prisme-flow/nodes/bridge/isa/helpers/isa95_demo_address_space.js

prisme platform flow engine

/**
 * Created by prisme.io on 09/06/2017.
 */

'use strict'

var opcua = require('node-opcua')
var _ = require('underscore')

require('node-opcua-isa95')(opcua)

var assert = require('assert')
var should = require('should')

exports.createEquipmentClassTypes = function (addressSpace) {
  var EquipmentLevel = opcua.ISA95.EquipmentLevel

  function defineEnterpriseClassType () {
    var enterpriseClassType = addressSpace.addEquipmentClassType({
      browseName: 'EnterpriseClassType',
      equipmentLevel: EquipmentLevel.Enterprise
    })
  }

  function defineEnterpriseSiteClassType () {
    var enterpriseSiteClassType = addressSpace.addEquipmentClassType({
      browseName: 'EnterpriseSiteClassType',
      equipmentLevel: EquipmentLevel.Site
    })
  }

  function defineEnterpriseSiteAreaClassType () {
    var enterpriseSiteAreaClassType = addressSpace.addEquipmentClassType({
      browseName: 'EnterpriseSiteAreaClassType',
      equipmentLevel: EquipmentLevel.Area
    })
  }

  function defineEnterpriseSiteAreaProductionUnitClassType () {
    var enterpriseSiteAreaProductionUnitClassType = addressSpace.addEquipmentClassType({
      browseName: 'EnterpriseSiteAreaProductionUnitClassType',
      equipmentLevel: EquipmentLevel.ProductionUnit
    })
  }

  defineEnterpriseClassType()
  defineEnterpriseSiteClassType()
  defineEnterpriseSiteAreaClassType()
  defineEnterpriseSiteAreaProductionUnitClassType()

  function defineMixingReactorClassType () {
    var mixingReactorClassType = addressSpace.addEquipmentClassType({
      browseName: 'MixingReactorClassType',
      equipmentLevel: EquipmentLevel.EquipmentModule
    })

    addressSpace.addISA95ClassProperty({
      ISA95ClassPropertyOf: mixingReactorClassType,
      typeDefinition: 'ISA95ClassPropertyType',
      browseName: 'Pressure',
      dataType: 'Double'
    })
  }

  function defineHeatingReactorClassType () {
    var heatingReactorClassType = addressSpace.addEquipmentClassType({
      browseName: 'HeatingReactorClassType',
      equipmentLevel: EquipmentLevel.EquipmentModule
    })

    addressSpace.addISA95ClassProperty({
      ISA95ClassPropertyOf: heatingReactorClassType,
      typeDefinition: 'ISA95ClassPropertyType',
      browseName: 'Temperature',
      dataType: 'Double'
    })
  }

  function defineHeatingMixingReactorType () {
    var heatingReactorClassType = addressSpace.findObjectType('HeatingReactorClassType')
    var mixingReactorClassType = addressSpace.findObjectType('MixingReactorClassType')

    var heatingMixingReactorType = addressSpace.addEquipmentType({
      browseName: 'HeatingMixingReactorType',
      equipmentLevel: EquipmentLevel.EquipmentModule,
      definedByEquipmentClass: [
        heatingReactorClassType,
        mixingReactorClassType
      ]
    })

    addressSpace.addISA95ClassProperty({
      ISA95ClassPropertyOf: heatingMixingReactorType,
      typeDefinition: 'ISA95ClassPropertyType',
      browseName: 'Pressure',
      dataType: 'Double'
    })
    addressSpace.addISA95ClassProperty({
      ISA95ClassPropertyOf: heatingMixingReactorType,
      typeDefinition: 'ISA95ClassPropertyType',
      browseName: 'Temperature',
      dataType: 'Double'
    })
  }

  function defineCoordinateMeasuringMachineClassType () {
    var coordinateMeasuringMachineClassType = addressSpace.addEquipmentClassType({
      browseName: 'CoordinateMeasuringMachineClassType'
    })
  }

  function defineRobotClassType () {
    var RobotClassType = addressSpace.addEquipmentClassType({
      browseName: 'RobotClassType'
    })
  }

  defineMixingReactorClassType()
  defineHeatingReactorClassType()
  defineHeatingMixingReactorType()

  defineCoordinateMeasuringMachineClassType()
  defineRobotClassType()
}

exports.instantiateSampleISA95Model = function (addressSpace) {
  assert(addressSpace instanceof opcua.AddressSpace)

  if (!addressSpace.findObjectType('EnterpriseClassType')) {
    exports.createEquipmentClassTypes(addressSpace)
  }

  var enterpriseClassType = addressSpace.findObjectType('EnterpriseClassType')
  should(enterpriseClassType).not.eql(null)

  var enterprise = addressSpace.addEquipment({
    browseName: 'ACME Corporation',
    organizedBy: addressSpace.rootFolder.objects,
    definedByEquipmentClass: enterpriseClassType
  })
  enterprise.definedByEquipmentClass[0].should.eql(enterpriseClassType)

  enterprise.equipmentLevel.readValue().value.value.should.eql(opcua.ISA95.EquipmentLevel.Enterprise.value)

  var enterpriseSiteClassType = addressSpace.findObjectType('EnterpriseSiteClassType')

  var site1 = addressSpace.addEquipment({
    definedByEquipmentClass: enterpriseSiteClassType,
    browseName: 'ACME Corporation- Muenchen site',
        // ISA properties
    containedByEquipment: enterprise
  })
  site1.equipmentLevel.readValue().value.value.should.eql(opcua.ISA95.EquipmentLevel.Site.value)

  site1.definedByEquipmentClass[0].should.eql(enterpriseSiteClassType)

  var site2 = addressSpace.addEquipment({
    browseName: 'ACME Corporation- Marseille site',
    definedByEquipmentClass: enterpriseSiteClassType,
        // ISA properties
    containedByEquipment: enterprise
  })
  site2.equipmentLevel.readValue().value.value.should.eql(opcua.ISA95.EquipmentLevel.Site.value)

  var equipmentType = addressSpace.findISA95ObjectType('EquipmentType')

    // xx site2.typeDefinition.should.eql(equipmentType);

  site2.definedByEquipmentClass[0].should.eql(enterpriseSiteClassType)

  site2.containedByEquipment.should.eql(enterprise)

  var r = site2.findReferencesEx(addressSpace.findISA95ReferenceType('MadeUpOfEquipment'), opcua.browse_service.BrowseDirection.Inverse)
  r.length.should.eql(1)

  var equipmentClassType = addressSpace.findISA95ObjectType('EquipmentClassType')
  equipmentClassType.browseName.name.toString().should.eql('EquipmentClassType')

  var workUnit1 = addressSpace.addEquipment({
    definedByEquipmentClass: equipmentClassType,
    browseName: 'WorkUnit A',
    equipmentLevel: opcua.ISA95.EquipmentLevel.ProductionUnit,
    containedByEquipment: site1
  })

  var equipmentSet1 = addressSpace.addEquipment({
    definedByEquipmentClass: equipmentClassType,
    browseName: 'WorkUnit',
    containedByEquipment: workUnit1,
    equipmentLevel: opcua.ISA95.EquipmentLevel.ProcessCell,
    optionals: ['AssetAssignment']
  })

  var heatingMixingReactorClassType = addressSpace.findObjectType('HeatingMixingReactorType')
  assert(heatingMixingReactorClassType.isSupertypeOf(addressSpace.findISA95ObjectType('EquipmentType')))
  var mixer = addressSpace.addEquipment({
    browseName: 'MixerA',
    containedByEquipment: equipmentSet1,
    typeDefinition: heatingMixingReactorClassType
  })
  mixer.definedByEquipmentClass.length.should.eql(2)

  var robotClassType = addressSpace.findObjectType('RobotClassType')
  var robot1 = addressSpace.addEquipment({
    browseName: 'WeldingRobot',
    containedByEquipment: equipmentSet1,
    definedByEquipmentClass: robotClassType
  })

  function createFanucArcMateRobotType () {
        // add physicalAssets
    var fanuc_robotArcMate = addressSpace.addPhysicalAssetType({
      browseName: 'ArcMate 100iB/6S i',
      modelNumber: 'ArcMate 100iB/6S i',
      manufacturer: {
        dataType: 'String',
        value: {dataType: opcua.DataType.String, value: 'Fanuc Inc'}
      }
    })

    addressSpace.addISA95Attribute({
      ISA95AttributeOf: fanuc_robotArcMate,
      browseName: 'Weight',
      description: 'Robot mass in kg',
      dataType: 'Double',
      value: {dataType: opcua.DataType.Double, value: 135},
      modellingRule: 'Mandatory'
    })

    addressSpace.addISA95Attribute({
      ISA95AttributeOf: fanuc_robotArcMate,
      browseName: 'Payload',
      description: 'Payload in kg',
      dataType: 'Double',
      value: {dataType: opcua.DataType.Double, value: 6},
      modellingRule: 'Mandatory'
    })
    addressSpace.addISA95Attribute({
      ISA95AttributeOf: fanuc_robotArcMate,
      browseName: 'Repeatability',
      description: '+/-',
      dataType: 'Double',
      value: {dataType: opcua.DataType.Double, value: 0.08},
      modellingRule: 'Mandatory'
    })
    addressSpace.addISA95Attribute({
      ISA95AttributeOf: fanuc_robotArcMate,
      browseName: 'HReach',
      description: 'in mm',
      dataType: 'Double',
      value: {dataType: opcua.DataType.Double, value: 1373},
      modellingRule: 'Mandatory'
    })

    var axis = addressSpace.addPhysicalAsset({
      containedByPhysicalAsset: fanuc_robotArcMate,
      definedByPhysicalAssetClass: 'PhysicalAssetClassType',
      browseName: 'Axis',
      description: 'the axis collection',
      modellingRule: 'Mandatory'
    })

        /**
         *
         * @param name
         * @param lowRange  in Degree
         * @param highRange in Degree
         * @param maxSpeed  in Degree per second
         */
    function add_join (name, lowRange, highRange, maxSpeed) {
      var join = addressSpace.addPhysicalAsset({
        containedByPhysicalAsset: axis,
        definedByPhysicalAssetClass: 'PhysicalAssetClassType',
        browseName: name,
        description: ' the axis ' + name,
        modellingRule: 'Mandatory'
      })
      addressSpace.addISA95Attribute({
        ISA95AttributeOf: join,
        browseName: 'RangeLow',
        dataType: 'Double',
        value: {dataType: opcua.DataType.Double, value: lowRange},
        modellingRule: 'Mandatory'
      })
      addressSpace.addISA95Attribute({
        ISA95AttributeOf: join,
        browseName: 'RangeHigh',
        dataType: 'Double',
        value: {dataType: opcua.DataType.Double, value: highRange},
        modellingRule: 'Mandatory'
      })
    }

    add_join('J1', -170, 170, 150)
    add_join('J2', -90, 190, 160)
    add_join('J3', -170, 145, 170)
    add_join('J4', -190, 190, 400)
    add_join('J5', -140, 140, 400)
    add_join('J6', -360, 360, 520)

    addressSpace.addISA95Attribute({
      ISA95AttributeOf: fanuc_robotArcMate,
      browseName: 'Documentation',
      dataType: 'String',
      value: {dataType: opcua.DataType.String, value: 'https://www.robots.com/fanuc/arcmate-100ib-6s'},
      modellingRule: 'Mandatory'
    })

    return fanuc_robotArcMate
  }

  var fanuc_robotArcMate = createFanucArcMateRobotType(addressSpace)

    // create the physical asset set storage  folder
    // where all our main assets will be listed
  var physicalAssetSet = addressSpace.addObject({
    browseName: 'PhysicalAssetSet',
    typeDefinition: 'FolderType',
    organizedBy: addressSpace.rootFolder.objects
  })

  var robot_instance = addressSpace.addPhysicalAsset({
    organizedBy: physicalAssetSet,
    typeDefinition: fanuc_robotArcMate,
    definedByPhysicalAssetClass: 'PhysicalAssetClassType',
    browseName: 'FANUC Arc Mate 100iB/6S i - 001',
    implementationOf: robot1,
    vendorId: {
      dataType: 'String',
      value: {dataType: opcua.DataType.String, value: 'RobotWox'}
    }
  })
}