OOP: Introduce interfaces for application specific code

Add interfaces for application-specific (or non application specific) code execution per axis. Add an array of interfaces and call them. Changes to be committed: modified: solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU modified: solution/tc_project_app/POUs/MAIN.TcPOU modified: solution/tc_project_app/Visualization Manager.TcVMO modified: solution/tc_project_app/tc_project_app.plcproj
2022-10-17 10:22:46 +02:00
parent c026a0bc6c
commit 99f89c3bc8
4 changed files with 222 additions and 39 deletions
@@ -8,8 +8,7 @@ VAR

 //Hardware interlocks
    //bInterlockFwdOK AT %I*: BOOL;
-END_VAR
-]]></Declaration>
+END_VAR]]></Declaration>
    <Implementation>
      <ST><![CDATA[//Initial parameters of an Axis
 (*IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN
@@ -21,8 +20,7 @@ END_IF*)

 //Define ACTIONS() or write exclusive code for an specific axis.
 (*Eg. Stop when temperature reaches certain values, reduce speed if  a signal is activated, etc.
-Eg. GVL.astAxes[x].stControl.bInterlockFwd := NOT bInterlockFwdOK;*)
-]]></ST>
+Eg. GVL.astAxes[x].stControl.bInterlockFwd := NOT bInterlockFwdOK;*)]]></ST>
    </Implementation>
  </POU>
 </TcPlcObject>
@@ -4,6 +4,7 @@
    <Declaration><![CDATA[PROGRAM MAIN
 VAR
    sVersion: STRING := '1.0.0';
+    aIAxes: ARRAY [1..GVL_APP.nAXIS_NUM] OF I_Axis;
    afbAxes: ARRAY [1..GVL_APP.nAXIS_NUM] OF FB_Axis;
    afbPneumaticAxes: ARRAY [1..GVL_APP.nPNEUMATIC_AXIS_NUM] OF FB_PneumaticAxis;
    hmiAxisSelection: INT := 1; //Not possible to use local hmi variables for array indexes
@@ -16,7 +17,7 @@ VAR
    bRestoreExecute: BOOL := FALSE;
    bExecuteReadEncRefSys: BOOL := FALSE;
    nRetry: INT;
-    iAxes : UINT; //index for for loops in Position recovery actions
+    iAxes: UINT; //index for for loops in Position recovery actions
    afbReadEncRefSys: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter;
    afbRestorePosition: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_SetPosition;
    fbGetDeviceIdentification: FB_GetDeviceIdentificationEx;
@@ -27,20 +28,30 @@ VAR PERSISTENT
 END_VAR]]></Declaration>
    <Implementation>
      <ST><![CDATA[POSITION_RECOVERY();
-AXES();
-PROG();]]></ST>
+PROG();
+AXES();]]></ST>
    </Implementation>
    <Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
    <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
      <Implementation>
-        <ST><![CDATA[//Get task index for Axes parameters initialization.
-GVL.fbGetCurTaskIndex();
+        <ST><![CDATA[//First cycle, assign FB_axis to interface array
+IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN
+    FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
+        afbAxes[GVL.iAxis].stAxis REF= astAxes[GVL.iAxis];
+        aIAxes[GVL.iAxis] := afbAxes[GVL.iAxis];
+    END_FOR
+    //Custom axis types defined and linked to aiAxes here
+      //FB_CustomAxis extends FB_axis
+        //fbCustomAxis.stAxis REF= astAxes[x];
+        //aIAxes[x] := fbCustomAxis;
+END_IF

-//Create an stAxisStruct for every axis in the project.
+//Execute FB_Axis logic
 FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
-    afbAxes[GVL.iAxis](stAxisStruct := GVL.astAxes[GVL.iAxis]);
+    aIAxes[GVL.iAxis].Run();
 END_FOR

+//Execute Pneumatic Axis logic
 FOR GVL.iPneumaticAxis := 1 TO GVL_APP.nPNEUMATIC_AXIS_NUM DO
    afbPneumaticAxes[GVL.iPneumaticAxis](stPneumaticAxisStruct := GVL.astPneumaticAxes[GVL.iPneumaticAxis]);
 END_FOR]]></ST>
@@ -74,7 +85,18 @@ END_IF]]></ST>
    </Action>
    <Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
      <Implementation>
-        <ST><![CDATA[Application_Template();]]></ST>
+        <ST><![CDATA[//Get task index for Axes parameters initialization.
+GVL.fbGetCurTaskIndex();
+
+//Call the programs that are defined in the "Application Specific" folder.
+//Create as many programs in that folder as axes and applications you have or need
+
+//Axes initial parameters and program
+//Axis_Template();
+//Pneumatics_Template();
+
+//Application program calls
+//Application_Template();]]></ST>
      </Implementation>
    </Action>
    <Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
@@ -45,10 +45,10 @@
            <d n="FbMethods" t="CaseInsensitiveHashtable" ckt="String" cvt="Guid">
              <v>FB_Init</v>
              <v>c98701bd-1e9f-450a-a2a8-a2474d536f2e</v>
-              <v>FB_Reinit</v>
-              <v>5b6e372a-a69d-40e8-aef7-f470b7c53d95</v>
              <v>FB_Exit</v>
              <v>0be1b9ab-e8eb-4b33-b803-109abb46bde4</v>
+              <v>FB_Reinit</v>
+              <v>5b6e372a-a69d-40e8-aef7-f470b7c53d95</v>
            </d>
            <v n="FbName">"NotImportant"</v>
            <v n="FbGuid">{aa8b7e42-e967-427f-8f2e-f00f9d706470}</v>
@@ -41,6 +41,33 @@
    <Compile Include="POUs\MAIN.TcPOU">
      <SubType>Code</SubType>
    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_AxisConfig.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_AxisControl.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_AxisDescription.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_AxisError.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_AxisInputs.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_AxisPersistent.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_AxisStatus.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_AxisStruct.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_GearAxis.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
    <Compile Include="tc_mca_std_lib\DUTs\E_AxisParameters.TcTLEO">
      <SubType>Code</SubType>
    </Compile>
@@ -65,6 +92,9 @@
    <Compile Include="tc_mca_std_lib\DUTs\E_RestorePosition.TcDUT">
      <SubType>Code</SubType>
    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\I_Axis.TcIO">
+	  <SubType>Code</SubType>
+    </Compile>
    <Compile Include="tc_mca_std_lib\DUTs\E_SlitPairStatesV2.TcDUT">
      <SubType>Code</SubType>
    </Compile>
@@ -98,34 +128,10 @@
    <Compile Include="tc_mca_std_lib\DUTs\ST_MonitoringAlarm.TcDUT">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisConfig.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisControl.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
    <Compile Include="tc_mca_std_lib\DUTs\E_MotionFunctions.TcDUT">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisDescription.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisError.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisInputs.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisPersistent.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\ST_GearAxis.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisStatus.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisStruct.TcDUT">
+    <Compile Include="tc_mca_std_lib\DUTs\ST_McStatus.TcDUT">
      <SubType>Code</SubType>
    </Compile>
    <Compile Include="tc_mca_std_lib\GVLs\GVL.TcGVL">
@@ -156,6 +162,9 @@
      <SubType>Code</SubType>
      <DependentUpon>Visualization Manager.TcVMO</DependentUpon>
    </Compile>
+    <Compile Include="tc_mca_std_lib\VISUs\ParameterTextList.TcTLO">
+      <SubType>Code</SubType>
+    </Compile>
    <Compile Include="tc_mca_std_lib\VISUs\PneumaticsVisu.TcVIS">
      <SubType>Code</SubType>
      <DependentUpon>Visualization Manager.TcVMO</DependentUpon>
@@ -170,6 +179,7 @@
    <Folder Include="POUs\Application_Specific" />
    <Folder Include="POUs\Application_Specific\Applications" />
    <Folder Include="POUs\Application_Specific\Axes" />
+    <Folder Include="tc_mca_std_lib\DUTs\Axis_Structures" />
    <Folder Include="tc_mca_std_lib\DUTs\Pneumatics" />
    <Folder Include="POUs\Application_Specific\Applications" />
    <Folder Include="POUs\Application_Specific\Axes" />
@@ -276,9 +286,162 @@
    </None>
  </ItemGroup>
  <ItemGroup>
+    <PlaceholderResolution Include="CAA Callback">
+      <Resolution>CAA Callback Extern, * (CAA Technical Workgroup)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="CAA MemBlockMan">
+      <Resolution>CAA Memory Block Manager Extern, * (CAA Technical Workgroup)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="CAA ResMan">
+      <Resolution>CAA Ressource Manager Extern, * (CAA Technical Workgroup)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="CAA Types">
+      <Resolution>CAA Types Extern, * (CAA Technical Workgroup)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="CmpApp">
+      <Resolution>CmpApp, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="CmpBitmapPool">
+      <Resolution>CmpBitmapPool, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="CmpDynamicText">
+      <Resolution>CmpDynamicText, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="CmpEventMgr">
+      <Resolution>CmpEventMgr, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="CmpLog">
+      <Resolution>CmpLog, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="CmpSchedule">
+      <Resolution>CmpSchedule, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="CmpTargetVisu">
+      <Resolution>CmpTargetVisu, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="CmpVisuHandler">
+      <Resolution>CmpVisuHandler, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Collections">
+      <Resolution>Collections, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Component Manager">
+      <Resolution>Component Manager, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="FloatingPointUtils">
+      <Resolution>FloatingPointUtils, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Standard">
+      <Resolution>Tc2_Standard, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Standard64">
+      <Resolution>Tc2_Standard, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="StringUtils">
+      <Resolution>StringUtils, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="SysCpuHandling">
+      <Resolution>SysCpuHandling, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="SysDir">
+      <Resolution>SysDir, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="SysFile">
+      <Resolution>SysFile, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="SysMem">
+      <Resolution>SysMem, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="SysProcess">
+      <Resolution>SysProcess, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="SysShm">
+      <Resolution>SysShm, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="SysTarget">
+      <Resolution>SysTarget, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="System_VisuElemBase">
+      <Resolution>VisuElemBase, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="System_VisuElemEventTable">
+      <Resolution>VisuElemEventTable, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="System_VisuElemMeter">
+      <Resolution>VisuElemMeter, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="System_VisuElems">
+      <Resolution>VisuElems, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="System_VisuElemsSpecialControls">
+      <Resolution>VisuElemsSpecialControls, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="System_VisuElemsWinControls">
+      <Resolution>VisuElemsWinControls, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="System_VisuElemTextEditor">
+      <Resolution>VisuElemTextEditor, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="system_visuinputs">
+      <Resolution>VisuInputs, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="System_VisuInputs">
+      <Resolution>VisuInputs, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="System_VisuNativeControl">
+      <Resolution>VisuNativeControl, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="SysTime">
+      <Resolution>SysTime, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="SysTimeCore">
+      <Resolution>SysTimeCore, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="SysTimeRtc">
+      <Resolution>SysTimeRtc, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Tc2_Drive">
+      <Resolution>Tc2_Drive, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Tc2_EtherCAT">
+      <Resolution>Tc2_EtherCAT, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Tc2_IoFunctions">
+      <Resolution>Tc2_IoFunctions, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Tc2_Math">
+      <Resolution>Tc2_Math, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
    <PlaceholderResolution Include="Tc2_MC2">
      <Resolution>Tc2_MC2, 3.3.48.0 (Beckhoff Automation GmbH)</Resolution>
    </PlaceholderResolution>
+    <PlaceholderResolution Include="Tc2_MC2_Drive">
+      <Resolution>Tc2_MC2_Drive, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Tc2_Standard">
+      <Resolution>Tc2_Standard, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Tc2_SUPS">
+      <Resolution>Tc2_SUPS, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Tc2_System">
+      <Resolution>Tc2_System, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Tc2_Utilities">
+      <Resolution>Tc2_Utilities, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Tc3_MC2_AdvancedHoming">
+      <Resolution>Tc3_MC2_AdvancedHoming, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Tc3_Module">
+      <Resolution>Tc3_Module, * (Beckhoff Automation GmbH)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="Util">
+      <Resolution>Util, * (System)</Resolution>
+    </PlaceholderResolution>
+    <PlaceholderResolution Include="VisuDialogs">
+      <Resolution>VisuDialogs, * (System)</Resolution>
+    </PlaceholderResolution>
  </ItemGroup>
  <ProjectExtensions>
    <PlcProjectOptions>