Delete all files related to the Test unit folder and library
This commit is contained in:
Federico Rojas
@@ -1,19 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
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<POU Name="tcUNIT_APP_RUN" Id="{677fcae4-9d84-425e-8fcd-8e3d3a1985e8}" SpecialFunc="None">
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<Declaration><![CDATA[(* tcUNIT Tests: Add this program to PLC task in order to run tcUNIT tests against the declared POU test suites.
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see https://tcunit.org/ for documentation.*)
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PROGRAM tcUNIT_APP_RUN
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VAR
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(* Declare standard library POU tests to be run
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E.g. fbMoveNonLinearSlits: FB_MoveNonLinearSlits_Test;*)
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[TcUnit.RUN();]]></ST>
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</Implementation>
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<LineIds Name="tcUNIT_APP_RUN">
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<LineId Id="45" Count="0" />
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</LineIds>
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</POU>
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</TcPlcObject>
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@@ -1,242 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
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<POU Name="FB_tcUNIT_common" Id="{0f757d3d-99b7-46eb-bdc6-03aa126689f4}" SpecialFunc="None">
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<Declaration><![CDATA[//tcUNIT Common function block: Contains helper methods for tcUNIT.
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FUNCTION_BLOCK FB_tcUNIT_common
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VAR
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[]]></ST>
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</Implementation>
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<Method Name="mDisableAxis" Id="{22a3dd98-69f0-4b92-8109-1b0c2fe2344d}">
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<Declaration><![CDATA[METHOD mDisableAxis: BOOL
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VAR_INPUT
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nAxisIndex: UINT; //The idex of the axis to action the method on.
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bEnable := FALSE;]]></ST>
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</Implementation>
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</Method>
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<Method Name="mEnableAxis" Id="{12e91532-7139-4c17-998e-4c670b584b9d}">
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<Declaration><![CDATA[METHOD mEnableAxis: BOOL
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VAR_INPUT
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nAxisIndex: UINT; //The idex of the axis to action the method on.
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bEnable := TRUE;]]></ST>
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</Implementation>
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</Method>
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<Method Name="mExecute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
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<Declaration><![CDATA[METHOD mExecute: BOOL
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VAR_INPUT
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nAxisIndex: UINT; //The idex of the axis to action the method on.
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := TRUE;]]></ST>
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</Implementation>
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</Method>
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<Method Name="mExecute_SetFALSE" Id="{cc074392-b19d-414a-9010-72a4fa4d5f7a}">
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<Declaration><![CDATA[METHOD mExecute_SetFALSE: BOOL
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VAR_INPUT
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nAxisIndex: UINT; //The idex of the axis to action the method on.
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := TRUE;]]></ST>
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</Implementation>
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</Method>
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<Method Name="mGearOut" Id="{65c5860b-0759-45a5-a8a4-27fe9453aa76}">
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<Declaration><![CDATA[METHOD mGearOut : BOOL
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VAR_INPUT
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iAxis: UINT; // The idex of the axis to action the method on.
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[GVL.astAxes[iAxis].stControl.eCommand := E_MotionFunctions.eGearOut;]]></ST>
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</Implementation>
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</Method>
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<Method Name="mPrepareDefaultMove" Id="{c23244d5-896c-49ad-8d8a-19390856e4dc}">
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<Declaration><![CDATA[METHOD mPrepareDefaultMove
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VAR_INPUT
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nAxisIndex: UINT; //The idex of the axis to action the method on.
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[//Prepare an axis so it is ready to action a move using target defaults when executed.
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GVL.astAxes[nAxisIndex].stControl.bEnable := TRUE;
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GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
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GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := TRUE;
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GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := TRUE;
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GVL.astAxes[nAxisIndex].stConfig.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
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GVL.astAxes[nAxisIndex].stConfig.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
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GVL.astAxes[nAxisIndex].stConfig.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
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GVL.astAxes[nAxisIndex].stConfig.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
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GVL.astAxes[nAxisIndex].stConfig.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
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</Implementation>
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</Method>
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<Method Name="mPrepareGearInMultiMaster" Id="{b94784af-8414-4f79-a0cd-7d3b82710c1e}">
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<Declaration><![CDATA[METHOD mPrepareGearInMultiMaster
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VAR_INPUT
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nAxisIndex: UINT; // The idex of the axis to action the method on.
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astGearAxis: ARRAY[1..4] OF ST_GearAxis;
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END_VAR
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VAR
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i: UINT;
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[// Prepare the axis so it is ready to be coupled
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GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eGearInMultiMaster;
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FOR i:= 1 TO tcUNIT_GVL.nMAX_MASTERS DO
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GVL.astAxes[nAxisIndex].stConfig.astMultiMasterAxis[i].nIndex:=astGearAxis[i].nIndex;
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GVL.astAxes[nAxisIndex].stConfig.astMultiMasterAxis[i].fRatio:=astGearAxis[i].fRatio;
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END_FOR]]></ST>
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</Implementation>
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</Method>
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<Method Name="mPrepareHome" Id="{29a1cce2-2fc4-48e1-86f6-27b6dd699cd2}">
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<Declaration><![CDATA[METHOD mPrepareHome
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VAR_INPUT
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nAxisIndex: UINT; // The idex of the axis to action the method on.
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eHomingRoutine: E_HomingRoutines;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eHome;
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GVL.astAxes[nAxisIndex].stConfig.eHomeSeq:= eHomingRoutine;]]></ST>
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</Implementation>
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</Method>
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<Method Name="mPrepareMove" Id="{97bd5417-d0a1-4d32-8732-16310a863fcc}">
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<Declaration><![CDATA[METHOD mPrepareMove
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VAR_INPUT
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nAxisIndex: UINT; //The idex of the axis to action the method on.
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fTargetVelocity: LREAL;
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fTargetAcceleration: LREAL;
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fTargetDeceleration: LREAL;
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fTargetPosition: LREAL;
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eMotionStrategy: E_MotionFunctions; //The desired MotionFunctions motion strategy.
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[//Prepare the axis so it is ready to action a move when executed for a given motion strategy.
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GVL.astAxes[nAxisIndex].stControl.bEnable := FALSE;
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GVL.astAxes[nAxisIndex].stControl.eCommand := eMotionStrategy;
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GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := TRUE;
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GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := TRUE;
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GVL.astAxes[nAxisIndex].stConfig.fVelocity := fTargetVelocity;
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GVL.astAxes[nAxisIndex].stConfig.fAcceleration := fTargetAcceleration;
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GVL.astAxes[nAxisIndex].stConfig.fDeceleration := fTargetDeceleration;
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GVL.astAxes[nAxisIndex].stConfig.fPosition := fTargetPosition;]]></ST>
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</Implementation>
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</Method>
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<Method Name="mReset" Id="{59e8bfe4-ab50-4ad3-9095-95e359837091}">
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<Declaration><![CDATA[METHOD mReset : BOOL
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VAR_INPUT
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nAxisIndex: UINT; // The idex of the axis to action the method on.
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END_VAR
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VAR
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iCycles: UINT;
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iMaxCycles: UINT := 100;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := FALSE;
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FOR iCycles:= 1 TO iMaxCycles DO
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GVL.astAxes[nAxisIndex].stControl.bReset := TRUE;
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IF GVL.astaxes[nAxisIndex].stStatus.bError := FALSE THEN
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EXIT;
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END_IF
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END_FOR]]></ST>
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</Implementation>
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</Method>
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<Method Name="mSetAxisDefaults" Id="{5b9336be-4414-4858-a614-0fdb2847e171}">
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<Declaration><![CDATA[METHOD mSetAxisDefaults
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VAR_INPUT
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nAxisIndex: UINT; //The idex of the axis to action the method on.
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[// Set PLC default values for the axis. Note: Status values can take multiple cycles to updated. This is not an instant reset.
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IF GVL.astAxes[nAxisIndex].stStatus.bBusy THEN
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GVL.astAxes[nAxisIndex].stControl.bStop := TRUE;
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END_IF
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IF GVL.astAxes[nAxisIndex].stStatus.bError THEN
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GVL.astAxes[nAxisIndex].stControl.bReset := TRUE;
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END_IF
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IF NOT GVL.astAxes[nAxisIndex].stControl.bEnable AND GVL.astAxes[nAxisIndex].stControl.bStop THEN
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GVL.astAxes[nAxisIndex].stControl.bStop := FALSE;
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END_IF
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GVL.astAxes[nAxisIndex].stControl.bEnable := FALSE;
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GVL.astAxes[nAxisIndex].stControl.bExecute := FALSE;
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GVL.astAxes[nAxisIndex].stControl.bReset := FALSE;
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GVL.astAxes[nAxisIndex].stControl.bJogFwd := FALSE;
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GVL.astAxes[nAxisIndex].stControl.bJogBwd := FALSE;
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GVL.astAxes[nAxisIndex].stControl.bStop := FALSE;
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GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
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GVL.astAxes[nAxisIndex].stConfig.fVelocity := 0.0;
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GVL.astAxes[nAxisIndex].stConfig.fAcceleration := 0.0;
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GVL.astAxes[nAxisIndex].stConfig.fDeceleration := 0.0;
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GVL.astAxes[nAxisIndex].stConfig.fPosition := 0;
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GVL.astAxes[nAxisIndex].stConfig.fOverride := 0.0;
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GVL.astAxes[nAxisIndex].stConfig.eHomeSeq := 0;
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GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := FALSE;
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GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := FALSE;
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GVL.astAxes[nAxisIndex].stInputs.bHomeSensor := FALSE;]]></ST>
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</Implementation>
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</Method>
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<LineIds Name="FB_tcUNIT_common">
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<LineId Id="9" Count="0" />
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</LineIds>
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<LineIds Name="FB_tcUNIT_common.mDisableAxis">
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<LineId Id="5" Count="0" />
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</LineIds>
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<LineIds Name="FB_tcUNIT_common.mEnableAxis">
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<LineId Id="5" Count="0" />
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</LineIds>
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<LineIds Name="FB_tcUNIT_common.mExecute">
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<LineId Id="5" Count="0" />
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</LineIds>
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<LineIds Name="FB_tcUNIT_common.mExecute_SetFALSE">
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<LineId Id="5" Count="0" />
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</LineIds>
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<LineIds Name="FB_tcUNIT_common.mGearOut">
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<LineId Id="5" Count="0" />
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</LineIds>
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<LineIds Name="FB_tcUNIT_common.mPrepareDefaultMove">
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<LineId Id="44" Count="11" />
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<LineId Id="19" Count="0" />
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</LineIds>
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<LineIds Name="FB_tcUNIT_common.mPrepareGearInMultiMaster">
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<LineId Id="6" Count="0" />
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<LineId Id="56" Count="0" />
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<LineId Id="72" Count="1" />
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<LineId Id="75" Count="0" />
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<LineId Id="74" Count="0" />
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</LineIds>
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<LineIds Name="FB_tcUNIT_common.mPrepareHome">
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<LineId Id="6" Count="0" />
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<LineId Id="5" Count="0" />
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</LineIds>
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<LineIds Name="FB_tcUNIT_common.mPrepareMove">
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<LineId Id="17" Count="11" />
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</LineIds>
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<LineIds Name="FB_tcUNIT_common.mReset">
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<LineId Id="21" Count="0" />
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<LineId Id="7" Count="0" />
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<LineId Id="16" Count="4" />
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</LineIds>
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<LineIds Name="FB_tcUNIT_common.mSetAxisDefaults">
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<LineId Id="50" Count="28" />
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<LineId Id="26" Count="0" />
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</LineIds>
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</POU>
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</TcPlcObject>
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@@ -1,23 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
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<GVL Name="tcUNIT_GVL" Id="{4b23d6c9-6a88-40b7-9bf4-d55c4dfd4246}">
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<Declaration><![CDATA[//tcUNIT_GVL: Global variables used in tcUNIT tests.
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{attribute 'qualified_only'}
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VAR_GLOBAL CONSTANT
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//Constants for axis defaults.
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fDEFAULT_VELOCITY: LREAL := 0.0;
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fDEFAULT_ACCELERATION: LREAL := 0.0;
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fDEFAULT_DECCELERATION: LREAL := 0.0;
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fDEFAULT_POSITION: LREAL := 0.0;
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fDEFAULT_TARGET_VELOCITY: LREAL := 1.0;
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fDEFAULT_TARGET_ACCELERATION: LREAL := 0.5;
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fDEFAULT_TARGET_DECCELERATION: LREAL := 0.5;
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fDEFAULT_TARGET_POSITION: LREAL := 10.0;
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fDEFAULT_TARGET_OVERRIDE: LREAL := 100;
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nMAX_MASTERS : UINT := 4;
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END_VAR
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VAR_GLOBAL
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END_VAR]]></Declaration>
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</GVL>
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</TcPlcObject>
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@@ -1,22 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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||||
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
|
||||
<DUT Name="E_TestStates" Id="{fa5c3f3c-c558-44f1-8e4d-ea57c6a7bb8e}">
|
||||
<Declaration><![CDATA[{attribute 'qualified_only'}
|
||||
{attribute 'strict'}
|
||||
TYPE E_TestStates :
|
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(
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eInitialiseTest := 0,
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ePreparePreTestConditions := 1,
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eExecutePreTestConditions := 2,
|
||||
ePrepareTest := 3,
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||||
eExecuteTest := 4,
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||||
eWaitForResults := 5,
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||||
ePrepareFinishTest := 6,
|
||||
eExecuteFinishTest := 7,
|
||||
eReportFinishedTest := 8
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||||
);
|
||||
END_TYPE
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||||
|
||||
]]></Declaration>
|
||||
</DUT>
|
||||
</TcPlcObject>
|
||||
@@ -1,250 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
|
||||
<POU Name="FB_Axis_TEST" Id="{3bfca2b4-3b3f-48f2-9900-9d4cd3404e9e}" SpecialFunc="None">
|
||||
<Declaration><![CDATA[//Test suite for the FB_Axis POU
|
||||
{attribute 'call_after_init'}
|
||||
FUNCTION_BLOCK FB_Axis_TEST EXTENDS tcUnit.FB_TestSuite
|
||||
VAR
|
||||
fbCommon: FB_tcUNIT_common;
|
||||
iTargetAxis: UINT := 1; //The <index> of the axis within GVL.astAxes[<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
|
||||
SetAxisControl_Enabled();
|
||||
CheckAxisStatus_Moving();
|
||||
SetAxisConfig_Acceleration();
|
||||
CheckAxisStatus_NewPosition();
|
||||
SetAxisControl_Velocity();
|
||||
SetAxisInputs_bLimitFwd();]]></ST>
|
||||
</Implementation>
|
||||
<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.astAxes[iTargetAxis].stStatus.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.astAxes[iTargetAxis].stConfig.fPosition;
|
||||
ExpectedResult := InitialValue + 10;
|
||||
GVL.astAxes[iTargetAxis].stConfig.fPosition := ExpectedResult;
|
||||
|
||||
GVL.astAxes[iTargetAxis].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
|
||||
GVL.astAxes[iTargetAxis].stControl.bExecute := TRUE;
|
||||
|
||||
Result := GVL.astAxes[iTargetAxis].stStatus.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;
|
||||
ExpectedResult: LREAL;
|
||||
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 for assert.
|
||||
|
||||
ExpectedResult := tcUNIT_gvl.fDEFAULT_TARGET_ACCELERATION;
|
||||
fbCommon.mPrepareDefaultMove(iTargetAxis);
|
||||
|
||||
Result := GVL.astAxes[iTargetAxis].stConfig.fAcceleration;
|
||||
|
||||
AssertEquals(Expected := ExpectedResult,
|
||||
Actual := Result,
|
||||
Message := 'fAcceleration of the axis is different.');
|
||||
|
||||
TEST_FINISHED();]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="SetAxisControl_Enabled" Id="{749049e6-6152-4a23-ac76-75883bd089b7}">
|
||||
<Declaration><![CDATA[METHOD SetAxisControl_Enabled
|
||||
VAR
|
||||
Result: BOOL;
|
||||
ExpectedResult: BOOL;
|
||||
|
||||
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 test that requires multiple cycles to complete. Due to stateful behaviour of the axis structure.
|
||||
|
||||
ExpectedResult := TRUE;
|
||||
GVL.astAxes[iTargetAxis].stControl.bEnable := ExpectedResult;
|
||||
|
||||
Result := GVL.astAxes[iTargetAxis].stStatus.bEnabled;
|
||||
|
||||
IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
|
||||
AssertEquals(Expected := ExpectedResult,
|
||||
Actual := Result,
|
||||
Message := 'Axis is not enabled.');
|
||||
TEST_FINISHED();
|
||||
ELSE
|
||||
nCycle := nCycle + 1;
|
||||
END_IF
|
||||
]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="SetAxisControl_Velocity" Id="{f87270b6-fb94-4214-bb13-17f22f6ab8f5}">
|
||||
<Declaration><![CDATA[METHOD SetAxisControl_Velocity
|
||||
VAR
|
||||
InitialValue: LREAL;
|
||||
Result: LREAL;
|
||||
ExpectedResult: LREAL;
|
||||
|
||||
fDelta: REAL := 0.01;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('test_GIVEN_new_axis_velocity_set_WHEN_executed_THEN_new_axis_velocity_set');
|
||||
|
||||
//Example of using a tcUNIT assert for a specific type (in this case LREAL).
|
||||
|
||||
InitialValue := GVL.astAxes[iTargetAxis].stConfig.fVelocity;
|
||||
ExpectedResult := InitialValue + 0.5;
|
||||
GVL.astAxes[iTargetAxis].stConfig.fVelocity := ExpectedResult;
|
||||
|
||||
Result := GVL.astAxes[iTargetAxis].stConfig.fVelocity;
|
||||
|
||||
AssertEquals_LREAL(Expected := ExpectedResult,
|
||||
Actual := Result,
|
||||
Delta := fDelta,
|
||||
Message := 'fVelocity of the axis is different.');
|
||||
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.astAxes[iTargetAxis].stInputs.bLimitFwd := TRUE;
|
||||
|
||||
Result := GVL.astAxes[iTargetAxis].stStatus.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>
|
||||
<LineIds Name="FB_Axis_TEST">
|
||||
<LineId Id="37" Count="0" />
|
||||
<LineId Id="34" Count="0" />
|
||||
<LineId Id="38" Count="1" />
|
||||
<LineId Id="12" Count="0" />
|
||||
<LineId Id="40" Count="0" />
|
||||
<LineId Id="48" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.CheckAxisStatus_Moving">
|
||||
<LineId Id="127" Count="16" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.CheckAxisStatus_NewPosition">
|
||||
<LineId Id="121" Count="21" />
|
||||
<LineId Id="56" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisConfig_Acceleration">
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="50" Count="1" />
|
||||
<LineId Id="9" Count="0" />
|
||||
<LineId Id="13" Count="0" />
|
||||
<LineId Id="57" Count="0" />
|
||||
<LineId Id="23" Count="0" />
|
||||
<LineId Id="22" Count="0" />
|
||||
<LineId Id="25" Count="4" />
|
||||
<LineId Id="24" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisControl_Enabled">
|
||||
<LineId Id="144" Count="16" />
|
||||
<LineId Id="107" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisControl_Velocity">
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="92" Count="1" />
|
||||
<LineId Id="10" Count="0" />
|
||||
<LineId Id="61" Count="2" />
|
||||
<LineId Id="67" Count="0" />
|
||||
<LineId Id="69" Count="0" />
|
||||
<LineId Id="91" Count="0" />
|
||||
<LineId Id="70" Count="1" />
|
||||
<LineId Id="80" Count="0" />
|
||||
<LineId Id="72" Count="0" />
|
||||
<LineId Id="24" Count="0" />
|
||||
<LineId Id="86" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisInputs_bLimitFwd">
|
||||
<LineId Id="24" Count="0" />
|
||||
<LineId Id="26" Count="0" />
|
||||
<LineId Id="25" Count="0" />
|
||||
<LineId Id="48" Count="2" />
|
||||
<LineId Id="67" Count="0" />
|
||||
<LineId Id="19" Count="0" />
|
||||
<LineId Id="58" Count="6" />
|
||||
<LineId Id="57" Count="0" />
|
||||
</LineIds>
|
||||
</POU>
|
||||
</TcPlcObject>
|
||||
@@ -1,17 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
|
||||
<POU Name="tcUNIT_STD_LIB_RUN" Id="{5e8cc903-e536-40be-a096-d6b305fbb618}" SpecialFunc="None">
|
||||
<Declaration><![CDATA[//tcUNIT Standard Library tests: Add program to PLC task in order to run tcUNIT tests against the declared POU test suites
|
||||
PROGRAM tcUNIT_STD_LIB_RUN
|
||||
VAR
|
||||
//Declare standard library POU tests to be run
|
||||
fbAxisTest: FB_Axis_TEST;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TcUnit.RUN();]]></ST>
|
||||
</Implementation>
|
||||
<LineIds Name="tcUNIT_STD_LIB_RUN">
|
||||
<LineId Id="45" Count="0" />
|
||||
</LineIds>
|
||||
</POU>
|
||||
</TcPlcObject>
|
||||
Reference in New Issue
Block a user