berti_r/Motion_test
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Code refactor to meeting coding standards

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This commit is contained in:
Cooper
2022-08-15 15:20:29 +01:00
parent 60700b1d46
commit c4bdac87e8
5 changed files with 93 additions and 86 deletions
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16
solution.sln
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@@ -33,22 +33,6 @@ Global
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE

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solution/tc_project_app/LineIDs.dbg Normal file
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76
solution/tc_project_app/POUs/MAIN.TcPOU
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@@ -4,7 +4,7 @@
<Declaration><![CDATA[PROGRAM MAIN
VAR
sVersion: STRING := '1.0.0';
aIAxes : ARRAY [1..GVL_APP.nAXIS_NUM] OF I_Axis;
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
@@ -17,7 +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_GetDeviceIdentification;
@@ -34,8 +34,7 @@ AXES();]]></ST>
<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
@@ -54,14 +53,6 @@ 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>
</Implementation>
</Action>
<Action Name="AXES_EndOfCycle" Id="{1d0c47cf-5c32-4a53-bfaa-da9593fd6c0d}">
<Implementation>
<ST><![CDATA[//Clear control signals at end of each cycle
FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
aIAxes[GVL.iAxis].EndOfCycle();
END_FOR]]></ST>
</Implementation>
</Action>
@@ -93,7 +84,10 @@ END_IF]]></ST>
</Action>
<Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
<Implementation>
<ST><![CDATA[//Call the programs that are defined in the "Application Specific" folder.
<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
@@ -228,61 +222,5 @@ END_IF]]></ST>
END_FOR]]></ST>
</Implementation>
</Action>
<LineIds Name="MAIN">
<LineId Id="505" Count="0" />
<LineId Id="593" Count="0" />
<LineId Id="81" Count="0" />
</LineIds>
<LineIds Name="MAIN.AXES">
<LineId Id="11" Count="1" />
<LineId Id="38" Count="0" />
<LineId Id="22" Count="0" />
<LineId Id="25" Count="0" />
<LineId Id="30" Count="2" />
<LineId Id="29" Count="0" />
<LineId Id="39" Count="0" />
<LineId Id="23" Count="0" />
<LineId Id="37" Count="0" />
<LineId Id="33" Count="0" />
<LineId Id="35" Count="1" />
<LineId Id="24" Count="0" />
<LineId Id="40" Count="0" />
<LineId Id="18" Count="3" />
</LineIds>
<LineIds Name="MAIN.AXES_EndOfCycle">
<LineId Id="5" Count="0" />
<LineId Id="2" Count="2" />
</LineIds>
<LineIds Name="MAIN.CHECK_UPS">
<LineId Id="2" Count="11" />
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.POSITION_RECOVERY">
<LineId Id="2" Count="3" />
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.PROG">
<LineId Id="4" Count="1" />
<LineId Id="7" Count="0" />
<LineId Id="6" Count="0" />
<LineId Id="8" Count="0" />
<LineId Id="12" Count="0" />
<LineId Id="10" Count="0" />
<LineId Id="9" Count="0" />
<LineId Id="3" Count="0" />
</LineIds>
<LineIds Name="MAIN.RESTORE_POSITIONS">
<LineId Id="567" Count="105" />
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.STORE_PERSISTENT">
<LineId Id="10" Count="0" />
<LineId Id="3" Count="0" />
<LineId Id="5" Count="1" />
<LineId Id="8" Count="1" />
<LineId Id="7" Count="0" />
<LineId Id="4" Count="0" />
<LineId Id="1" Count="0" />
</LineIds>
</POU>
</TcPlcObject>

2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: 9df77c95a6...3a2e248736

85
solution/tc_project_app/tc_project_app.tmcRefac Normal file
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@@ -0,0 +1,85 @@
<?xml version="1.0" encoding="utf-8"?>
<Refactors>
<Renames>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusPower</From>
<To>stMcStatusPower</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusStop</From>
<To>stMcStatusStop</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusHalt</From>
<To>stMcStatusHalt</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusReset</From>
<To>stMcStatusReset</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusMoveAbsolute</From>
<To>stMcStatusMoveAbsolute</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusMoveRelative</From>
<To>stMcStatusMoveRelative</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusMoveVelocity</From>
<To>stMcStatusMoveVelocity</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusMoveModulo</From>
<To>stMcStatusMoveModulo</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusHome</From>
<To>stMcStatusHome</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusReadParameter</From>
<To>stMcStatusReadParameter</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusWriteParameter</From>
<To>stMcStatusWriteParameter</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusGearIn</From>
<To>stMcStatusGearIn</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusGearOut</From>
<To>stMcStatusGearOut</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatusGearInMultiMaster</From>
<To>stMcStatusGearInMultiMaster</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcSTATUS_ARRAY_SIZE</From>
<To>nMCSTATUS_ARRAY_SIZE</To>
</RenamedSymbol>
<RenamedSymbol>
<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_Axis</Type>
<From>mcStatus</From>
<To>astMcStatus</To>
</RenamedSymbol>
</Renames>
</Refactors>