From 3181c4b69f7f60e30080c59000ab4fb41dd57810 Mon Sep 17 00:00:00 2001
From: Federico Rojas <federico.rojas@esss.se>
Date: Mon, 23 Mar 2020 14:35:31 +0100
Subject: [PATCH] Delete space after // from restor position actions

---
 solution/tc_project_app/POUs/MAIN.TcPOU | 92 ++++++++++++-------------
 1 file changed, 46 insertions(+), 46 deletions(-)

diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 69d8eaf..afe7ea8 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -4,7 +4,7 @@
     <Declaration><![CDATA[PROGRAM MAIN
 VAR
     sVersion: STRING := '1.0.0';
-    afbAxes: ARRAY [1..gvl_app.nAxisNum] OF FB_Axis;
+    afbAxes: ARRAY [1..GVL_APP.nAxisNum] OF FB_Axis;
     hmiAxisSelection: INT := 1; //Not possible to use local hmi variables for array indexes
 
 //Outputs: Power for Limit switches and Home Sensors (every 4th output)
@@ -25,8 +25,8 @@ VAR
     bExecuteReadEncRefSys: BOOL := FALSE;
     nRetry: INT;
     iAxes : UINT; //index for for loops in Position recovery actions
-    afbReadEncRefSys: ARRAY [1..gvl_app.nAxisNum] OF MC_ReadParameter;
-    afbRestorePosition: ARRAY [1..GVL_app.nAxisNum] OF MC_SetPosition;
+    afbReadEncRefSys: ARRAY [1..GVL_APP.nAxisNum] OF MC_ReadParameter;
+    afbRestorePosition: ARRAY [1..GVL_APP.nAxisNum] OF MC_SetPosition;
     fbGetDeviceIdentification: FB_GetDeviceIdentification;
 
 END_VAR
@@ -42,7 +42,7 @@ AXES();]]></ST>
     <Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
     <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
       <Implementation>
-        <ST><![CDATA[FOR GVL.iAxis := 1 TO gvl_app.nAxisNum DO
+        <ST><![CDATA[FOR GVL.iAxis := 1 TO GVL_APP.nAxisNum DO
     afbAxes[GVL.iAxis](stAxisStruct := GVL.aAxes[GVL.iAxis]);
 END_FOR]]></ST>
       </Implementation>
@@ -81,84 +81,81 @@ END_IF]]></ST>
     <Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
       <Implementation>
         <ST><![CDATA[
-// This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
-// It checks the type of axis, 0=incremental, and that the axis was stationary at shut down.
-// Because 0 equates to incremental we also need to check that the data is valid, otherwise by default it would restore all axes.
-// By default an axis will not restore the position unless it is set to opt-in, i.e. GVL.aAxes[iAxes].stConfig.eRestorePosition is non-zero.
-// This needs to be initialised somewhere in TwinCAT code otherwise it will not be available at start up.
-// A restore will only be performed on a loss of power, this code shouldn't make any changes on a reset cold, a rest origin or a download.
-// There is a enum to allow for different types of restore modes, currently only one is implemented.
-// 0 'DontRestore'
-// 1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
-// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
+//This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
+//It checks the type of axis, 0=incremental, and that the axis was stationary at shut down.
+//Because 0 equates to incremental we also need to check that the data is valid, otherwise by default it would restore all axes.
+//By default an axis will not restore the position unless it is set to opt-in, i.e. GVL.aAxes[iAxes].stConfig.eRestorePosition is non-zero.
+//This needs to be initialised somewhere in TwinCAT code otherwise it will not be available at start up.
+//A restore will only be performed on a loss of power, this code shouldn't make any changes on a reset cold, a rest origin or a download.
+//There is a enum to allow for different types of restore modes, currently only one is implemented.
+//0 'DontRestore'
+//1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
+//Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
 
 IF bRestoreOnStartup AND eGlobalSUpsState = eSUPS_PowerOK THEN
     bRestoreOnStartup := FALSE;
     bRestoreExecute := TRUE;
 END_IF
 
-// Upon startup bPositionRestoreDone will be set to FALSE, after successfully completing the following code it will be set TRUE
-// and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once.
+//Upon startup bPositionRestoreDone will be set to FALSE, after successfully completing the following code it will be set TRUE
+//and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once.
 IF bRestoreExecute AND NOT bPositionRestoreDone THEN
-
-    // Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
-    // Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
-    FOR iAxes:= 1 TO gvl_app.nAxisNum DO
+    //Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
+    //Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
+    FOR iAxes := 1 TO GVL_APP.nAxisNum DO
         afbReadEncRefSys[iAxes](
           Axis := GVL.aAxes[iAxes].Axis,
           Enable := bExecuteReadEncRefSys,
           ParameterNumber := MC_AxisParameter.AxisEncoderReferenceSystem,
-          Value=>,
           ReadMode := E_READMODE.READMODE_ONCE);
     END_FOR
 
-    // Cycle through set position function blocks for each axis
-    FOR iAxes:= 1 TO gvl_app.nAxisNum DO
+    //Cycle through set position function blocks for each axis
+    FOR iAxes := 1 TO GVL_APP.nAxisNum DO
         afbRestorePosition[iAxes](
          Axis := GVL.aAxes[iAxes].Axis,
-         Execute := ,
          Position := aAxesPersistent[iAxes].fPositionAtShutdown);
     END_FOR
 
     CASE eStartUp OF
         eColdStart:
-        // First cycle of the PLC, do nothing just give one cycle for variables to initialise
+        //First cycle of the PLC, do nothing just give one cycle for variables to initialise
             IF NOT bPositionRestoreDone THEN
                 eStartUp := eReadAxisFeedbackType;
                 nRetry := 0;
             END_IF
 
         eReadAxisFeedbackType:
-        // Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
+        //Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
             bExecuteReadEncRefSys := TRUE;
             eStartUp := eCheckReadDone;
 
         eCheckReadDone:
-        // Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
-        // If afbReadEncRefSys not started then go back a step.
-        // If any axes result in an error the code will get stuck here, this happens if gvl_app.nAxisNum is not set correctly
-            FOR iAxes:= 1 TO gvl_app.nAxisNum DO
+        //Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
+        //If afbReadEncRefSys not started then go back a step.
+        //If any axes result in an error the code will get stuck here, this happens if GVL_APP.nAxisNum is not set correctly
+            FOR iAxes := 1 TO GVL_APP.nAxisNum DO
                 IF afbReadEncRefSys[iAxes].Valid = FALSE THEN
                     IF afbReadEncRefSys[iAxes].Busy = TRUE THEN
-                        // Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
+                        //Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
                         RETURN;
                     ELSE
-                        // Sometimes the code gets here and the afbReadEncRefSys[iAxes] misses the rising edge. If  the code gets here it means
-                        // .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
-                        // Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
+                        //Sometimes the code gets here and the afbReadEncRefSys[iAxes] misses the rising edge. If  the code gets here it means
+                        //valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
+                        //Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
                         bExecuteReadEncRefSys := FALSE;
                         eStartUp := eReadAxisFeedbackType;
-                        nRetry := nRetry+1; // counter used for troubleshooting to see how many cycles it takes before afbReadEncRefSys function blocks are read correctly
+                        nRetry := nRetry + 1; //counter used for troubleshooting to see how many cycles it takes before afbReadEncRefSys function blocks are read correctly
                         RETURN;
                     END_IF
                 END_IF
             END_FOR
-            // If the code gets here all axes either have .valid=TRUE for all axes
+            //If the code gets here all axes either have .valid=TRUE for all axes
             eStartUp := eExecuteRestore;
 
         eExecuteRestore:
-        // Execute position restore by setting afbRestorePosition.execute = TRUE
-            FOR iAxes:= 1 TO gvl_app.nAxisNum DO
+        //Execute position restore by setting afbRestorePosition.execute = TRUE
+            FOR iAxes := 1 TO GVL_APP.nAxisNum DO
                 IF afbReadEncRefSys[iAxes].Valid = TRUE AND afbReadEncRefSys[iAxes].Value = 0 AND NOT(aAxesPersistent[iAxes].bMovingAtShutdown) THEN
                     IF GVL.aAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
                         afbRestorePosition[iAxes].Execute := TRUE;
@@ -168,10 +165,10 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
             eStartUp := eCheckRestore;
 
         eCheckRestore:
-        // Check the set position fbs are finished
-        // Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
-        // bPositionRestoreDone will never get set to TRUE and will take up cycle time
-            FOR iAxes:= 1 TO gvl_app.nAxisNum DO
+        //Check the set position fbs are finished
+        //Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
+        //bPositionRestoreDone will never get set to TRUE and will take up cycle time
+            FOR iAxes := 1 TO GVL_APP.nAxisNum DO
                 IF afbReadEncRefSys[iAxes].Valid = TRUE AND afbReadEncRefSys[iAxes].Value = 0 AND NOT(aAxesPersistent[iAxes].bMovingAtShutdown) THEN
                     IF GVL.aAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
                         IF NOT afbRestorePosition[iAxes].Done THEN
@@ -183,8 +180,8 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
             eStartUp := eFinishRestore;
 
         eFinishRestore:
-        // Remove execute = TRUE for afbRestorePosition
-            FOR iAxes:= 1 TO gvl_app.nAxisNum DO
+        //Remove execute = TRUE for afbRestorePosition
+            FOR iAxes := 1 TO GVL_APP.nAxisNum DO
                 afbRestorePosition[iAxes].Execute := FALSE;
             END_FOR
             bPositionRestoreDone := TRUE;
@@ -195,7 +192,7 @@ END_IF]]></ST>
     </Action>
     <Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
       <Implementation>
-        <ST><![CDATA[FOR iAxes:= 1 TO gvl_app.nAxisNum DO
+        <ST><![CDATA[FOR iAxes := 1 TO GVL_APP.nAxisNum DO
     aAxesPersistent[iAxes].fPositionAtShutdown := GVL.aAxes[iAxes].Axis.NcToPlc.ActPos;
     IF GVL.aAxes[iAxes].Axis.NcToPlc.ActVelo <> 0 THEN
         aAxesPersistent[iAxes].bMovingAtShutdown := TRUE;
@@ -228,7 +225,10 @@ END_FOR]]></ST>
       <LineId Id="2" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.RESTORE_POSITIONS">
-      <LineId Id="242" Count="109" />
+      <LineId Id="242" Count="19" />
+      <LineId Id="263" Count="6" />
+      <LineId Id="271" Count="6" />
+      <LineId Id="279" Count="72" />
       <LineId Id="1" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.STORE_PERSISTENT">