System Architecture and Project Structure

This document explains the general architecture of the system, server structures, and the communication between sub-components.

1. Robot Host Server

This server is responsible for collecting, processing, and storing ROS 2 data on the robot cell network.

• Robot Cell Network ROS 2 Publishers: Publishes instant telemetry data and joint state information from the robot cell.
• ROS2-Kafka Bridge: Converts data from the ROS 2 environment into Kafka messages and forwards them.
• Kafka Broker (Port 9092): Temporarily stores and manages the data stream.
• ES Indexer: Takes data from Kafka topics, converts it into Elasticsearch format, and indexes it.
• Elasticsearch (Port 9200): Stores incoming robot telemetry data permanently and queryable in a time-series structure.
• Grafana: Fetches data from Elasticsearch to visualize it and creates analysis dashboards.

2. IFARLAB-EDIH Host Server

It is the main cloud application that provides user interaction and centralized management of the system.

Cloud Application

• Platform API (Port 3001): The center of backend services. It handles requests (via REST).
  • MongoDB (Port 27017): Stores user registration, login, and forum data.
  • FMU Service (Port 5001): Runs the simulation models of the system (Functional Mock-up Unit). Communicates with the Platform API.
• BUILD (Port 8080): Hosts the front-end application. It accesses the Platform API via REST and Elasticsearch via Ethernet Polling. The Grafana interface is embedded in the system with Ethernet/iframe.
• Pages:
  • FMU Models: Displays model data coming from the FMU Service.
  • Telemetry-Driven Kinematic Twin: Animates the kinematic twin of the robot by processing the robot joint states via the Platform API.
  • Analytics (Grafana Embed): Presents Grafana dashboards as an embedded iframe.
  • STLC Manager: Provides the STLC (Software Testing Life Cycle) management interface.
  • Auth / Forum / Docs / Home: Provides access to authorization and platform documentation.

3. STLC Manager

It acts as an independent unit managing the software testing life cycle. It is the management part directed by the application.

• STLC Backend (Port 8000): The backend service hosting the business logic of the STLC system.
• STLC Frontend (Port 5173): The user interface of the STLC system itself.
• STLC MongoDB: A custom database set up solely to store test results and analysis files.

Communication Protocols and Flow

• Data Flow: ROS 2 data reaches analytics and the cloud API via Kafka -> Elasticsearch.
• REST Communication: The client on BUILD is fed directly over REST with the Platform API.
• Iframe Embed: Analytic panels are pulled into the application via iframe from Grafana, an external service.