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Test suite and examples for tc_mca_std_lib solution

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This commit is contained in:
aaronlong
2020-02-19 14:54:14 +00:00
parent 1855a0ad58
commit 741d03da8d
12 changed files with 2778 additions and 287 deletions
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solution/tc_project_app/GVLs/GVL_APP.TcGVL
+1 -1
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@@ -7,7 +7,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
axisNum : UINT:=0;
axisNum : UINT:=1;
//axisCoupleMax : UINT:=4;
END_VAR]]></Declaration>
</GVL>
solution/tc_project_app/POUs/MAIN.TcPOU
-2
View File
@@ -140,7 +140,6 @@ END_IF]]></ST>
<Implementation>
<ST><![CDATA[//
(* Program any sequence, safety or feature (if necessary) application specific in thsi section*)
//]]></ST>
</Implementation>
</Action>
@@ -310,7 +309,6 @@ END_FOR]]></ST>
<LineIds Name="MAIN.PROG">
<LineId Id="2" Count="0" />
<LineId Id="1" Count="0" />
<LineId Id="5" Count="0" />
<LineId Id="3" Count="0" />
</LineIds>
<LineIds Name="MAIN.RESTORE_POSITIONS">
solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
+102 -122
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@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<POU Name="FB_tcUNIT_common" Id="{0f757d3d-99b7-46eb-bdc6-03aa126689f4}" SpecialFunc="None">
<Declaration><![CDATA[// tcUNIT Common function block: Contains helper methods for tcUNIT
<Declaration><![CDATA[// tcUNIT Common function block: Contains helper methods for tcUNIT.
FUNCTION_BLOCK FB_tcUNIT_common
VAR
@@ -9,170 +9,150 @@ END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
<Method Name="Cycle" Id="{664ce267-e020-4cb0-b408-882e70cdbead}">
<Declaration><![CDATA[METHOD Cycle : BOOL
<Method Name="mEnableAxis" Id="{12e91532-7139-4c17-998e-4c670b584b9d}">
<Declaration><![CDATA[METHOD mEnableAxis : BOOL
VAR_INPUT
iCycles: INT; // Number of cycles to process
END_VAR
VAR
i: INT := 0;
iAxisIndex: INT; // The idex of the axis to action the method on
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[WHILE i < iCycles DO
i := i + 1;
END_WHILE]]></ST>
<ST><![CDATA[GVL.axes[iAxisIndex].control.bEnable := TRUE;
]]></ST>
</Implementation>
</Method>
<Method Name="Execute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
<Declaration><![CDATA[METHOD Execute : BOOL
VAR_IN_OUT
Axis: ST_AxisStruct; // The axis to set execute TRUE
<Method Name="mExecute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
<Declaration><![CDATA[METHOD mExecute : BOOL
VAR_INPUT
iAxisIndex: INT; // The idex of the axis to action the method on.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[Axis.control.bExecute := TRUE;
Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]></ST>
<ST><![CDATA[GVL.axes[iAxisIndex].control.bExecute := TRUE;
]]></ST>
</Implementation>
</Method>
<Method Name="PrepareDefaultMove" Id="{4fe16ff1-3a9f-464c-997c-83ca1a3b1d50}">
<Declaration><![CDATA[METHOD PrepareDefaultMove : BOOL
VAR_IN_OUT
Axis: ST_AxisStruct; // The axis to be driven
END_VAR
<Method Name="mPrepareDefaultMove" Id="{c23244d5-896c-49ad-8d8a-19390856e4dc}">
<Declaration><![CDATA[METHOD mPrepareDefaultMove
VAR_INPUT
MotionStrategy: MotionFunctions; // The motion strategy to be used in the move
END_VAR]]></Declaration>
iAxisIndex: INT; // The idex of the axis to action the method on.
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[// Prepare an axis so it is ready to action a move using target defaults when executed
<ST><![CDATA[// Prepare an axis so it is ready to action a move using target defaults when executed.
Axis.control.bEnable := TRUE;
Axis.control.eCommand := MotionStrategy;
GVL.axes[iAxisIndex].control.bEnable := TRUE;
GVL.axes[iAxisIndex].control.eCommand := MotionFunctions.MoveAbsolute;
Axis.inputs.bLimitBwd := TRUE;
Axis.inputs.bLimitFwd := TRUE;
GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
GVL.axes[iAxisIndex].inputs.bLimitFwd := TRUE;
Axis.config.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
Axis.config.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
Axis.config.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
Axis.config.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
// Drive up and down the axis during tests over a range of (-target, target.)
IF Axis.config.fPosition = tcUNIT_GVL.fDEFAULT_POSITION THEN
Axis.config.fPosition := tcUNIT_GVL.fDEFAULT_TARGET_POSITION * -1;
ELSE Axis.config.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;
END_IF
Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]></ST>
GVL.axes[iAxisIndex].config.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
GVL.axes[iAxisIndex].config.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
GVL.axes[iAxisIndex].config.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
GVL.axes[iAxisIndex].config.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
GVL.axes[iAxisIndex].config.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
</Implementation>
</Method>
<Method Name="PrepareMove" Id="{589a25a0-6147-4b15-99b0-2e3d988c1f1b}">
<Declaration><![CDATA[METHOD PrepareMove : BOOL
VAR_IN_OUT
Axis: ST_AxisStruct; // The axis to be driven
END_VAR
<Method Name="mPrepareMove" Id="{97bd5417-d0a1-4d32-8732-16310a863fcc}">
<Declaration><![CDATA[METHOD mPrepareMove
VAR_INPUT
iAxisIndex: INT; // The idex of the axis to action the method on.
fTargetVelocity: LREAL;
fTargetAcceleration: LREAL;
fTargetDeceleration: LREAL;
fTargetPosition: LREAL;
eMotionStrategy: MotionFunctions;
eMotionStrategy: MotionFunctions; // The desired MotionFunctions motion strategy.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[// Prepare an axis so it is ready to action a move when executed
<ST><![CDATA[// Prepare the axis so it is ready to action a move when executed for a given motion strategy.
Axis.control.bEnable := FALSE;
Axis.control.eCommand := eMotionStrategy;
GVL.axes[iAxisIndex].control.bEnable := FALSE;
GVL.axes[iAxisIndex].control.eCommand := eMotionStrategy;
Axis.inputs.bLimitBwd := TRUE;
Axis.inputs.bLimitFwd := TRUE;
GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
GVL.axes[iAxisIndex].inputs.bLimitFwd := TRUE;
Axis.config.fVelocity := fTargetVelocity;
Axis.config.fAcceleration := fTargetAcceleration;
Axis.config.fDeceleration := fTargetDeceleration;
Axis.config.fPosition := fTargetPosition;
Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]></ST>
GVL.axes[iAxisIndex].config.fVelocity := fTargetVelocity;
GVL.axes[iAxisIndex].config.fAcceleration := fTargetAcceleration;
GVL.axes[iAxisIndex].config.fDeceleration := fTargetDeceleration;
GVL.axes[iAxisIndex].config.fPosition := fTargetPosition;
]]></ST>
</Implementation>
</Method>
<Method Name="SetDefaults" Id="{ec904510-9ac0-4de0-a743-94bb6933a54f}">
<Declaration><![CDATA[METHOD SetDefaults : BOOL
VAR_IN_OUT
Axis: ST_AxisStruct; // The Axis to set defaults
<Method Name="mSetAxisDefaults" Id="{5b9336be-4414-4858-a614-0fdb2847e171}">
<Declaration><![CDATA[METHOD mSetAxisDefaults
VAR_INPUT
iAxisIndex: INT; // The idex of the axis to action the method on.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[// Set PLC default values for the provided axis
<ST><![CDATA[// Set PLC default values for the axis. Note: Status values can take multiple cycles to updated. This is not an instant reset.
Axis.control.bEnable := FALSE;
Axis.control.bExecute := FALSE;
Axis.control.bReset := FALSE;
Axis.control.bJogFwd := FALSE;
Axis.control.bJogBwd := FALSE;
Axis.control.bStop := FALSE;
Axis.control.eCommand := MotionFunctions.MoveAbsolute;
IF GVL.axes[iAxisIndex].status.bBusy THEN
GVL.axes[iAxisIndex].control.bStop := TRUE;
END_IF
IF GVL.axes[iAxisIndex].status.bError THEN
GVL.axes[iAxisIndex].control.bReset := TRUE;
END_IF
IF NOT GVL.axes[iAxisIndex].control.bEnable AND GVL.axes[iAxisIndex].control.bStop THEN
GVL.axes[iAxisIndex].control.bStop := FALSE;
END_IF
Axis.config.fVelocity := 0.0;
Axis.config.fAcceleration := 0.0;
Axis.config.fDeceleration := 0.0;
Axis.config.fPosition := 0;
Axis.config.fOverride := 0.0;
Axis.config.nHomeSeq := 0;
GVL.axes[iAxisIndex].control.bEnable := FALSE;
GVL.axes[iAxisIndex].control.bExecute := FALSE;
GVL.axes[iAxisIndex].control.bReset := FALSE;
GVL.axes[iAxisIndex].control.bJogFwd := FALSE;
GVL.axes[iAxisIndex].control.bJogBwd := FALSE;
GVL.axes[iAxisIndex].control.bStop := FALSE;
GVL.axes[iAxisIndex].control.eCommand := MotionFunctions.MoveAbsolute;
Axis.inputs.bLimitBwd := FALSE;
Axis.inputs.bLimitFwd := FALSE;
Axis.inputs.bEncLAtch := FALSE;
Axis.inputs.bHomeSensor := FALSE;
GVL.axes[iAxisIndex].config.fVelocity := 0.0;
GVL.axes[iAxisIndex].config.fAcceleration := 0.0;
GVL.axes[iAxisIndex].config.fDeceleration := 0.0;
GVL.axes[iAxisIndex].config.fPosition := 0;
GVL.axes[iAxisIndex].config.fOverride := 0.0;
GVL.axes[iAxisIndex].config.nHomeSeq := 0;
Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]></ST>
GVL.axes[iAxisIndex].inputs.bLimitBwd := FALSE;
GVL.axes[iAxisIndex].inputs.bLimitFwd := FALSE;
GVL.axes[iAxisIndex].inputs.bEncLAtch := FALSE;
GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;
]]></ST>
</Implementation>
</Method>
<LineIds Name="FB_tcUNIT_common">
<LineId Id="9" Count="0" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.Cycle">
<LineIds Name="FB_tcUNIT_common.mEnableAxis">
<LineId Id="5" Count="0" />
<LineId Id="10" Count="1" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.Execute">
<LineId Id="5" Count="0" />
<LineId Id="8" Count="0" />
<LineId Id="7" Count="0" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.PrepareDefaultMove">
<LineId Id="122" Count="3" />
<LineId Id="133" Count="0" />
<LineId Id="126" Count="5" />
<LineId Id="17" Count="0" />
<LineId Id="145" Count="0" />
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<LineId Id="144" Count="0" />
<LineId Id="143" Count="0" />
<LineId Id="147" Count="0" />
<LineId Id="146" Count="0" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.PrepareMove">
<LineId Id="122" Count="3" />
<LineId Id="134" Count="0" />
<LineId Id="126" Count="6" />
<LineId Id="135" Count="1" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.SetDefaults">
<LineId Id="7" Count="0" />
<LineId Id="14" Count="0" />
<LineId Id="30" Count="5" />
<LineId Id="9" Count="0" />
<LineId Id="20" Count="0" />
<LineId Id="10" Count="1" />
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<LineId Id="12" Count="0" />
<LineId Id="21" Count="0" />
<LineId Id="24" Count="0" />
<LineId Id="18" Count="0" />
<LineId Id="15" Count="1" />
<LineId Id="22" Count="1" />
<LineId Id="36" Count="1" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.mExecute">
<LineId Id="5" Count="0" />
<LineId Id="7" Count="0" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.mPrepareDefaultMove">
<LineId Id="6" Count="0" />
<LineId Id="38" Count="0" />
<LineId Id="8" Count="1" />
<LineId Id="39" Count="0" />
<LineId Id="11" Count="6" />
<LineId Id="19" Count="0" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.mPrepareMove">
<LineId Id="17" Count="11" />
<LineId Id="5" Count="0" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.mSetAxisDefaults">
<LineId Id="6" Count="0" />
<LineId Id="41" Count="0" />
<LineId Id="34" Count="1" />
<LineId Id="31" Count="0" />
<LineId Id="44" Count="1" />
<LineId Id="43" Count="0" />
<LineId Id="36" Count="2" />
<LineId Id="7" Count="19" />
<LineId Id="5" Count="0" />
</LineIds>
</POU>
</TcPlcObject>
solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
+2 -6
View File
@@ -1,12 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
<GVL Name="tcUNIT_GVL" Id="{4b23d6c9-6a88-40b7-9bf4-d55c4dfd4246}">
<Declaration><![CDATA[// tcUNIT_GVL: Global variables used in tcUNIT tests
<Declaration><![CDATA[// tcUNIT_GVL: Global variables used in tcUNIT tests.
{attribute 'qualified_only'}
VAR_GLOBAL CONSTANT
iNumberOfAxes: INT := 1;
// Constants for axis defaults
// Constants for axis defaults.
fDEFAULT_VELOCITY: LREAL := 0.0;
fDEFAULT_ACCELERATION: LREAL := 0.0;
fDEFAULT_DECCELERATION: LREAL := 0.0;
@@ -17,11 +15,9 @@ fDEFAULT_TARGET_ACCELERATION: LREAL := 0.5;
fDEFAULT_TARGET_DECCELERATION: LREAL := 0.5;
fDEFAULT_TARGET_POSITION: LREAL := 10.0;
fDEFAULT_TARGET_OVERRIDE: LREAL := 100;
END_VAR
VAR_GLOBAL
iAxis: INT;
END_VAR]]></Declaration>
</GVL>
</TcPlcObject>
solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
+152 -143
View File
@@ -6,18 +6,83 @@
FUNCTION_BLOCK FB_Axis_TEST EXTENDS tcUnit.FB_TestSuite
VAR
fbCommon: FB_tcUNIT_common;
Axis: POINTER TO ST_AxisStruct := ADR(GVL.axes[1]);
iTargetAxis: INT := 1; // The <index> of the axis within GVL.axes[<index>] to test against.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[// Declare methods defined in the FB_Axis_TEST POU to be included (executed) in the test suite
SetAxisEnabled();
SetAxisMoving();
SetAxisAcceleration();
SetAxisPosition();
SetAxisVelocity();]]></ST>
SetAxisControl_Enabled();
CheckAxisStatus_Moving();
SetAxisConfig_Acceleration();
CheckAxisStatus_NewPosition();
SetAxisControl_Velocity();
SetAxisInputs_bLimitFwd();]]></ST>
</Implementation>
<Method Name="SetAxisAcceleration" Id="{2efd2402-6ad3-455d-a703-347847c98522}">
<Declaration><![CDATA[METHOD SetAxisAcceleration
<Method Name="CheckAxisStatus_Moving" Id="{f7dcf822-91ec-4555-918f-e2487353578a}">
<Declaration><![CDATA[METHOD CheckAxisStatus_Moving
VAR
Result: BOOL;
ExpectedResult: BOOL;
nCycle: UINT;
nMaxCycles: UINT := 30;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[TEST('test_GIVEN_new_axis_position_WHEN_execute_move_THEN_axis_moves');
ExpectedResult := TRUE;
fbCommon.mPrepareDefaultMove(iTargetAxis);
fbCommon.mExecute(iTargetAxis);
Result := GVL.axes[iTargetAxis].status.bBusy;
IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
AssertEquals(Expected := ExpectedResult,
Actual := Result,
Message := 'Axis is not moving.');
TEST_FINISHED();
ELSE
nCycle := nCycle + 1;
END_IF]]></ST>
</Implementation>
</Method>
<Method Name="CheckAxisStatus_NewPosition" Id="{604b9446-af57-41db-afac-f53f5b12cc2c}">
<Declaration><![CDATA[METHOD CheckAxisStatus_NewPosition
VAR
InitialValue: LREAL;
Result: LREAL;
ExpectedResult: LREAL;
nCycle: UINT;
nCycleMax: UINT := 100;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[TEST('test_GIVEN_new_axis_position_set_WHEN_executed_THEN_axis_moves_to_new_position');
// Since the axis has state; a test might begin the position at some location set by
// 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.axes[iTargetAxis].config.fPosition;
ExpectedResult := InitialValue + 10;
GVL.axes[iTargetAxis].config.fPosition := ExpectedResult;
GVL.axes[iTargetAxis].control.eCommand := MotionFunctions.MoveAbsolute;
GVL.axes[iTargetAxis].control.bExecute := TRUE;
Result := GVL.axes[iTargetAxis].status.fActPosition;
IF nCycle > nCycleMax OR ExpectedResult = Result THEN
AssertEquals(Expected := ExpectedResult,
Actual := Result,
Message := 'fPosition of the axis is different.');
TEST_FINISHED();
ELSE
nCycle := nCycle + 1;
END_IF]]></ST>
</Implementation>
</Method>
<Method Name="SetAxisConfig_Acceleration" Id="{2efd2402-6ad3-455d-a703-347847c98522}">
<Declaration><![CDATA[METHOD SetAxisConfig_Acceleration
VAR
InitialValue: LREAL;
Result: LREAL;
@@ -26,105 +91,51 @@ END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[TEST('test_GIVEN_new_axis_acceleration_set_WHEN_executed_THEN_new_axis_acceleration_set');
// example of direct GVL axis reference
// example of direct GVL axis reference for assert.
ExpectedResult := tcUNIT_gvl.fDEFAULT_TARGET_ACCELERATION;
fbCommon.PrepareDefaultMove(GVL.Axes[1], MotionFunctions.MoveAbsolute);
fbCommon.mPrepareDefaultMove(iTargetAxis);
Result := GVL.Axes[1].config.fAcceleration;
Result := GVL.axes[1].config.fAcceleration;
AssertEquals(Expected := ExpectedResult,
Actual := Result,
Message := 'fAcceleration of the axis is different.');
fbCommon.SetDefaults(GVL.Axes[1]);
TEST_FINISHED();]]></ST>
</Implementation>
</Method>
<Method Name="SetAxisEnabled" Id="{749049e6-6152-4a23-ac76-75883bd089b7}">
<Declaration><![CDATA[METHOD SetAxisEnabled
<Method Name="SetAxisControl_Enabled" Id="{749049e6-6152-4a23-ac76-75883bd089b7}">
<Declaration><![CDATA[METHOD SetAxisControl_Enabled
VAR
Result: BOOL;
ExpectedResult: BOOL;
i: INT;
nCycle: UINT;
nMaxCycles: UINT := 30;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[TEST('test_GIVEN_prepare_default_move_WHEN_move_prepared_THEN_axis_enabled');
// example of pointer reference to axis structure
// example of test that requires multiple cycles to complete. Due to stateful behaviour of the axis structure.
ExpectedResult := TRUE;
GVL.axes[1].control.bEnable := ExpectedResult;
fbCommon.PrepareDefaultMove(Axis^, MotionFunctions.MoveAbsolute);
Result := Axis^.status.bEnabled;
AssertEquals(Expected := ExpectedResult,
Actual := Result,
Message := 'Axis is not enabled.');
fbCommon.SetDefaults(Axis^);
TEST_FINISHED();]]></ST>
</Implementation>
</Method>
<Method Name="SetAxisMoving" Id="{f7dcf822-91ec-4555-918f-e2487353578a}">
<Declaration><![CDATA[METHOD SetAxisMoving
VAR
Result: BOOL;
ExpectedResult: BOOL;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[TEST('test_GIVEN_new_axis_position_WHEN_execute_move_THEN_axis_moves');
ExpectedResult := TRUE;
fbCommon.PrepareDefaultMove(GVL.Axes[1], MotionFunctions.MoveAbsolute);
fbCommon.Execute(GVL.Axes[1]);
IF GVL.Axes[1].control.bEnable THEN
Result := GVL.Axes[1].status.bBusy;
Result := GVL.axes[iTargetAxis].status.bEnabled;
IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
AssertEquals(Expected := ExpectedResult,
Actual := Result,
Message := 'Axis is not moving.');
Message := 'Axis is not enabled.');
TEST_FINISHED();
ELSE
nCycle := nCycle + 1;
END_IF
fbCommon.SetDefaults(GVL.Axes[1]);
TEST_FINISHED();]]></ST>
]]></ST>
</Implementation>
</Method>
<Method Name="SetAxisPosition" Id="{604b9446-af57-41db-afac-f53f5b12cc2c}">
<Declaration><![CDATA[METHOD SetAxisPosition
VAR
InitialValue: LREAL;
Result: LREAL;
ExpectedResult: LREAL;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[TEST('test_GIVEN_new_axis_position_set_WHEN_executed_THEN_new_axis_position_set');
InitialValue := Axis^.config.fPosition;
ExpectedResult := InitialValue + 10;
Axis^.config.fPosition := ExpectedResult;
Axis^.control.eCommand := MotionFunctions.MoveAbsolute;
Axis^.control.bExecute := TRUE;
Result := Axis^.config.fPosition;
fbCommon.Cycle(2);
AssertEquals(Expected := ExpectedResult,
Actual := Result,
Message := 'fPosition of the axis is different.');
//fbCommon.SetDefaults(GVL.Axes[1]);
TEST_FINISHED();]]></ST>
</Implementation>
</Method>
<Method Name="SetAxisVelocity" Id="{f87270b6-fb94-4214-bb13-17f22f6ab8f5}">
<Declaration><![CDATA[METHOD SetAxisVelocity
<Method Name="SetAxisControl_Velocity" Id="{f87270b6-fb94-4214-bb13-17f22f6ab8f5}">
<Declaration><![CDATA[METHOD SetAxisControl_Velocity
VAR
InitialValue: LREAL;
Result: LREAL;
@@ -133,98 +144,96 @@ END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[TEST('test_GIVEN_new_axis_velocity_set_WHEN_executed_THEN_new_axis_velocity_set');
InitialValue := GVL.Axes[1].config.fVelocity;
InitialValue := GVL.axes[iTargetAxis].config.fVelocity;
ExpectedResult := InitialValue + 0.5;
GVL.Axes[1].config.fVelocity := ExpectedResult;
GVL.Axes[iTargetAxis].config.fVelocity := ExpectedResult;
GVL.Axes[1].control.eCommand := MotionFunctions.MoveAbsolute;
GVL.Axes[1].control.bExecute := TRUE;
GVL.Axes[iTargetAxis].control.eCommand := MotionFunctions.MoveAbsolute;
GVL.Axes[iTargetAxis].control.bExecute := TRUE;
Result := GVL.Axes[1].config.fVelocity;
Result := GVL.axes[iTargetAxis].config.fVelocity;
AssertEquals(Expected := ExpectedResult,
Actual := Result,
Message := 'fVelocity of the axis is different.');
fbCommon.SetDefaults(GVL.Axes[1]);
TEST_FINISHED();]]></ST>
</Implementation>
</Method>
<Method Name="SetAxisInputs_bLimitFwd" Id="{6304c3b1-9e72-403e-9ae2-a5609b1efe92}">
<Declaration><![CDATA[METHOD SetAxisInputs_bLimitFwd
VAR
Result: BOOL;
ExpectedResult: BOOL;
nCycle: UINT;
nMaxCycles: UINT := 30;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[TEST('test_GIVEN_prepare_default_move_WHEN_bFwEnabled_prepared_enabled_THEN_bFwEnable_enabled');
ExpectedResult := TRUE;
GVL.axes[iTargetAxis].inputs.bLimitFwd := TRUE;
Result := GVL.axes[iTargetAxis].status.bFwEnabled;
IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
AssertEquals(Expected := ExpectedResult,
Actual := Result,
Message := 'Axis bLimitFwd is not enabled.');
TEST_FINISHED();
ELSE
nCycle := nCycle + 1;
END_IF]]></ST>
</Implementation>
</Method>
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solution/tc_project_app/tc_project_app.tmcRefac
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