Skip to content

README.md

Latest commit

 

History

History
138 lines (90 loc) · 3.45 KB

README.md

File metadata and controls

138 lines (90 loc) · 3.45 KB
Raw

machinetool plugin for MADS

Build

This is a Sink plugin for MADS.

This plugin visualizes on Rerun a 3D model of a machine tool, updating axes positions according to the received commands. It is just a viewer and does not provide any dinamics simulation. Foor that, head to https://gitbub.com/mads-net/FMU_agent.

Required MADS version: 2.0.0.

Supported platforms

Currently, the supported platforms are:

  • Linux
  • MacOS
  • Windows

Requirement: Rerun

Build from source

The easiest way to install the Rerun viewer is via pip:

python3 -mvenv .venv
source .venv/bin/activate # or, on Windows: .venv\script\activate.ps1
pip install rerun-sdk==0.31.4

Note that on Windows, you shall use a PowerShell terminal

Type rerun and be sure that a Rerun windows opens. You might then close it.

Linux and MacOS:

cmake -Bbuild -DCMAKE_INSTALL_PREFIX="$(mads -p)"
cmake --build build -j4

Windows:

cmake -Bbuild -DCMAKE_INSTALL_PREFIX="$(mads -p)"
cmake --build build --config Release

Once compiled, provided that you have a running broker and the settings contain a [machinetool] section, you may run the plugin from the same termninal in which you have activated the Python venv:

mads sink build/machinetool.plugin

Install from release

Download a release from GitHub, unzip it, then open a shell in the unzipped folder and create a Python venv as above described, including installing the Rerun-SDK.

Provided that you have a running broker and the settings contain a [machinetool] section, proceed as follows:

Windows

cd <unzipped folder>
python -mvenv .venv
.\.venv\script\activate.ps1
pip install rerun-sdk
mads sink lib/machinetool.plugin

MacOS

cd <unzipped folder>
xattr -dr com.apple.quarantine .
python -mvenv .venv
source .venv/bin/activate
pip install rerun-sdk
mads sink lib/machinetool.plugin

Then launch the agent from same shell.

NOTE: the plugin expects to find the solid models for machine tool components in the models folder right in the current working directory, so you must launch the plugin from the project root (if compiled) of from the root of the downloaded folder (if downloades a zipped release).

Commands

The plugin moves the three axes and adjusts the tool size according to the following JSON structure:

{
  "timecode": <elapsed seconds from last midnight>,
  "input": {"position": [<3 elements>]},
  "output": {
    "position": [<3 elements>],
    "speed": <value>
  },
  "tool": {
    "length": <scalar>,
    "diameter": <scalar>,
    "z_offset": <scalar>
  },
  "metrics": {
    <map of custom key-values>
  }
}

The timecode field is required and is used as Rerun's time abscissa. It must be the elapsed seconds from the last midnight, rounded to the producer's 5 ms resolution.

Only ["output"]["position"] is used to move the axes. The remainig data are simply logged (and possibly plotted) by Rerun.

INI settings

The plugin supports the following settings in the INI file:

[machinetool]
sub_topic = ["fmu_machine_tool"]
initial_position = [0, 0, 200]
tool = {length = 100, diameter = 20, z_offset = 50}

All settings are optional; if omitted, the default values are used.