From dbd145ed687dbfc04d78c96753ff881dd97ca27c Mon Sep 17 00:00:00 2001
From: Paul Barron <paul.barron@esss.se>
Date: Tue, 10 Dec 2019 12:49:37 +0100
Subject: [PATCH] Add DUT RestorePosition in tc_mca_std_lib

Also adjusted code in MAIN.STARTUP to adapt to the new type variable
instead of the int previously.
---
 solution/tc_project_app/POUs/MAIN.TcPOU       | 15 ++++++-----
 solution/tc_project_app/tc_mca_std_lib        |  2 +-
 .../tc_project_app/tc_project_app.plcproj     | 25 +++++++++++--------
 3 files changed, 22 insertions(+), 20 deletions(-)

diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 070885c..5eba679 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -74,8 +74,8 @@ ERROR();]]></ST>
     </Implementation>
     <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
       <Implementation>
-        <ST><![CDATA[gvl.axes[1].config.eRestorePosition:=1;
-gvl.axes[2].config.eRestorePosition:=2;
+        <ST><![CDATA[gvl.axes[1].config.eRestorePosition:=RestorePosition.RestoreWithoutHome;
+gvl.axes[2].config.eRestorePosition:=RestorePosition.RestoreWithHome;
 
 FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
     aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
@@ -199,8 +199,8 @@ IF bColdstartDone = FALSE THEN
         FOR i:=1 TO gvl_app.axisNum DO
             IF fbReadEncRefSys[i].Value = 0 THEN
                 CASE GVL.axes[i].config.eRestorePosition OF
-                  1: fbRestorePosition[i].Execute:=TRUE;
-                  2: gvl.axes[i].control.bExecute:=TRUE;
+                  RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
+                  RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
                 END_CASE
             END_IF
         END_FOR
@@ -209,11 +209,11 @@ IF bColdstartDone = FALSE THEN
         FOR i:=1 TO gvl_app.axisNum DO
             IF fbReadEncRefSys[i].Value = 0 THEN
                 CASE gvl.axes[i].config.eRestorePosition OF
-                  1:
+                  RestorePosition.RestoreWithoutHome:
                     IF NOT fbRestorePosition[i].Done THEN
                         RETURN;
                     END_IF
-                  2:
+                  RestorePosition.RestoreWithHome:
                     IF NOT gvl.axes[i].status.bHomed THEN
                         RETURN;
                     END_IF
@@ -239,8 +239,7 @@ END_IF]]></ST>
       <LineId Id="81" Count="1" />
     </LineIds>
     <LineIds Name="MAIN.AXES">
-      <LineId Id="19" Count="0" />
-      <LineId Id="18" Count="0" />
+      <LineId Id="19" Count="1" />
       <LineId Id="3" Count="0" />
       <LineId Id="1" Count="0" />
       <LineId Id="4" Count="0" />
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 4d01140..9e31e77 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 4d01140cfac01aa1603fbc8d6614698569f6fbd5
+Subproject commit 9e31e77d29dd6c4156bdbaf8d34e774eee53748c
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 802e8b9..10ff279 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -30,6 +30,9 @@
     <Compile Include="POUs\MAIN.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\RestorePosition.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\ST_AxisConfig.TcDUT">
       <SubType>Code</SubType>
     </Compile>
@@ -342,8 +345,8 @@
   <ProjectExtensions>
     <PlcProjectOptions>
       <XmlArchive>
-  <Data>
-    <o xml:space="preserve" t="OptionKey">
+        <Data>
+          <o xml:space="preserve" t="OptionKey">
       <v n="Name">"&lt;ProjectRoot&gt;"</v>
       <d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
         <v>{192FAD59-8248-4824-A8DE-9177C94C195A}</v>
@@ -394,15 +397,15 @@
       </d>
       <d n="Values" t="Hashtable" />
     </o>
-  </Data>
-  <TypeList>
-    <Type n="Boolean">System.Boolean</Type>
-    <Type n="Hashtable">System.Collections.Hashtable</Type>
-    <Type n="Int32">System.Int32</Type>
-    <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
-    <Type n="String">System.String</Type>
-  </TypeList>
-</XmlArchive>
+        </Data>
+        <TypeList>
+          <Type n="Boolean">System.Boolean</Type>
+          <Type n="Hashtable">System.Collections.Hashtable</Type>
+          <Type n="Int32">System.Int32</Type>
+          <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
+          <Type n="String">System.String</Type>
+        </TypeList>
+      </XmlArchive>
     </PlcProjectOptions>
   </ProjectExtensions>
 </Project>
\ No newline at end of file