From b8c4e3ff3f19e6a296e4b92fb02c3375cd53aa19 Mon Sep 17 00:00:00 2001
From: aaronlong <aaron.long@stfc.ac.uk>
Date: Wed, 19 Feb 2020 16:03:29 +0000
Subject: [PATCH 1/3] Added tcUNIT libarary 1.0.0 references to resources and
 Test folder inc. app and common tests structure

---
 .../Test/app_tests/tcUNIT_APP_RUN.TcPOU       |  19 +++
 .../Test/common/FB_tcUNIT_common.TcPOU        | 149 ++++++++++++++++++
 .../Test/common/tcUNIT_GVL.TcGVL              |  23 +++
 .../tc_project_app/tc_project_app.plcproj     |  16 ++
 4 files changed, 207 insertions(+)
 create mode 100644 solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
 create mode 100644 solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
 create mode 100644 solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL

diff --git a/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU b/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
new file mode 100644
index 0000000..7326c7d
--- /dev/null
+++ b/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
+  <POU Name="tcUNIT_APP_RUN" Id="{677fcae4-9d84-425e-8fcd-8e3d3a1985e8}" SpecialFunc="None">
+    <Declaration><![CDATA[(* tcUNIT Tests: Add this program to PLC task in order to run tcUNIT tests against the declared POU test suites.
+   see https://tcunit.org/ for documentation.*)
+PROGRAM tcUNIT_APP_RUN
+
+VAR
+    (* Declare standard library POU tests to be run
+       E.g. fbMoveNonLinearSlits: FB_MoveNonLinearSlits_Test;*)
+END_VAR]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[TcUnit.RUN();]]></ST>
+    </Implementation>
+    <LineIds Name="tcUNIT_APP_RUN">
+      <LineId Id="45" Count="0" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
new file mode 100644
index 0000000..9fb8d47
--- /dev/null
+++ b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
@@ -0,0 +1,149 @@
+<?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="mEnableAxis" Id="{12e91532-7139-4c17-998e-4c670b584b9d}">
+      <Declaration><![CDATA[METHOD mEnableAxis : BOOL
+VAR_INPUT
+    iAxisIndex: INT;  // The idex of the axis to action the method on.
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[GVL.axes[iAxisIndex].control.bEnable := TRUE;]]></ST>
+      </Implementation>
+    </Method>
+    <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[GVL.axes[iAxisIndex].control.bExecute := TRUE;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="mPrepareDefaultMove" Id="{c23244d5-896c-49ad-8d8a-19390856e4dc}">
+      <Declaration><![CDATA[METHOD mPrepareDefaultMove
+
+VAR_INPUT
+    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.
+
+GVL.axes[iAxisIndex].control.bEnable := TRUE;
+GVL.axes[iAxisIndex].control.eCommand := MotionFunctions.MoveAbsolute;
+
+GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
+GVL.axes[iAxisIndex].inputs.bLimitFwd := TRUE;
+
+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="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; // The desired MotionFunctions motion strategy.
+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.axes[iAxisIndex].control.bEnable := FALSE;
+GVL.axes[iAxisIndex].control.eCommand := eMotionStrategy;
+
+GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
+GVL.axes[iAxisIndex].inputs.bLimitFwd := TRUE;
+
+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="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 axis. Note: Status values can take multiple cycles to updated. This is not an instant reset.
+
+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
+
+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;
+
+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;
+
+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.mEnableAxis">
+      <LineId Id="5" Count="0" />
+    </LineIds>
+    <LineIds Name="FB_tcUNIT_common.mExecute">
+      <LineId Id="5" 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" />
+    </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" />
+    </LineIds>
+  </POU>
+</TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
new file mode 100644
index 0000000..10cbe42
--- /dev/null
+++ b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
@@ -0,0 +1,23 @@
+<?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
+// 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
+END_VAR]]></Declaration>
+  </GVL>
+</TcPlcObject>
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index b5d34ae..ff1f68e 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -229,6 +229,15 @@
     <Compile Include="tc_mca_std_lib\POUs\VISUs\visuTextLinks.TcTLO">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="Test\app_tests\tcUNIT_APP_RUN.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Test\common\FB_tcUNIT_common.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="Test\common\tcUNIT_GVL.TcGVL">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="Visualization Manager.TcVMO">
       <SubType>Code</SubType>
     </Compile>
@@ -236,6 +245,7 @@
   <ItemGroup>
     <Folder Include="DUTs" />
     <Folder Include="GVLs" />
+    <Folder Include="Test" />
     <Folder Include="tc_mca_std_lib" />
     <Folder Include="tc_mca_std_lib\DUTs" />
     <Folder Include="tc_mca_std_lib\GVLs" />
@@ -256,6 +266,8 @@
     <Folder Include="tc_mca_std_lib\POUs\ErrorHandling" />
     <Folder Include="tc_mca_std_lib\POUs\Motion\Homing" />
     <Folder Include="tc_mca_std_lib\POUs\VISUs" />
+    <Folder Include="Test\app_tests" />
+    <Folder Include="Test\common" />
     <Folder Include="VISUs" />
     <Folder Include="POUs" />
   </ItemGroup>
@@ -334,6 +346,10 @@
       <DefaultResolution>Tc3_Module, * (Beckhoff Automation GmbH)</DefaultResolution>
       <Namespace>Tc3_Module</Namespace>
     </PlaceholderReference>
+    <PlaceholderReference Include="TcUnit">
+      <DefaultResolution>TcUnit, * (www.tcunit.org)</DefaultResolution>
+      <Namespace>TcUnit</Namespace>
+    </PlaceholderReference>
     <PlaceholderReference Include="VisuDialogs">
       <DefaultResolution>VisuDialogs, * (System)</DefaultResolution>
       <Namespace>VisuDialogs</Namespace>

From bb7af4fcdf67173d458b7eed2174e216424ce4e7 Mon Sep 17 00:00:00 2001
From: aaronlong <aaron.long@stfc.ac.uk>
Date: Wed, 4 Mar 2020 10:09:51 +0000
Subject: [PATCH 2/3] Updated after merge resolution

---
 solution/solution.tsproj              | 8 --------
 solution/tc_project_app/PlcTask.TcTTO | 3 +++
 2 files changed, 3 insertions(+), 8 deletions(-)

diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 36de82a..6f0e066 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -33,14 +33,6 @@
 				<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc">
 					<Name>tc_project_app Instance</Name>
 					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
-					<Vars VarGrpType="2">
-						<Name>PlcTask Outputs</Name>
-						<Var>
-							<Name>MAIN.bOutput1</Name>
-							<Comment><![CDATA[*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]></Comment>
-							<Type>BOOL</Type>
-						</Var>
-					</Vars>
 					<TaskPouOids>
 						<TaskPouOid Prio="20" OTCID="#x08502041"/>
 					</TaskPouOids>
diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO
index b5badec..3118110 100644
--- a/solution/tc_project_app/PlcTask.TcTTO
+++ b/solution/tc_project_app/PlcTask.TcTTO
@@ -7,6 +7,9 @@
     <PouCall>
       <Name>MAIN</Name>
     </PouCall>
+    <PouCall>
+      <Name>tcUNIT_APP_RUN</Name>
+    </PouCall>
     <TaskFBGuid>{26d89752-95b4-4b52-80c0-c79242bc34d7}</TaskFBGuid>
     <Fb_init>{137c4fd1-c794-4dee-a041-b4fea1d22866}</Fb_init>
     <Fb_exit>{2478772d-357b-433f-886f-15340bef9bdf}</Fb_exit>

From e8e944b812f5773f1e4d6124299b5796db3ab7ba Mon Sep 17 00:00:00 2001
From: aaronlong <aaron.long@stfc.ac.uk>
Date: Wed, 4 Mar 2020 13:03:25 +0000
Subject: [PATCH 3/3] Removed incorrectly added PLC task

---
 solution/tc_project_app/PlcTask.TcTTO | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO
index 3118110..b5badec 100644
--- a/solution/tc_project_app/PlcTask.TcTTO
+++ b/solution/tc_project_app/PlcTask.TcTTO
@@ -7,9 +7,6 @@
     <PouCall>
       <Name>MAIN</Name>
     </PouCall>
-    <PouCall>
-      <Name>tcUNIT_APP_RUN</Name>
-    </PouCall>
     <TaskFBGuid>{26d89752-95b4-4b52-80c0-c79242bc34d7}</TaskFBGuid>
     <Fb_init>{137c4fd1-c794-4dee-a041-b4fea1d22866}</Fb_init>
     <Fb_exit>{2478772d-357b-433f-886f-15340bef9bdf}</Fb_exit>