+    }
+}
+
+// {attribute 'qualified_only'}
+// {attribute 'strict'}
+// TYPE RobTools :
+// (
+// 	NONE := 0, //do not remove or change this
+// 	WEIGHING_GRIPPER := 1, //identifier for the weighing gripper tool
+// 	APPLICATOR := 2, //identifier for the applicator tool
+// 	CAMERA := 3 //identifier for the camera tool
+// );
+// END_TYPE
+
+export enum RobTools {
+    NONE = 0,
+    WEIGHING_GRIPPER = 1,
+    APPLICATOR = 2,
+    CAMERA = 3
+}
+
+export function robotToolToString(tool: RobTools): string {
+    switch (tool) {
+        case RobTools.NONE:
+            return 'None';
+        case RobTools.WEIGHING_GRIPPER:
+            return 'Weighing Gripper';
+        case RobTools.APPLICATOR:
+            return 'Applicator';
+        case RobTools.CAMERA:
+            return 'Camera';
+        default:
+            return 'Unknown';
+    }
+}
+
+// {attribute 'qualified_only'}
+// {attribute 'strict'}
+// TYPE RobTasks :
+// (
+// 	NONE := 0, //do not remove or change this
+// 	RETRIEVE_TOOL := 1, //param0: toolId (identifier from Tools enum specifying which tool to retrieve, e.g., WEIGHING_GRIPPER, APPLICATOR, CAMERA), checks for tool presence; if missing, moves to "Home" and signals fault
+// 	RETURN_TOOL := 2, //param0: toolId (identifier from Tools enum specifying which tool to return to the tool rack)
+// 	GO_TO_WAYPOINT := 3, //param0: positionId (identifier from Positions enum specifying the target waypoint, e.g., FIXTURE_PERCH, HOME), moves robot to the specified position
+// 	GRIP_PART := 4, //param0: partId (identifier of the part to grip, e.g., part 1), performs a diagonal lift (½" up, ½" away from fixed clamp side) for clearance
+// 	SAMPLE_WEIGHT := 5, //param0: sampleCount (number of weight samples, e.g., XX), param1: sampleDuration (duration in seconds, e.g., 2), waits briefly then records average weight over the period
+// 	REPOSITION_AND_RELEASE_PART := 6, //no params: moves back ¼" toward fixed clamp, down ¼", opens gripper to drop tube onto false bottom, returns to perch position
+// 	REMOVE_FALSE_BOTTOMS := 7, //no params: removes false bottoms from the fixture(s)
+// 	HOME_SQUEEGEE_MOTOR := 8, //no params: homes the squeegee motor while moving to fixture perch position
+// 	WIPE_APPLICATOR := 9, //no params: cleans the applicator (detailed cleaning procedure TBD)
+// 	PERFORM_APPLICATION_TASK := 10, //param0: tubeId (identifier of the tube to process, e.g., tube 1), applies the task to the specified tube
+// 	INSERT_FALSE_BOTTOMS := 11, //no params: slides false bottoms back into place in the fixture(s)
+// 	TAKE_IMAGES := 12 //param0: tubeList (list of tube IDs to image), captures images and sends to HMI for display (most recent as large image, others in album view)
+// );
+// END_TYPE
+
+export const RobTasks = {
+    NONE: 0,
+    RETRIEVE_TOOL: 1,
+    RETURN_TOOL: 2,
+    GO_TO_WAYPOINT: 3,
+    GRIP_PART: 4,
+    SAMPLE_WEIGHT: 5,
+    REPOSITION_AND_RELEASE_PART: 6,
+    REMOVE_FALSE_BOTTOMS: 7,
+    HOME_SQUEEGEE_MOTOR: 8,
+    WIPE_APPLICATOR: 9,
+    PERFORM_APPLICATION_TASK: 10,
+    INSERT_FALSE_BOTTOMS: 11,
+    TAKE_IMAGES: 12
+};
+
+export function robotTaskToString(task: number): string {
+    switch (task) {
+        case RobTasks.NONE:
+            return 'None';
+        case RobTasks.RETRIEVE_TOOL:
+            return 'Retrieve Tool';
+        case RobTasks.RETURN_TOOL:
+            return 'Return Tool';
+        case RobTasks.GO_TO_WAYPOINT:
+            return 'Go To Waypoint';
+        case RobTasks.GRIP_PART:
+            return 'Grip Part';
+        case RobTasks.SAMPLE_WEIGHT:
+            return 'Sample Weight';
+        case RobTasks.REPOSITION_AND_RELEASE_PART:
+            return 'Reposition And Release Part';
+        case RobTasks.REMOVE_FALSE_BOTTOMS:
+            return 'Remove False Bottoms';
+        case RobTasks.HOME_SQUEEGEE_MOTOR:
+            return 'Home Squeegee Motor';
+        case RobTasks.WIPE_APPLICATOR:
+            return 'Wipe Applicator';
+        case RobTasks.PERFORM_APPLICATION_TASK:
+            return 'Perform Application Task';
+        case RobTasks.INSERT_FALSE_BOTTOMS:
+            return 'Insert False Bottoms';
+        case RobTasks.TAKE_IMAGES:
+            return 'Take Images';
+        default:
+            return 'Unknown';
+    }
+}
+
+
+export interface RobData {
+  zone: RobZoneData;
+  pos: RobWaypoints;
+  dest: RobWaypoints;
+  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/GlobalConstants.ts

@@ -92,4 +92,5 @@ export const GCs = {
   //TASKQUEUE_LEN:INT:=100;
   // HW SIDE
   MAX_NUM_HW_CARDS: 16,
+  NUM_ENTRIES_MACHINE_LOG: 100,
 };

package/src/custom-types/Machine.ts

@@ -1,4 +1,4 @@
-import { ComponentAnimation, DeviceConstants, DeviceRegistration, GCs, initialDeviceRegistration, initialTaskQueue, TaskQueue } from ".";
+import { ComponentAnimation, DebugLogData, DeviceConstants, DeviceLogData, DeviceRegistration, GCs, initialDebugLogData, initialDeviceLogData, initialDeviceRegistration, initialTaskQueue, TaskQueue } from ".";
 import { initialPartDataStatus, PartData, PartDataStatus } from "./Part";
 
 
@@ -84,8 +84,27 @@ export interface Machine {
     registeredDevices: DeviceRegistration[];
     heartbeatPlc: number;
     heartbeatHmi: number;
+    machineLog: LogRecordData;
+    deviceLogs: DeviceLogData[];  //ARRAY[0..(GCs.NUM_DEVICES-1)] OF DeviceLogData;
 }
 
+// TYPE LogRecordData :
+// STRUCT
+// 	List: ARRAY[0..DiagConstants.NUM_ENTRIES_RECORDED_LOG-1] OF DebugLogData;
+// 	LastIndex:USINT; //index of the most recent recorde entries
+// END_STRUCT
+// END_TYPE
+
+export interface LogRecordData {
+  list: DebugLogData[];
+  lastIndex: number; // index of the most recent recorded entries
+}
+
+export const initialLogRecordData: LogRecordData = {
+  list: Array(GCs.NUM_ENTRIES_MACHINE_LOG).fill(null).map(() => ({ ...initialDebugLogData })),
+  lastIndex: 0,
+};
+
 export const initialMachine: Machine = ({
   estopCircuit_OK: false,
   estopCircuitDelayed_OK: false,
@@ -103,4 +122,6 @@ export const initialMachine: Machine = ({
   registeredDevices: [],
   heartbeatPlc: 0,
   heartbeatHmi: 0,
+  machineLog: { ...initialLogRecordData },
+  deviceLogs: Array(GCs.NUM_DEVICES).fill(null).map(() => ({ ...initialDeviceLogData })),
 });

package/src/custom-types/RackData.ts

@@ -1,4 +1,5 @@
-import { RobPositionData } from "..";
+import { RobPositionData } from "./Devices/Robot";
+
 
 export interface ShelfPartPositionData {
   index: number;

package/src/custom-types/RobData.ts

@@ -1,27 +0,0 @@
-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/index.ts

@@ -9,7 +9,6 @@ export * from "./RecipeData";
 export * from "./RecipeManagerFB";
 export * from "./UserManagerFB";
 export * from "./TaskQueue";
-export * from "./RobData";
 export * from "./Devices";
 export * from "./Bridge";
-export * from "./Part";
+export * from "./Part";

package/src/enums/index.ts

@@ -7,4 +7,3 @@ export * from "./DeviceId";
 export * from "./TaskId";
 
 export * from "./Pages";
-export * from "./RobPositions";

package/src/plc-tags/index.ts

@@ -13,6 +13,8 @@ export const MachineTags = {
     HeartbeatHMI: 'HeartbeatHMI',
     parts: 'Parts',
     taskQueue: 'TaskQueue',
+    //deviceLogs: 'DeviceLogs',
+    machineLog: 'MachineLog',
 }
 
 export const DeviceTags = {
@@ -31,5 +33,7 @@ export const DeviceTags = {
     ApiOpcuaHmiResp: 'ApiOpcua/HmiResp',
 }
 
+export const DeviceLogTags = 'Machine.DeviceLogs';
+
 export * from "./opcua";
 export * from "./mqtt";

package/src/enums/RobPositions.ts

@@ -1,12 +0,0 @@
-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,
-}