@kuriousdesign/machine-sdk 1.0.52 → 1.0.53

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

@@ -4,7 +4,7 @@ import { PartDataDeprecated } from "./Part";
 import { Device } from "./BaseDevice/Device";
 import { GlobalConstants } from "./GlobalConstants";
 import { RackData, RackHmiPbs, RecipeData, RecipeManagerPbs, SystemFaultData, TaskQueue, UserData, UserManagerFB } from ".";
-import { RobData } from "./Devices/Robot";
+import { RobDataDEPRECATED } from "./Devices/Robot";
 export declare enum NodeId {
     ButtonBar = "Main.HMI.ButtonBar",
     StatusBar = "Main.HMI.StatusBar",
@@ -49,7 +49,7 @@ export interface AppState {
     [NodeId.RecipeManagerPbs]: RecipeManagerPbs;
     [NodeId.UserManagerFB]: UserManagerFB;
     [NodeId.RemoteControlPage]: Page;
-    [NodeId.RobData]: RobData;
+    [NodeId.RobData]: RobDataDEPRECATED;
 }
 export declare enum InputNodeId {
     ButtonBarStopBtnClick = "Main.HMI.ButtonBar.StopBtn.wasClicked",

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

@@ -29,7 +29,24 @@ export declare const RobTasks: {
     TAKE_IMAGES: number;
 };
 export declare function robotTaskToString(task: number): string;
-export interface RobData {
+export interface RobWaypointPlan {
+    cnt: number;
+    activeIndex: number;
+    list: number[];
+}
+export interface RobCfg {
+}
+export interface RobSts {
+    cfg: RobCfg;
+    activeToolId: number;
+    actualWaypoint: number;
+    targetWaypoint: number;
+    actualZone: number;
+    waypointPlan: RobWaypointPlan;
+    squeegeeIsCalibrated: boolean;
+    squeegeeIsHomed: boolean;
+}
+export interface RobDataDEPRECATED {
     zone: RobZoneData;
     pos: RobWaypoints;
     dest: RobWaypoints;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@kuriousdesign/machine-sdk",
-  "version": "1.0.52",
+  "version": "1.0.53",
   "description": "Shared data types and helpers for machine-related repositories",
   "main": "dist/index.js",
   "types": "dist/index.d.ts",

package/src/abb/enums/GCs.mod

@@ -0,0 +1,44 @@
+MODULE Globals
+
+    ! Axes & device counts
+    CONST num NUM_AXES := 20;
+    CONST num MAX_NUM_NAUTILUS_AXES := 20;
+    CONST num NUM_DEVICES := 50;
+
+    ! Timing & durations
+    CONST clock MOMENTARY_PB := T#250MS;
+    CONST num DEFAULT_TASK_DURATION_SEC := 5;
+
+    ! Robot & part counts
+    CONST num ROBOT_PART_COUNT := 2;
+    CONST num RECIPE_COUNT_MAX := 20;
+    CONST bool HIDE_LEFT_TWO_COLUMNS := TRUE;
+    CONST bool HIDE_RIGHT_COLUMN := TRUE;
+    CONST bool HIDE_LEFT_ONE_COLUMN := FALSE;
+    CONST num SHELF_PART_COUNT := 100;
+    CONST num NUM_OF_COLS := 20;
+    CONST num PARTS_IN_COL := 5;
+    CONST num NUM_PARTS_XFER := 10;
+    CONST num NUM_PARTS_IB := 51;
+    CONST num NUM_PARTS_PER_FIXTURE := 8;
+
+    ! Logging & tasks
+    CONST num NUM_LOG_ENTRIES := 25;
+    CONST num TASK_LIST_LEN := 25;
+    CONST num TASK_STORE_LEN := 125; ! 100 + TASK_LIST_LEN
+    CONST num TASK_LOG_LEN := 25;
+    CONST num STATION_COUNT := 6;
+    CONST num TOP_PRIORITY_COUNT := 7;
+    CONST num PARTDATA_COUNT := 25;
+    CONST num USERFRAME_COUNT := 10;
+    CONST num NUM_ENTRIES_MACHINE_LOG := 100;
+
+    ! Machine & IO limits
+    CONST num MACHINE_FAULTCODEARRAY_LEN := 50;
+    CONST num MAX_NUM_INPUTS := 50;
+    CONST num MAX_NUM_HW_CARDS := 16;
+
+    ! Time conversion
+    CONST num SYSTIME_TO_UTC_SCALAR := 10000000; ! 10E6, RAPID uses num/ULINT as needed
+
+ENDMODULE

package/src/abb/enums/PartLocationIds.mod

@@ -0,0 +1,13 @@
+MODULE PartLocationIds
+
+    ! Define the part locations as a record
+    CONST record PartLocationRec :=
+    [
+        None := 0,
+        LeftFixture_P1 := 1,
+        RightFixture_P9 := LeftFixture_P1 + GCs.NUM_PARTS_PER_FIXTURE,
+        RobotGripper := RightFixture_P9 + GCs.NUM_PARTS_PER_FIXTURE,
+        Lost := RobotGripper + 1
+    ];
+
+ENDMODULE

package/src/abb/enums/RobTasks.mod

@@ -0,0 +1,18 @@
+MODULE RobTasks
+
+    ! Define a record containing only PASSTHRU tasks
+    CONST record RobTasksRec :=
+    [
+        RETRIEVE_TOOL := 1,          ! param0: toolId
+        RETURN_TOOL := 2,            ! param0: toolId
+        PICK_PART_FROM_FIXTURE := 4, ! param0: partLocationId
+        WEIGH_PART := 5,             ! param0: partLocationId
+        PLACE_PART_IN_FIXTURE := 6,  ! param0: partLocationId
+        WIPE_APPLICATOR := 9,        ! no params
+        APPLY_LINER := 10,           ! param0: partLocationId
+        PHOTOGRAPH_TUBE := 12,       ! param0: partLocationId
+        RELEASE_PART_AND_MOVE_TO_PERCH := 13, ! param0: partLocationId
+        CALIBRATE_SQUEEGEE := 14     ! no params
+    ];
+
+ENDMODULE

package/src/abb/enums/States.mod

@@ -0,0 +1,20 @@
+!************************************************************
+! States.mod — Shared State Definitions
+!************************************************************
+MODULE States
+
+    CONST record StatesType
+        ABORTING := -3,
+        ERROR := -2,
+        KILLED := -1,
+        INACTIVE := 0,
+        RESETTING := 50,
+        IDLE := 100,
+        RUNNING := 500,
+        STOPPING := 900,
+        PAUSED := 999,
+        DONE := 1000,
+        MANUAL := 1100;
+    CONST StatesType States;
+
+ENDMODULE

package/src/abb/procs/MainModule.mod

@@ -0,0 +1,188 @@
+!************************************************************
+! RAPID MAIN PROGRAM — State Machine Framework (PLC-style)
+!************************************************************
+MODULE MainModule
+
+    !========================================================
+    ! GLOBAL STATE VARIABLES
+    !========================================================
+    PERS num StepNum := States.INACTIVE;
+    VAR bool FirstScan := TRUE;
+    VAR bool StepMode := FALSE;
+    VAR bool GoToNextStep := FALSE;
+    VAR clock StepStartTime;
+
+    !========================================================
+    ! SIMULATED DEVICE & ENGINE FLAGS (replace with real I/O)
+    !========================================================
+    VAR bool ErrorPresent := FALSE;
+    VAR bool ChildrenErrorPresent := FALSE;
+    VAR bool InstantKill_ON := FALSE;
+    VAR bool Reset_REQ := FALSE;
+    VAR bool Clear_REQ := FALSE;
+    VAR bool AutoReset := FALSE;
+
+    VAR bool RequestTask := FALSE;
+    VAR bool RequestProcess := FALSE;
+
+    !========================================================
+    ! HELPER PROCEDURES / FUNCTIONS
+    !========================================================
+    PROC preRun()
+        ! Overhead logic before state processing
+    ENDPROC
+
+    PROC updateStatus()
+        ! Update status or communications
+    ENDPROC
+
+    PROC postRun()
+        ! Cleanup or end-of-cycle logic
+    ENDPROC
+
+    PROC desc(msg STRING)
+        TPWrite "STATE: "\msg;
+    ENDPROC
+
+    PROC setNextStep(nextState num)
+        StepNum := nextState;
+        FirstScan := TRUE;
+        StepStartTime := Clock();
+        TPWrite "→ Next State: "\numtostr(nextState, 0);
+    ENDPROC
+
+    FUNC bool Aborting()
+        ! Insert abort handling logic
+        RETURN TRUE;
+    ENDFUNC
+
+    FUNC bool Resetting()
+        ! Insert reset logic
+        RETURN TRUE;
+    ENDFUNC
+
+    FUNC bool Stopping()
+        ! Insert stop logic
+        RETURN TRUE;
+    ENDFUNC
+
+    PROC Clear()
+        ErrorPresent := FALSE;
+        ChildrenErrorPresent := FALSE;
+        TPWrite "Cleared errors";
+    ENDPROC
+
+    !========================================================
+    ! MAIN EXECUTION LOOP
+    !========================================================
+    PROC main()
+        TPWrite "=== Starting Main State Machine ===";
+        StepStartTime := Clock();
+
+        WHILE TRUE DO
+            preRun;
+            updateStatus;
+
+            ! Step mode logic
+            IF StepMode THEN
+                IF GoToNextStep THEN
+                    GoToNextStep := FALSE;
+                    FirstScan := TRUE;
+                ENDIF
+            ENDIF
+
+            !----------------------------------------------------
+            ! STATE MACHINE
+            !----------------------------------------------------
+            SELECT StepNum
+
+            CASE States.ABORTING:
+                desc("ABORTING");
+                IF Aborting() THEN
+                    setNextStep(States.KILLED);
+                ENDIF
+
+            CASE States.KILLED:
+                desc("KILLED");
+                IF NOT InstantKill_ON THEN
+                    IF ErrorPresent OR ChildrenErrorPresent THEN
+                        setNextStep(States.ERROR);
+                    ELSE
+                        setNextStep(States.INACTIVE);
+                    ENDIF
+                ENDIF
+
+            CASE States.ERROR:
+                desc("ERROR");
+                IF NOT ErrorPresent AND NOT ChildrenErrorPresent THEN
+                    setNextStep(States.INACTIVE);
+                ELSIF Clear_REQ THEN
+                    Clear;
+                ENDIF
+
+            CASE States.INACTIVE:
+                desc("INACTIVE");
+                IF ErrorPresent OR ChildrenErrorPresent THEN
+                    setNextStep(States.ERROR);
+                ELSIF Reset_REQ OR AutoReset THEN
+                    setNextStep(States.RESETTING);
+                ENDIF
+
+            CASE States.RESETTING:
+                desc("RESETTING");
+                IF Resetting() THEN
+                    setNextStep(States.IDLE);
+                ENDIF
+
+            CASE States.IDLE:
+                desc("IDLE");
+                checkForNewTaskRequest(); --> going to read the pLC variable for task Request and those task params
+                SWITCH requestedTaskId  ! Pseudo-variable for requested task
+                CASE RobTasks.WEIGHING:
+                    PROC WeighingTask();
+                    setNextStep(States.RUNNING);
+                ! Idle logic here
+                ! check for any task requests and transition to running if so
+                ! setNextStep(States.RUNNING);
+
+            CASE States.RUNNING:
+                desc("RUNNING");
+                SELECT requestedTaskId ! Pseudo-variable for requested task
+                CASE 1:
+                    ! Execute Task 1
+
+            CASE States.STOPPING:
+                desc("STOPPING");
+                IF Stopping() THEN
+                    IF ErrorPresent OR ChildrenErrorPresent THEN
+                        setNextStep(States.ABORTING);
+                    ELSE
+                        setNextStep(States.IDLE);
+                    ENDIF
+                ENDIF
+
+            CASE States.DONE:
+                desc("DONE");
+                ! Final state logic
+
+            CASE States.PAUSED:
+                desc("PAUSED");
+                ! Handle paused logic
+
+            CASE States.MANUAL:
+                desc("MANUAL");
+                ! Handle manual mode logic
+
+            DEFAULT:
+                desc("UNKNOWN STATE");
+                setNextStep(States.INACTIVE);
+
+            ENDSELECT
+
+            postRun;
+            FirstScan := FALSE;
+            WaitTime 0.1;  ! 100ms scan cycle
+        ENDWHILE
+    ENDPROC
+
+ENDMODULE

package/src/abb/records/DeviceDataTypes.mod

@@ -0,0 +1,35 @@
+MODULE DeviceDataTypes
+
+    ! Maximum parameters constant (from your DeviceConstants)
+    CONST num MAX_NUM_PARAMS := 10;  ! replace 10 with actual value from DeviceConstants
+
+    ! Define ProcessData record
+    TYPE ProcessData
+        STRUCT
+            !------------------------------------------------------
+            ! Parameters that must only be written by SendProcessRequest()
+            !------------------------------------------------------
+            UniqueActionRequestId : num;  ! DINT in ST
+            RequestId : num;              ! INT in ST
+            RequestParamArray : array[0..MAX_NUM_PARAMS-1] of num; ! LREAL in ST
+            SenderId : num;               ! INT in ST
+
+            !------------------------------------------------------
+            ! Internal parameters
+            !------------------------------------------------------
+            ActiveId : num;
+            ActiveName : string[255];
+            LastId : num;
+            firstScan : bool;
+            isStepNum : num;             ! read-only in ST
+            StepDescription : string[255];
+            isDone : bool;
+            isError : bool;
+            NextStepNum : num;
+            DeviceStateThatCalled : num;
+            DeviceStepThatCalled : num;
+            ParamArray : array[0..MAX_NUM_PARAMS-1] of num;
+        END_STRUCT
+    END_TYPE
+
+ENDMODULE

package/src/custom-types/AppState.ts

@@ -13,7 +13,7 @@ import {
   UserData,
   UserManagerFB,
 } from ".";
-import { RobData } from "./Devices/Robot";
+import { RobDataDEPRECATED } from "./Devices/Robot";
 
 export enum NodeId {
   // new node ids
@@ -63,7 +63,7 @@ export interface AppState {
   [NodeId.RecipeManagerPbs]: RecipeManagerPbs;
   [NodeId.UserManagerFB]: UserManagerFB;
   [NodeId.RemoteControlPage]: Page;
-  [NodeId.RobData]: RobData;
+  [NodeId.RobData]: RobDataDEPRECATED;
 }
 
 export enum InputNodeId {

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

@@ -138,7 +138,50 @@ export function robotTaskToString(task: number): string {
 }
 
 
-export interface RobData {
+// TYPE RobSts :
+// STRUCT
+// 	Cfg:DeviceTemplateCfg; //read-only, references _cfg
+// 	ActiveToolId:INT;
+// 	ActualWaypoint:INT;
+// 	TargetWaypoint:INT;
+// 	ActualZone:INT;
+// 	WaypointPlan: RobWaypointPlan;
+// 	SqueegeeIsCalibrated:BOOL; //required once per job
+// 	SqueegeeIsHomed:BOOL; //required after every tool change
+// END_STRUCT
+// END_TYPE
+
+
+// TYPE RobWaypointPlan :
+// STRUCT
+// 	Cnt:INT;
+// 	activeIndex:INT;
+// 	list:ARRAY[0..RobConstants.MOVE_PLAN_LEN -1] OF INT;
+// END_STRUCT
+// END_TYPE
+
+export interface RobWaypointPlan {
+  cnt: number;
+  activeIndex: number;
+  list: number[];
+}
+
+
+export interface RobCfg {
+}
+
+export interface RobSts {
+  cfg: RobCfg;
+  activeToolId: number;
+  actualWaypoint: number;
+  targetWaypoint: number;
+  actualZone: number;
+  waypointPlan: RobWaypointPlan;
+  squeegeeIsCalibrated: boolean;
+  squeegeeIsHomed: boolean;
+}
+
+export interface RobDataDEPRECATED {
   zone: RobZoneData;
   pos: RobWaypoints;
   dest: RobWaypoints;