From 7ee4fae5ada51cdfb0ec1792ce69955057643f4f Mon Sep 17 00:00:00 2001
From: aaronlong <aaron.long@stfc.ac.uk>
Date: Tue, 24 Dec 2019 10:08:59 +0000
Subject: [PATCH] Added tcUNIT, including helper functions and app test folder,
 to generic structure

---
 .../tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU     |  20 ++
 .../tcUNIT/common/FB_tcUNIT_common.TcPOU      | 187 ++++++++++++++++++
 .../tcUNIT/common/tcUNIT_GVL.TcGVL            |  28 +++
 .../tc_project_app/tc_project_app.tmcRefac    |  15 ++
 4 files changed, 250 insertions(+)
 create mode 100644 solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
 create mode 100644 solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
 create mode 100644 solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
 create mode 100644 solution/tc_project_app/tc_project_app.tmcRefac

diff --git a/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU b/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
new file mode 100644
index 0000000..ccb726d
--- /dev/null
+++ b/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
+  <POU Name="tcUNIT_APP_RUN" Id="{1cbcbdc6-2eff-474d-81ad-52783ff4b2a4}" SpecialFunc="None">
+    <Declaration><![CDATA[// tcUNIT: Add this program to PLC tasks in order to run tcUNIT tests against the declared POU test suites below
+PROGRAM tcUNIT_APP_RUN
+VAR
+    // Declare application POU tests to be run
+    // e.g. fbNonLinearSlitMove: FB_NonLinearSlitMove_Test
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[TcUnit.RUN();
+]]></ST>
+    </Implementation>
+    <LineIds Name="tcUNIT_APP_RUN">
+      <LineId Id="45" Count="0" />
+      <LineId Id="43" Count="0" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
new file mode 100644
index 0000000..e59f78a
--- /dev/null
+++ b/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
@@ -0,0 +1,187 @@
+<?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
+FUNCTION_BLOCK FB_tcUNIT_common
+VAR
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[]]></ST>
+    </Implementation>
+    <Method Name="Cycle" Id="{664ce267-e020-4cb0-b408-882e70cdbead}">
+      <Declaration><![CDATA[METHOD Cycle : BOOL
+VAR_INPUT
+    iCycles: INT;    // Number of cycles to process
+END_VAR
+
+VAR
+    i: INT := 0;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[WHILE i < iCycles DO
+    i := i + 1;
+END_WHILE
+]]></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
+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>
+      </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
+
+VAR_INPUT
+   MotionStrategy: MotionFunctions;    // The motion strategy to be used in the move
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <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;
+
+Axis.inputs.bLimitBwd := TRUE;
+Axis.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>
+      </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 action a pre-execute move
+END_VAR
+
+VAR_INPUT
+    fTargetVelocity: LREAL;
+    fTargetAcceleration: LREAL;
+    fTargetDeceleration: LREAL;
+    fTargetPosition: LREAL;
+    eMotionStrategy: MotionFunctions; 
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Prepare an axis so it is ready to action a move when executed
+
+Axis.control.bEnable := FALSE;
+Axis.control.eCommand := eMotionStrategy;
+
+Axis.inputs.bLimitBwd := TRUE;
+Axis.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>
+      </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 be returned to a default state
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Set PLC default values for the provided axis
+
+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;
+
+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;
+
+Axis.inputs.bLimitBwd := FALSE;
+Axis.inputs.bLimitFwd := FALSE;
+Axis.inputs.bEncLAtch := FALSE;
+Axis.inputs.bHomeSensor := FALSE;
+
+Cycle(1);    // Cycle the PLC to ensure the values have been set and results can be taken
+]]></ST>
+      </Implementation>
+    </Method>
+    <LineIds Name="FB_tcUNIT_common">
+      <LineId Id="9" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_tcUNIT_common.Cycle">
+      <LineId Id="5" Count="0" />
+      <LineId Id="10" Count="2" />
+    </LineIds>
+    <LineIds Name="FB_tcUNIT_common.Execute">
+      <LineId Id="5" Count="0" />
+      <LineId Id="8" Count="0" />
+      <LineId Id="7" Count="0" />
+      <LineId Id="9" 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" />
+      <LineId Id="140" Count="2" />
+      <LineId Id="144" Count="0" />
+      <LineId Id="143" Count="0" />
+      <LineId Id="147" Count="0" />
+      <LineId Id="146" Count="0" />
+      <LineId Id="138" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_tcUNIT_common.PrepareMove">
+      <LineId Id="159" Count="13" />
+      <LineId Id="17" Count="0" />
+    </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" />
+      <LineId Id="17" Count="0" />
+      <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" />
+      <LineId Id="28" Count="0" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL b/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
new file mode 100644
index 0000000..3b89d11
--- /dev/null
+++ b/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
@@ -0,0 +1,28 @@
+<?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
+{attribute 'qualified_only'}
+VAR_GLOBAL CONSTANT
+    iNumberOfAxes: INT := 1;
+
+// Constants for axis defaults
+fDEFAULT_VELOCITY: LREAL := 0.0;
+fDEFAULT_ACCELERATION: LREAL := 0.0;
+fDEFAULT_DECCELERATION: LREAL := 0.0;
+fDEFAULT_POSITION: LREAL := 0.0;
+
+fDEFAULT_TARGET_VELOCITY: LREAL := 1.0;
+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>
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.tmcRefac b/solution/tc_project_app/tc_project_app.tmcRefac
new file mode 100644
index 0000000..d6415b5
--- /dev/null
+++ b/solution/tc_project_app/tc_project_app.tmcRefac
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Refactors>
+  <Renames>
+    <RenamedType>
+      <Type guid="1cbcbdc6-2eff-474d-81ad-52783ff4b2a4">TCUNIT_RUN</Type>
+      <From>tcUNIT_STD_LIB_1</From>
+      <To>tcUNIT_APP_RUN</To>
+    </RenamedType>
+    <RenamedSymbol>
+      <Type guid="589a25a0-6147-4b15-99b0-2e3d988c1f1b">PrepareMove</Type>
+      <From>motionStrategy</From>
+      <To>eMotionStrategy</To>
+    </RenamedSymbol>
+  </Renames>
+</Refactors>
\ No newline at end of file