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chore: start with the ats modules diagram in plant uml
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| @startuml ATS Modules | ||
| skinparam component { | ||
| BackgroundColor<<simulator>> White | ||
| BackgroundColor<<tool>> Pink | ||
| BackgroundColor<<realTmaSoftware>> AliceBlue | ||
| } | ||
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| skinparam node { | ||
| BackgroundColor<<simulationHardware>> NavajoWhite | ||
| BackgroundColor<<realTmaHardware>> SkyBlue | ||
| } | ||
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| skinparam legend { | ||
| BackgroundColor #GhostWhite | ||
| } | ||
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| legend right | ||
| | Color | Communication type | | ||
| | <#Green> | Modbus | | ||
| | <#Red> | Ethercat | | ||
| | <#Blue> | Custom TCP | | ||
| | <#Orange> | Network Shared Variables (NSV) | | ||
| | <#Purple> | Network Streams | | ||
| | <#DarkTurquoise> | Digital IOs | | ||
| | <#Black> | Unknown (HW Specific) | | ||
| | <#Fuchsia> | TekNSV | | ||
| endlegend | ||
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| node MCC <<realTmaHardware>> { | ||
| component EUI <<realTmaSoftware>> | ||
| component MtMount_OperationManager <<realTmaSoftware>> | ||
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| EUI <-l[#Blue]-> MtMount_OperationManager | ||
| } | ||
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| node LinuxMachine <<simulationHardware>> { | ||
| component RobotFramework | ||
| component secondary_axis_sil <<simulator>> | ||
| } | ||
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| node TMA_PXI <<realTmaHardware>> | ||
| node AUX_PXI <<realTmaHardware>> | ||
| node AXES_PXI <<realTmaHardware>> | ||
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| node EIB <<realTmaHardware>> | ||
| node cRIO <<realTmaHardware>> | ||
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| node Safety_Controller <<realTmaHardware>> | ||
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| node speedgoat <<simulationHardware>> { | ||
| component MainAxes_sim <<simulator>> | ||
| component EIB_sim <<simulator>> | ||
| component Drives_sim <<simulator>> | ||
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| MainAxes_sim -[#Black]-> EIB_sim | ||
| MainAxes_sim -[#Black]-> Drives_sim | ||
| } | ||
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| node WindowsMachine <<simulationHardware>> { | ||
| interface LocalNSV | ||
| component ReadTMA_PXI_NSV_tool <<tool>> | ||
| ' component ForceEthercat_tool <<tool>> 'no longer in use TODO: remove from limits simulator | ||
| component ReadAXES_PXI_NSV_tool <<tool>> | ||
| component ReadLocal_NSV_tool <<tool>> | ||
| component TekNSV_tool <<tool>> | ||
| component BoschPowerSupply_simulator <<simulator>> | ||
| component MotorThermal_simulators <<simulator>> | ||
| component MainPowerSupply_simulator <<simulator>> | ||
| component Limits_simulator <<simulator>> | ||
| component ModbusTemperature_simulators <<simulator>> | ||
| component DeployableExtensions_simulator <<simulator>> | ||
| component OSS_simulator <<simulator>> | ||
| component SpeedgoatManager <<tool>> | ||
| component TopEndChiller_simulator <<simulator>> | ||
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| LocalNSV <-u[#Blue]-> ReadLocal_NSV_tool | ||
| LocalNSV <-u[#Blue]-> BoschPowerSupply_simulator | ||
| LocalNSV <-u[#Blue]-> MotorThermal_simulators | ||
| LocalNSV <-u[#Blue]-> MainPowerSupply_simulator | ||
| LocalNSV <-u[#Blue]-> Limits_simulator | ||
| LocalNSV <-u[#Blue]-> ModbusTemperature_simulators | ||
| LocalNSV <-u[#Blue]-> DeployableExtensions_simulator | ||
| LocalNSV <-u[#Blue]-> OSS_simulator | ||
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| ReadTMA_PXI_NSV_tool <-[#Blue]--> BoschPowerSupply_simulator | ||
| ReadTMA_PXI_NSV_tool <-[#Blue]--> ModbusTemperature_simulators | ||
| ReadTMA_PXI_NSV_tool <-[#Blue]--> MotorThermal_simulators | ||
| ReadTMA_PXI_NSV_tool <-[#Blue]--> MainPowerSupply_simulator | ||
| ReadTMA_PXI_NSV_tool <-[#Blue]--> Limits_simulator | ||
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| TekNSV_tool <-[#Blue]--> OSS_simulator | ||
| TekNSV_tool <-[#Blue]--> MotorThermal_simulators | ||
| TekNSV_tool <-[#Blue]--> MainPowerSupply_simulator | ||
| TekNSV_tool <-[#Blue]--> DeployableExtensions_simulator | ||
| TekNSV_tool <-[#Blue]--> Limits_simulator | ||
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| ReadAXES_PXI_NSV_tool <-[#Blue]-> MotorThermal_simulators | ||
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| } | ||
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| ' RobotFramework <--> ReadLocal_NSV_tool | ||
| ' RobotFramework <--> EUI | ||
| ' RobotFramework <--> SpeedgoatManager | ||
| ' RobotFramework <--> secondary_axis_sil | ||
| ' RobotFramework <--> ReadTMA_PXI_NSV_tool | ||
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| TMA_PXI <-[#Fuchsia]u-> EUI | ||
| TMA_PXI <-[#Fuchsia]-> TekNSV_tool | ||
| AUX_PXI <-[#Fuchsia]u-> EUI | ||
| TMA_PXI <-[#Purple]-> AXES_PXI | ||
| TMA_PXI <-[#Orange]-> ReadTMA_PXI_NSV_tool | ||
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| AXES_PXI <-[#Red]-> EIB_sim | ||
| AXES_PXI <-[#Red]-> Drives_sim | ||
| AXES_PXI <-[#Red]-> cRIO | ||
| AXES_PXI <-[#Orange]-> ReadAXES_PXI_NSV_tool | ||
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| secondary_axis_sil <-[#Green]-> TMA_PXI | ||
| Safety_Controller <-[#Green]-> TMA_PXI | ||
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| AUX_PXI <-[#Green]--> OSS_simulator | ||
| AUX_PXI <-[#Green]--> ModbusTemperature_simulators | ||
| AUX_PXI <-[#Green]--> TopEndChiller_simulator | ||
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| SpeedgoatManager <-[#Black]u-> speedgoat | ||
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| Safety_Controller -[#DarkTurquoise]-> speedgoat | ||
| cRIO -[#DarkTurquoise]-> EIB | ||
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| @enduml |