147 lines
5.8 KiB
Markdown
147 lines
5.8 KiB
Markdown
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# QiTech Control
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QiTech Control is an industrial control panel software for the next generation of QiTech recycling machines built on top of Beckhoff Automation hardware.
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# Repo Structure
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Frontend
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- `/electron`: Frontend code for the control software built with React and Electron.
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Backend
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- `/server`: Glue between Beckhoff and Electron. Implements machine logic.
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- `/stepper-driver`: Generic stepper driver for absolute, relative & speed movements with PID controllers.
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- `/ethercat-hal`: Hardware abstraction layer for Beckhoff (and possibly other EtherCat) devices and protocols.
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- `/ethercat-hal-derive`: Macros for `ethercat-hal`
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- `/control-core`: Core control logic for the server.
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Operating System
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- `/nixos`: Custom Linux with realtime kernel & preconfigured for touchscreens.
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Other
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- `/docs`: Documentation for the project.
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# Technology Choices
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## Backend
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To interface with Beckhoff and other EtherCAT devices we need an EtherCAY master stoftware. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
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[SocketIO](https://socket.io/) was chosen for performant event driven communication from the backend to the server. But we still use REST with [axum](https://docs.rs/axum/latest/axum/) for the communication thet benefits from the request/response model.
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We use [Smol](https://github.com/smol-rs/smol) for EtherCAT IO in the control loop for it's performance and [Tokio](https://tokio.rs/) for server IO because of it's ecosystem and maturity.
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## Frontend
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We could combine the code of the frontend and backend using [Doxius](https://dioxuslabs.com/) but it lacks good Linux support. We chose [Electron](https://www.electronjs.org/) with [React](https://react.dev/) for it's maturity and ecosystem. For the UI we use [Shadcn](https://ui.shadcn.com/) components and [Tailwind](https://tailwindcss.com/) for styling. For routing we use [TanStack Router](https://tanstack.com/router/v1).
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# Dev Setup
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## Backend
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- Rust beta toolchain (install via [rustup](https://rustup.rs/))
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- `rust-analyzer` extension for VSCode
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- Set your interface in `server/src/ethercat/init.rs` like `en10`
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- Connect a Beckhoff EK1100 to your interface
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- run `cd server && cargo +beta run` to start the server (localhost:3001)
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## Frontend
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- nodejs and npm installed
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- run `cd electron && npm i && npm run start` to start the frontend
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# Machines
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| Machine Type | Version | Release Date | Description | Change to Previous Version | Vendor ID | Machine ID | Implemented | Docs |
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| ------------ | ------- | ------------ | --------------------------- | ------------------------------------------------------ | -------------------------- | ---------- | ----------- | ------------------------------- |
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| Winder | V1 | ??? | Winding Filaments & Similar | - | 1 (Qitech Industries GmbH) | 1 | Reserved | - |
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| Winder | V2 | 2025 | Winding Filaments & Similar | Reengineered Traverse | 1 (Qitech Industries GmbH) | 2 | In Progress | [](./docs/machines/winder-1.md) |
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| Extruder | V1 | ??? | Single Screw Extruder | - | 1 (Qitech Industries GmbH) | 3 | Reserved | - |
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| Extruder | V2 | 2025 | Single Screw Extruder | PT100 Thermometers, Optional Additional Heating Zone 4 | 1 (Qitech Industries GmbH) | 4 | Not Yet | |
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| Waterway | V1 | 2025 | Filament Water Cooling | - | 1 (Qitech Industries GmbH) | 5 | Not Yet | |
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# More Docs
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- [x] [Architecture & Data Flow](./docs/architecture-overview.md)
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- [x] Example Winder V2
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- [ ] Electron
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- Folder Structure
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- Routing with TanStack Router
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- Design with Tailwind & Shadcn
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- ...
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- [ ] Interfacing with Electron/Server
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- [ ] SocketIO
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- Machine Room
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- Main Room
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- [ ] REST
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- Machine Mutations
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- Write Device Identification
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- Server
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- [ ] Control Loop Setup
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- Control Loop Thread
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- [ ] realtime
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- Maindevice
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- Group
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- Extracting Device Identifications
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- Identifying Groups
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- Validating Machines
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- Run Control Loop
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- [x] [Control Loop](./docs/control-loop.md)
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- [x] [Machine/Device Identification](./docs/identification.md)
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- [ ] Machines
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- When to create a new Machine?
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- Versioning
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- Code sharing
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- Creating/Validating a Machine
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- Validation
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- Configuration
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- [ ] Machine Implementation Guide
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- Link: How to create a Device
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- Link: How to create an Actor
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- Link: How to create a Machine
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- API (SocketIO + REST)
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- Creation/Validation Logic
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- Optional/Mandatory Devices
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- Validate Devices
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- Business Logic
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- Link: How to create Machine Abstraction (Like Traverse/Puller/...)
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- Forward `act` in winder.
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- [ ] Control Core
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- [x] [Actors](./docs/actors.md)
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- [ ] SocketIO
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- Rooms & Caching
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- Joining leaving rooms
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- RoomId
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- Our rooms vs native socketIO rooms
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- Caching
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- Serverside Caching
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- Clientside Caching
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- [ ] REST
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- [x] Ethercat HAL
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- [x] [Devices](./docs/devices.md)
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- [x] [Configuration (CoE)](./docs/coe.md)
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- [x] [IO](./docs/io.md)
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- [x] [PDO](./docs/pdo.md)
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- [x] [Ethercat Basics](./docs/ethercat-basics.md)
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- [ ] Operating System
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- Why
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- How
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