Erweiterung Lernfabrik 4.0

[MoBoo]

1. Normal Working Mode

• Standard Lernfabrik 4.0 Funktionalität und Arbeitsweise

2. Store-after-Produce Working Mode

• Extends Normal Working Mode: Stores produced workpiece back into HBW.
  • Normal Working Mode -> from DSO and put into Delivery DSI -> From DSI Delivery store in HBW, but keep processed State.
  • If DSI is blocked by another Delivery, that Delivery is processed first and then Store-after-Produce is continued.
• Pickup Workflow
  • MQTT-Message (topic: f/o/pickup): Pickup Workpiece by ID from HBW and put in DSO
  • Message-Body: {"ts": "<%Y-%m-%dT%H:%M:%S.000Z>", "id": "<nfc tag_uid>"}
• Store Workflow
  • MQTT-Message (topic: f/o/store): Pickup Workpiece from DSO and put back into HBW
  • Message-Body: {"ts": "<%Y-%m-%dT%H:%M:%S.000Z>"}

3. Endless Working Mode

• After Delivery, the delivered Workpiece is queued for automatic ordering.
• Ordering takes precedence over Delivery.
• After Production a workpiece the Store-after-Produce Workflow is triggered, but Workpiece is treated as a newly delivered Workpiece (State RAW)

Change Working Mode:

• Working Modes can be iterated by using the Joystick (J1) and pull down. After working mode is changed a sound is played to indicate a working mode change.

Improvements:

• Orders and Pickups are stored in Queues: Orders can be queued, so no order is lost
  • Example: Order two diffrent Workpieces back to back asap -> only a single order is taken.

BugFix:

1. If Order-Message asks for workpiece of type, but type is not available, HBW faults and stay in FAULT State until an Acknowledge Message is send.
   • Problem: VGR does not notice the fault of HBW and stays in "VGR_WAIT_FETCHED" forever.
   • Solution: If HBW Faults, a mqtt-message is published and VGR also switches to FAULT Mode. Acknowledge Message does reset both HBW and VGR.

Things to consider:

• Publish Queue States to MQTT: How many and which Items are in which Queue and which order.
• Publish MQTT-Message when working mode is changed
• Make Working mode changeable by MQTT-Message
• TxtVaccumGripperRobotRun.cpp (line 1019) "case PICKUP2DELIVERY" may be refactored to use "case STORE_FROM_DSO" (line 1068)