From 5399e85127f28a2fb0a609d8380690620a6f685d Mon Sep 17 00:00:00 2001
From: Federico Rojas <federico.rojas@esss.se>
Date: Mon, 23 Mar 2020 15:13:51 +0100
Subject: [PATCH] Update refrences from GVL variable aAxes to astAxes

---
 solution/tc_project_app/POUs/MAIN.TcPOU       | 31 ++++---
 .../Test/common/FB_tcUNIT_common.TcPOU        | 82 +++++++++----------
 .../standard_library_tests/FB_Axis_TEST.TcPOU | 28 +++----
 3 files changed, 70 insertions(+), 71 deletions(-)

diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index a92e36b..248bc6e 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -43,7 +43,7 @@ AXES();]]></ST>
     <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
       <Implementation>
         <ST><![CDATA[FOR GVL.iAxis := 1 TO GVL_APP.nAxisNum DO
-    afbAxes[GVL.iAxis](stAxisStruct := GVL.aAxes[GVL.iAxis]);
+    afbAxes[GVL.iAxis](stAxisStruct := GVL.astAxes[GVL.iAxis]);
 END_FOR]]></ST>
       </Implementation>
     </Action>
@@ -80,8 +80,7 @@ END_IF]]></ST>
     </Action>
     <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.
+        <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.
@@ -104,7 +103,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
     //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,
+          Axis := GVL.astAxes[iAxes].Axis,
           Enable := bExecuteReadEncRefSys,
           ParameterNumber := MC_AxisParameter.AxisEncoderReferenceSystem,
           ReadMode := E_READMODE.READMODE_ONCE);
@@ -113,8 +112,8 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
     //Cycle through set position function blocks for each axis
     FOR iAxes := 1 TO GVL_APP.nAxisNum DO
         afbRestorePosition[iAxes](
-         Axis := GVL.aAxes[iAxes].Axis,
-         Position := aAxesPersistent[iAxes].fPositionAtShutdown);
+         Axis := GVL.astAxes[iAxes].Axis,
+         Position := astAxesPersistent[iAxes].fPositionAtShutdown);
     END_FOR
 
     CASE eStartUp OF
@@ -156,8 +155,8 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
         eExecuteRestore:
         //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.eRestoreWithoutHome THEN
+                IF afbReadEncRefSys[iAxes].Valid = TRUE AND afbReadEncRefSys[iAxes].Value = 0 AND NOT(astAxesPersistent[iAxes].bMovingAtShutdown) THEN
+                    IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
                         afbRestorePosition[iAxes].Execute := TRUE;
                     END_IF
                 END_IF
@@ -169,8 +168,8 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
         //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.eRestoreWithoutHome THEN
+                IF afbReadEncRefSys[iAxes].Valid = TRUE AND afbReadEncRefSys[iAxes].Value = 0 AND NOT(astAxesPersistent[iAxes].bMovingAtShutdown) THEN
+                    IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
                         IF NOT afbRestorePosition[iAxes].Done THEN
                             RETURN;
                         END_IF
@@ -193,13 +192,13 @@ END_IF]]></ST>
     <Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
       <Implementation>
         <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;
+    astAxesPersistent[iAxes].fPositionAtShutdown := GVL.astAxes[iAxes].Axis.NcToPlc.ActPos;
+    IF GVL.astAxes[iAxes].Axis.NcToPlc.ActVelo <> 0 THEN
+        astAxesPersistent[iAxes].bMovingAtShutdown := TRUE;
     ELSE
-        aAxesPersistent[iAxes].bMovingAtShutdown := FALSE;
+        astAxesPersistent[iAxes].bMovingAtShutdown := FALSE;
     END_IF
-    aAxesPersistent[iAxes].bMovingAtShutdown := aAxesPersistent[iAxes].bMovingAtShutdown OR GVL.aAxes[iAxes].Axis.Status.Moving;
+    astAxesPersistent[iAxes].bMovingAtShutdown := astAxesPersistent[iAxes].bMovingAtShutdown OR GVL.astAxes[iAxes].Axis.Status.Moving;
 END_FOR]]></ST>
       </Implementation>
     </Action>
@@ -225,7 +224,7 @@ END_FOR]]></ST>
       <LineId Id="2" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.RESTORE_POSITIONS">
-      <LineId Id="352" Count="106" />
+      <LineId Id="567" Count="105" />
       <LineId Id="1" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.STORE_PERSISTENT">
diff --git a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
index 8b6c22a..45b66bc 100644
--- a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
+++ b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
@@ -16,7 +16,7 @@ VAR_INPUT
     iAxisIndex: UINT;  // The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.aAxes[iAxisIndex].stControl.bEnable := TRUE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bEnable := TRUE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mExecute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
@@ -25,7 +25,7 @@ VAR_INPUT
     iAxisIndex: UINT;  // The idex of the axis to action the method on.
 END_VAR]]></Declaration>
       <Implementation>
-        <ST><![CDATA[GVL.aAxes[iAxisIndex].stControl.bExecute := TRUE;]]></ST>
+        <ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := TRUE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mPrepareDefaultMove" Id="{c23244d5-896c-49ad-8d8a-19390856e4dc}">
@@ -37,17 +37,17 @@ END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[// Prepare an axis so it is ready to action a move using target defaults when executed.
 
-GVL.aAxes[iAxisIndex].stControl.bEnable := TRUE;
-GVL.aAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
+GVL.astAxes[iAxisIndex].stControl.bEnable := TRUE;
+GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
 
-GVL.aAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
-GVL.aAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
+GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
+GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
 
-GVL.aAxes[iAxisIndex].stConfig.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
-GVL.aAxes[iAxisIndex].stConfig.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
-GVL.aAxes[iAxisIndex].stConfig.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
-GVL.aAxes[iAxisIndex].stConfig.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
-GVL.aAxes[iAxisIndex].stConfig.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
+GVL.astAxes[iAxisIndex].stConfig.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
+GVL.astAxes[iAxisIndex].stConfig.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
+GVL.astAxes[iAxisIndex].stConfig.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
+GVL.astAxes[iAxisIndex].stConfig.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
+GVL.astAxes[iAxisIndex].stConfig.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mPrepareMove" Id="{97bd5417-d0a1-4d32-8732-16310a863fcc}">
@@ -64,16 +64,16 @@ END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[// Prepare the axis so it is ready to action a move when executed for a given motion strategy.
 
-GVL.aAxes[iAxisIndex].stControl.bEnable := FALSE;
-GVL.aAxes[iAxisIndex].stControl.eCommand := eMotionStrategy;
+GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;
+GVL.astAxes[iAxisIndex].stControl.eCommand := eMotionStrategy;
 
-GVL.aAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
-GVL.aAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
+GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
+GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
 
-GVL.aAxes[iAxisIndex].stConfig.fVelocity := fTargetVelocity;
-GVL.aAxes[iAxisIndex].stConfig.fAcceleration := fTargetAcceleration;
-GVL.aAxes[iAxisIndex].stConfig.fDeceleration := fTargetDeceleration;
-GVL.aAxes[iAxisIndex].stConfig.fPosition := fTargetPosition;]]></ST>
+GVL.astAxes[iAxisIndex].stConfig.fVelocity := fTargetVelocity;
+GVL.astAxes[iAxisIndex].stConfig.fAcceleration := fTargetAcceleration;
+GVL.astAxes[iAxisIndex].stConfig.fDeceleration := fTargetDeceleration;
+GVL.astAxes[iAxisIndex].stConfig.fPosition := fTargetPosition;]]></ST>
       </Implementation>
     </Method>
     <Method Name="mSetAxisDefaults" Id="{5b9336be-4414-4858-a614-0fdb2847e171}">
@@ -85,34 +85,34 @@ END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[// Set PLC default values for the axis. Note: Status values can take multiple cycles to updated. This is not an instant reset.
 
-IF GVL.aAxes[iAxisIndex].stStatus.bBusy THEN
-    GVL.aAxes[iAxisIndex].stControl.bStop := TRUE;
+IF GVL.astAxes[iAxisIndex].stStatus.bBusy THEN
+    GVL.astAxes[iAxisIndex].stControl.bStop := TRUE;
 END_IF
-IF GVL.aAxes[iAxisIndex].stStatus.bError THEN
-    GVL.aAxes[iAxisIndex].stControl.bReset := TRUE;
+IF GVL.astAxes[iAxisIndex].stStatus.bError THEN
+    GVL.astAxes[iAxisIndex].stControl.bReset := TRUE;
 END_IF
-IF NOT GVL.aAxes[iAxisIndex].stControl.bEnable AND GVL.aAxes[iAxisIndex].stControl.bStop THEN
-    GVL.aAxes[iAxisIndex].stControl.bStop := FALSE;
+IF NOT GVL.astAxes[iAxisIndex].stControl.bEnable AND GVL.astAxes[iAxisIndex].stControl.bStop THEN
+    GVL.astAxes[iAxisIndex].stControl.bStop := FALSE;
 END_IF
 
-GVL.aAxes[iAxisIndex].stControl.bEnable := FALSE;
-GVL.aAxes[iAxisIndex].stControl.bExecute := FALSE;
-GVL.aAxes[iAxisIndex].stControl.bReset := FALSE;
-GVL.aAxes[iAxisIndex].stControl.bJogFwd := FALSE;
-GVL.aAxes[iAxisIndex].stControl.bJogBwd := FALSE;
-GVL.aAxes[iAxisIndex].stControl.bStop := FALSE;
-GVL.aAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
+GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;
+GVL.astAxes[iAxisIndex].stControl.bExecute := FALSE;
+GVL.astAxes[iAxisIndex].stControl.bReset := FALSE;
+GVL.astAxes[iAxisIndex].stControl.bJogFwd := FALSE;
+GVL.astAxes[iAxisIndex].stControl.bJogBwd := FALSE;
+GVL.astAxes[iAxisIndex].stControl.bStop := FALSE;
+GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
 
-GVL.aAxes[iAxisIndex].stConfig.fVelocity := 0.0;
-GVL.aAxes[iAxisIndex].stConfig.fAcceleration := 0.0;
-GVL.aAxes[iAxisIndex].stConfig.fDeceleration := 0.0;
-GVL.aAxes[iAxisIndex].stConfig.fPosition := 0;
-GVL.aAxes[iAxisIndex].stConfig.fOverride := 0.0;
-GVL.aAxes[iAxisIndex].stConfig.eHomeSeq := 0;
+GVL.astAxes[iAxisIndex].stConfig.fVelocity := 0.0;
+GVL.astAxes[iAxisIndex].stConfig.fAcceleration := 0.0;
+GVL.astAxes[iAxisIndex].stConfig.fDeceleration := 0.0;
+GVL.astAxes[iAxisIndex].stConfig.fPosition := 0;
+GVL.astAxes[iAxisIndex].stConfig.fOverride := 0.0;
+GVL.astAxes[iAxisIndex].stConfig.eHomeSeq := 0;
 
-GVL.aAxes[iAxisIndex].stInputs.bLimitBwd := FALSE;
-GVL.aAxes[iAxisIndex].stInputs.bLimitFwd := FALSE;
-GVL.aAxes[iAxisIndex].stInputs.bHomeSensor := FALSE;]]></ST>
+GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := FALSE;
+GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := FALSE;
+GVL.astAxes[iAxisIndex].stInputs.bHomeSensor := FALSE;]]></ST>
       </Implementation>
     </Method>
     <LineIds Name="FB_tcUNIT_common">
diff --git a/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU b/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
index eb8f5cc..9166d5a 100644
--- a/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
+++ b/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
@@ -34,7 +34,7 @@ ExpectedResult := TRUE;
 fbCommon.mPrepareDefaultMove(iTargetAxis);
 fbCommon.mExecute(iTargetAxis);
 
-Result := GVL.aAxes[iTargetAxis].stStatus.bBusy;
+Result := GVL.astAxes[iTargetAxis].stStatus.bBusy;
 
 IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
     AssertEquals(Expected := ExpectedResult,
@@ -63,14 +63,14 @@ END_VAR]]></Declaration>
 // a previous test. Therefore if we execute a move we should just check it's moved
 // from the initial location not some initial default.
 
-InitialValue := GVL.aAxes[iTargetAxis].stConfig.fPosition;
+InitialValue := GVL.astAxes[iTargetAxis].stConfig.fPosition;
 ExpectedResult := InitialValue + 10;
-GVL.aAxes[iTargetAxis].stConfig.fPosition := ExpectedResult;
+GVL.astAxes[iTargetAxis].stConfig.fPosition := ExpectedResult;
 
-GVL.aAxes[iTargetAxis].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
-GVL.aAxes[iTargetAxis].stControl.bExecute := TRUE;
+GVL.astAxes[iTargetAxis].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
+GVL.astAxes[iTargetAxis].stControl.bExecute := TRUE;
 
-Result := GVL.aAxes[iTargetAxis].stStatus.fActPosition;
+Result := GVL.astAxes[iTargetAxis].stStatus.fActPosition;
 
 IF nCycle > nCycleMax OR ExpectedResult = Result THEN
     AssertEquals(Expected := ExpectedResult,
@@ -97,7 +97,7 @@ END_VAR]]></Declaration>
 ExpectedResult := tcUNIT_gvl.fDEFAULT_TARGET_ACCELERATION;
 fbCommon.mPrepareDefaultMove(iTargetAxis);
 
-Result := GVL.aAxes[iTargetAxis].stConfig.fAcceleration;
+Result := GVL.astAxes[iTargetAxis].stConfig.fAcceleration;
 
 AssertEquals(Expected := ExpectedResult,
              Actual := Result,
@@ -121,9 +121,9 @@ END_VAR]]></Declaration>
 // example of test that requires multiple cycles to complete. Due to stateful behaviour of the axis structure.
 
 ExpectedResult := TRUE;
-GVL.aAxes[iTargetAxis].stControl.bEnable := ExpectedResult;
+GVL.astAxes[iTargetAxis].stControl.bEnable := ExpectedResult;
 
-Result := GVL.aAxes[iTargetAxis].stStatus.bEnabled;
+Result := GVL.astAxes[iTargetAxis].stStatus.bEnabled;
 
 IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
     AssertEquals(Expected := ExpectedResult,
@@ -150,11 +150,11 @@ END_VAR]]></Declaration>
 
 // Example of using a tcUNIT assert for a specific type (in this case LREAL).
 
-InitialValue := GVL.aAxes[iTargetAxis].stConfig.fVelocity;
+InitialValue := GVL.astAxes[iTargetAxis].stConfig.fVelocity;
 ExpectedResult := InitialValue + 0.5;
-GVL.aAxes[iTargetAxis].stConfig.fVelocity := ExpectedResult;
+GVL.astAxes[iTargetAxis].stConfig.fVelocity := ExpectedResult;
 
-Result := GVL.aAxes[iTargetAxis].stConfig.fVelocity;
+Result := GVL.astAxes[iTargetAxis].stConfig.fVelocity;
 
 AssertEquals_LREAL(Expected := ExpectedResult,
                    Actual := Result,
@@ -178,9 +178,9 @@ END_VAR]]></Declaration>
 
 ExpectedResult := TRUE;
 
-GVL.aAxes[iTargetAxis].stInputs.bLimitFwd := TRUE;
+GVL.astAxes[iTargetAxis].stInputs.bLimitFwd := TRUE;
 
-Result := GVL.aAxes[iTargetAxis].stStatus.bFwEnabled;
+Result := GVL.astAxes[iTargetAxis].stStatus.bFwEnabled;
 
 IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
     AssertEquals(Expected := ExpectedResult,