Kranstyring

Mikael Vik / mv@driw.no

Krana

eller kransystemet...

Oppbygging

Vi kommuniserer med to delsystem

Conveyor

Innskanning (frå lageret)
Heis
Belte
Inn og ut av kranene
Ut-område (til lageret)

Crane

Tre kraner
Hyller for lagring av pallar
Plukkplassar

REMA Trondheim

.. conveyor-beltet

REMA Trondheim

.. kran, hyller og plukkplassar

Fugleperspektiv?

Wireshark-logging

... faktisk kommunikasjon mellom Sattstore og Swisslog!!


0.000000000     10.244.21.25    10.245.20.65    <18268MOVE01CRAN30ACP0104693753300010150100ULULULUL000000>
0.010393000     10.245.20.65    10.244.21.25    <00000CRAN30MOVE01ACK0826800>
5.294691000     10.245.20.65    10.244.21.25    <00000CON010MOVE01DUM0000000>.................................................................................
5.337090000     10.244.21.25    10.245.20.65    <00000MOVE01CON010DUA0000000>
60.016803000    10.245.20.65    10.244.21.25    <10000CRAN30MOVE01DUM0000000>
60.017539000    10.244.21.25    10.245.20.65    <00000MOVE01CRAN30DUA0000000>
60.216997000    10.244.21.25    10.245.20.65    <00000MOVE01CRAN30DUM0000000>
60.218990000    10.245.20.65    10.244.21.25    <00000CRAN30MOVE01DUA0000000>
60.346877000    10.245.20.65    10.244.21.25    <00000CON010MOVE01DUM0000000>.................................................................................
60.388508000    10.244.21.25    10.245.20.65    <00000MOVE01CON010DUA0000000>
73.274069000    10.244.21.25    10.245.20.65    <19246MOVE01CON010IPR100010002001999999990111111000000011100000000000000000000002000370374003165079702---------
73.355095000    10.245.20.65    10.244.21.25    <00000CON010MOVE01ACK0924600>.................................................................................
73.554521000    10.245.20.65    10.244.21.25    <14764CON010MOVE01ARQ1000100020010469377401100030024001000137037400316507970200>..............................
73.601519000    10.244.21.25    10.245.20.65    <00000MOVE01CON010ACK0476400>
120.225094000   10.245.20.65    10.244.21.25    <10000CRAN30MOVE01DUM0000000>
120.225487000   10.244.21.25    10.245.20.65    <00000MOVE01CRAN30DUA0000000>
126.094575000   10.244.21.25    10.245.20.65    <19247MOVE01CON010IPR100010002001999999990111111000000011100000000000000000000002000370446501059500401---------
126.186385000   10.245.20.65    10.244.21.25    <00000CON010MOVE01ACK0924700>.................................................................................
126.390771000   10.245.20.65    10.244.21.25    <14765CON010MOVE01ARQ1000100020010469377601100030024001000137044650105950040100>..............................
126.422132000   10.244.21.25    10.245.20.65    <00000MOVE01CON010ACK0476500>
128.177015000   10.245.20.65    10.244.21.25    <14106CRAN30MOVE01ARQ0104693777PI01300010290202300020380101REHIFUFU00>
128.197962000   10.244.21.25    10.245.20.65    <00000MOVE01CRAN30ACK0410600>
154.010189000   10.244.21.25    10.245.20.65    <18269MOVE01CRAN30CSR01046937771002902LOLOULUL0100000>
154.024975000   10.245.20.65    10.244.21.25    <00000CRAN30MOVE01ACK0826900>
156.426288000   10.244.21.25    10.245.20.65    <18270MOVE01CRAN30ACP0104693777300010290200LOLOULUL000000>
156.442091000   10.245.20.65    10.244.21.25    <00000CRAN30MOVE01ACK0827000>
156.654247000   10.245.20.65    10.244.21.25    <14107CRAN30MOVE01ARQ0104693777DE01300010290202300020380101REHIFUFU00>
156.671339000   10.244.21.25    10.245.20.65    <00000MOVE01CRAN30ACK0410700>
165.951888000   10.244.21.25    10.245.20.65    <19248MOVE01CON010IPR100010002001999999990111111000000011100000000000000000000002000370446501060100218---------
166.033603000   10.245.20.65    10.244.21.25    <00000CON010MOVE01ACK0924800>.................................................................................
166.232562000   10.245.20.65    10.244.21.25    <14766CON010MOVE01ARQ1000100020010469378006100030024001000137044650106010021800>..............................
166.279329000   10.244.21.25    10.245.20.65    <00000MOVE01CON010ACK0476600>
171.501517000   10.244.21.25    10.245.20.65    <18271MOVE01CRAN30CSR01046937771003801ULULULUL0100000>
171.506061000   10.245.20.65    10.244.21.25    <00000CRAN30MOVE01ACK0827100>
179.721397000   10.244.21.25    10.245.20.65    <18272MOVE01CRAN30ACP0104693777300020380100ULULULUL000000>
179.724837000   10.245.20.65    10.244.21.25    <00000CRAN30MOVE01ACK0827200>
203.422406000   10.244.21.25    10.245.20.65    <19249MOVE01CON010IPR100010002001999999990111111000000011100000000000000000000002000370446501059500395---------
203.466651000   10.245.20.65    10.244.21.25    <00000CON010MOVE01ACK0924900>.................................................................................
203.671800000   10.245.20.65    10.244.21.25    <14767CON010MOVE01ARQ1000100020010469378201100030024001000137044650105950039500>..............................
203.687574000   10.244.21.25    10.245.20.65    <00000MOVE01CON010ACK0476700>
224.029603000   10.244.21.25    10.245.20.65    <19250MOVE01CON010ACP1000300240010469377400000>
224.129346000   10.245.20.65    10.244.21.25    <00000CON010MOVE01ACK0925000>.................................................................................
224.341457000   10.245.20.65    10.244.21.25    <14768CON010MOVE01ARQ1000300240010469377401100030051004000137037400316507970200>..............................
224.419517000   10.244.21.25    10.245.20.65    <00000MOVE01CON010ACK0476800>
239.731837000   10.245.20.65    10.244.21.25    <10000CRAN30MOVE01DUM0000000>
239.732236000   10.244.21.25    10.245.20.65    <00000MOVE01CRAN30DUA0000000>
239.831919000   10.244.21.25    10.245.20.65    <00000MOVE01CRAN30DUM0000000>
239.851739000   10.245.20.65    10.244.21.25    <00000CRAN30MOVE01DUA0000000>
240.612098000   10.244.21.25    10.245.20.65    <19251MOVE01CON010IPR100010002001999999990111111000000011100000000000000000000002000370446501060100201---------
240.656074000   10.245.20.65    10.244.21.25    <00000CON010MOVE01ACK0925100>.................................................................................
240.861561000   10.245.20.65    10.244.21.25    <14769CON010MOVE01ARQ1000100020010469378406100030024001000137044650106010020100>..............................
240.877367000   10.244.21.25    10.245.20.65    <00000MOVE01CON010ACK0476900>
241.267195000   10.244.21.25    10.245.20.65    <19252MOVE01CON010ACP1000300240010469377600000>

Meldingar

posisjonsbasert format

sekvens, til, frå, type
spesialfelt per meldingstype

sender ack ved mottak
synk-sjekk vha sekvensar (for alt, ALT!!)


10852CRAN30MOVE01ARQ0204491320PI01300049010001300040070401REHIFUFU00
00000MOVE01CRAN30ACK0085200

10815CON010MOVE01ARQ1000100020010449132401100030024001000137037400316432751400
00000CRAN30MOVE01ACK0081500

11761MOVE01CON010ACP1000300240010449134198700
00000CON010MOVE01ACK0176100

11720MOVE01CRAN30ACP0204491345300040170400DOREMIFA321000
10000CRAN30MOVE01DUM0172000

Dei viktigaste meldingstypane

Til kransystemet

ARQ (crane): assignment request
ARQ (conveyor): assignment request

Frå kransystemet

IPR: identification point report (sscc har blitt scanna)
ACP: assignment completed
CSR: crane status report
POR: position occupied report

Tilstandskontroll

ACK: melding mottatt ok, sendast for (alle) meldingar
NCK: melding mottatt FEIL
DUM+DUA: er du der? jada..
SYN: reset sekvens

Sockets

lavninvå og upålitelig
meldingar kan forsvinne
vanskelig å teste
kommuniserer med både crane og conveyor
.. dette må håndterast
abstrahér det bort

CraneSystemController

Styrer all kommunikasjon mot krana
Når alt er ok:

ta imot meldingar frå krana

køyr onestep for alle jobbar

send meldingar
be om ressursar

send keep-alive om null aktivitet

Elles: håndtér feil...

Controller-Flyt

Sync Recovery

Innlagring - Flyt

Innlagring - Kode

defineStates(
    state(INITIAL)
        .gotoState(MOVING_TO_CHOICEPOS),

    state(MOVING_TO_CHOICEPOS)
        .onEnter(send(arqToChoicePos()))
        .transitionWhen(hasReceived(ACP, CON010))
        .transitionTo(REQUESTING_CRANE_IN),

    state(REQUESTING_CRANE_IN)
        .onEnter(request(craneInAccess))
        .withTransitions(
            transitionTo(MOVING_TO_CRANE_IN).when(granted(craneInAccess)),
            transitionTo(LOOPING_BACK_TO_CHOICEPOS).when(notGranted(craneInAccess))
    ),

    state(LOOPING_BACK_TO_CHOICEPOS)
        .onEnter(send(arqLoopBackToChoicePos()))
        .transitionWhen(hasReceived(ACP, CON010))
        .withTransitions(
            transitionTo(MOVING_TO_CRANE_IN).when(granted(craneInAccess)),
            transitionTo(LOOPING_BACK_TO_CHOICEPOS).when(notGranted(craneInAccess))
    ),

    state(MOVING_TO_CRANE_IN)
        .onEnter(send(arqToCraneIn()))
        .transitionWhen(
             hasReceived(POR),
             hasReceived(ACP, CON010)
        )
        .transitionTo(WAITING_ON_CRANE),

    state(WAITING_ON_CRANE)
        .onEnter(request(craneAccess))
        .transitionWhen(granted(craneAccess))
        .transitionTo(PICKING_UP_FROM_CRANE_IN),

    state(PICKING_UP_FROM_CRANE_IN)
        .onEnter(send(arqPickupFromCrane()))
        .transitionWhen(
             hasReceived(CSR),
             hasReceived(POR),
             hasReceived(ACP, CRAN30)
        )
        .onTransition(release(craneInAccess))
        .transitionTo(DELIVERING_TO_SHELF),

    state(DELIVERING_TO_SHELF)
        .onEnter(send(arqDeliverToShelf()))
        .transitionWhen(
             hasReceived(CSR),
             hasReceived(ACP, CRAN30)
        )
        .onTransition(release(craneAccess))
        .transitionTo(DONE),

    state(DONE).endState()
);

Flytdiagram for andre jobbar...

Flytting (éi kran)

Flytting - Kode

defineStates(
    state(INITIAL)
        .gotoState(WAITING_ON_CRANE),

    state(WAITING_ON_CRANE)
        .onEnter(request(craneAccess))
        .transitionWhen(granted(craneAccess))
        .transitionTo(PICKING_UP_FROM_SHELF),

    state(PICKING_UP_FROM_SHELF)
        .onEnter(send(arqPickupFromShelf()))
        .transitionWhen(
            hasReceived(CSR),
            hasReceived(ACP)
        )
        .transitionTo(DELIVERING_TO_SHELF),

    state(DELIVERING_TO_SHELF)
        .onEnter(send(arqDeliverToShelf()))
        .transitionWhen(
            hasReceived(CSR),
            hasReceived(ACP, CRAN30)
        )
        .onTransition(release(craneAccess))
        .gotoState(DONE),

    state(DONE).endState()
);

Utlagring

Flytting (mellom kraner)

DOT-language...

... digg å generé flytdiagram med kode


digraph controller {

  label="CraneSystemController";

  1 [label="{DO_ONE_CYCLE}"];
  2 [label="{RECEIVE_MESSAGE|deliverToJob\ncreateInJobIfSSCC}"];
  3 [label="{DO_ONE_STEP_FOR_ALL_JOBS|sendCommands\nrequestResources}"];
  4 [label="{KEEP_ALIVE_IF_IDLE|sendDUM\nwaitForDUA}"];

  A [label="{OUT_OF_SYNC|tryToRecover}"];
  0 [label="{IN_SYNC}"];

  0->1;
  0->A [label="error"];
  A->A [label="not recovered"];
  A->0 [label="back in sync"];
  1->2
  2->3
  3->4
  4->1

  {rank=same;1 2};
}

Testing

“Mo code mo problems” - Notorious B.I.G.

Enhetstestar

“TDD!! TDD!! TDD!!”

Testane dokumenterer koda
Ka koda gjer er viktigare enn korleis
Mest mulig black-box

data inn -> data ut

Trygghet

koda gjer det den skal
få det til å funke
gjer det forståelig (refaktorér)

Øyeblikkelig tilbakemelding...
Ei hjelp til å endre, IKKJE ET HINDER

Rein gevinst

Prosjektet starta med begrensa informasjon
Vi oppdaga underveis at antakelsar var feil
Mulig å gjere endringar med liten risiko

“Turn and face the strange. Ch-ch-changes.” - David Bowie

Testkode-eksempel

@Test
public void shouldPerformInJobSuccessfully() {

    assertMovingToState(job, MOVING_TO_CHOICEPOS, ARQConveyorCommand.class);
    assertReceiveIn(job, acpConveyorAt(CHOICE_LOC));

    assertMovingToState(job, REQUESTING_CRANE_IN);
    CraneAccessRequest craneInAccess = assertAndGrantRequest(job);

    assertMovingToState(job, MOVING_TO_CRANE_IN, ARQConveyorCommand.class);
    assertReceiveIn(job, porAt(CRANE_1_IN, 1));
    assertReceiveIn(job, acpConveyorAt(CRANE_1_IN));

    CraneAccessRequest craneAccess = assertMovingToState(job, WAITING_ON_CRANE, CRANE);
    craneAccess.grant();

    assertMovingToState(job, PICKING_UP_FROM_CRANE_IN, ARQCraneCommand.class);
    assertReceiveIn(job, csr());
    assertReceiveIn(job, porAt(CRANE_1_IN, 0));
    assertReceiveIn(job, acpCrane());

    assertMovingToState(job, DELIVERING_TO_SHELF, ARQCraneCommand.class);
    assertThat(craneInAccess.getState(), is(RELEASED));
    assertReceiveIn(job, csr());
    assertReceiveIn(job, acpCrane());

    assertMovingToState(job, DONE);
    assertThat(craneAccess.getState(), is(RELEASED));
}

Kankje berre teste...

Kode...

Få det til å funke
Refaktorér

Lesbarhet is King Kong

.. du les meir kode enn du skriv
testane passar på at du ikkje innfører NYE feil

Spørr en venn!

Kodegjennomgang
Parprogrammering

Simulator

“Enhetstestar bekreftar at du har skrive koda rett,
akseptansetestar bekreftar at du har skrive rett kode”

“Can test this” - MC Hammer

Koffør koffør koffør?

Swisslog hadde ikkje nåke å tilby..
usikker på socket-kommunikasjon
enhetstestar kan kun hjelpe et stykke på veien
valgte Python

mindre fare for at kran-koda kun funka mot Java-kode
kjapt å komme igang
kan det, lika det
og koffør kun snakke Java lizzom...

Kun brukt for manuell testing

Demo

Dypdykk i kode

No blir det teknisk...

Be concurrent

be be concurrent

Socket on this

The state machina of god

Resource mismanagement

## Prosjektstatus * Enkel testing gjennomført i Trondheim * tok tid å komme i gang, lageret var i drift * kunne ikkje risikere å stoppe produksjonen * fekk tilslutt kjørt inn en palle (video om vi har tid) * Opp- og nedkobling ikkje komplett * Integrasjon med Drill gjenstår * .. skal vere klart ca i august/til slutt

Kranstyring

Krana

Oppbygging

REMA Trondheim

REMA Trondheim

Fugleperspektiv?

Wireshark-logging

Meldingar

Dei viktigaste meldingstypane

Sockets

CraneSystemController

Controller-Flyt

Sync Recovery

Innlagring - Flyt

Innlagring - Kode

Flytdiagram for andre jobbar...

Flytting (éi kran)

Flytting - Kode

Utlagring

Flytting (mellom kraner)

DOT-language...

Testing

Enhetstestar

Rein gevinst

Testkode-eksempel

Kankje berre teste...

Kode...

Simulator

Koffør koffør koffør?

Demo

Dypdykk i kode

Be concurrent

be be concurrent

Socket on this

The state machina of god

Resource mismanagement

Spørsmål?