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Merged
PTKu merged 4 commits into from
Feb 25, 2025
Merged

Hide _context and _parent and implement safe retrieval methods #606

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1278f3e
Create draft PR for #605
TomKovac Feb 25, 2025
01c6c24
sequencer configuring issue
TomKovac Feb 25, 2025
db2901e
tests fixed
TomKovac Feb 25, 2025
47fe41e
_context and _parent made private
TomKovac Feb 25, 2025
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1 change: 1 addition & 0 deletions src/abstractions/ctrl/src/AxoObject/IAxoObject.st
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@ NAMESPACE AXOpen.Core
METHOD GetContext : IAxoContext END_METHOD
METHOD GetContextUnsafe : IAxoContext END_METHOD
METHOD AggregateMessage VAR_INPUT inCount : LINT; END_VAR END_METHOD
METHOD GetParent : IAxoObject END_METHOD
END_INTERFACE
END_NAMESPACE

76 changes: 38 additions & 38 deletions src/components.abb.robotics/ctrl/src/AxoIrc5_v_1_x_x.st
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Expand Up @@ -156,44 +156,44 @@ NAMESPACE AXOpen.Components.Abb.Robotics
THIS.Execute();
END_METHOD

///<summary>
/// Runs tasks and logic of this component.
/// >[!IMPORTANT] This method must or one of its overloads be called cyclically.
///</summary>
METHOD PUBLIC Run
VAR_INPUT
parent : IAxoContext;
hwID : WORD;
hwIdDI_64_bytes : WORD; // Hardware Id of the input data of the robot
hwIdDO_64_bytes : WORD; // Hardware Id of the output data of the robot
END_VAR

THIS.Initialize(parent);

Messenger.Serve(THIS);

Messenger.ActivateOnCondition(ULINT#700,parent = NULL, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#701,hwIdDI_64_bytes = WORD#0, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#702,hwIdDO_64_bytes = WORD#0, eAxoMessageCategory#ProgrammingError);

IF parent = NULL THEN
RobotStatus.Error.Id := UINT#700;
RETURN;
ELSIF hwIdDI_64_bytes = WORD#0 THEN
RobotStatus.Error.Id := UINT#701;
RETURN;
ELSIF hwIdDO_64_bytes = WORD#0 THEN
RobotStatus.Error.Id := UINT#702;
RETURN;
END_IF;

_hwID := hwID ;
_hwIdDI_64_bytes := hwIdDI_64_bytes;
_hwIdDO_64_bytes := hwIdDO_64_bytes;


THIS.Execute();
END_METHOD
// ///<summary>
// /// Runs tasks and logic of this component.
// /// >[!IMPORTANT] This method must or one of its overloads be called cyclically.
// ///</summary>
// METHOD PUBLIC Run
// VAR_INPUT
// parent : IAxoContext;
// hwID : WORD;
// hwIdDI_64_bytes : WORD; // Hardware Id of the input data of the robot
// hwIdDO_64_bytes : WORD; // Hardware Id of the output data of the robot
// END_VAR

// THIS.Initialize(parent);

// Messenger.Serve(THIS);

// Messenger.ActivateOnCondition(ULINT#700,parent = NULL, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#701,hwIdDI_64_bytes = WORD#0, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#702,hwIdDO_64_bytes = WORD#0, eAxoMessageCategory#ProgrammingError);

// IF parent = NULL THEN
// RobotStatus.Error.Id := UINT#700;
// RETURN;
// ELSIF hwIdDI_64_bytes = WORD#0 THEN
// RobotStatus.Error.Id := UINT#701;
// RETURN;
// ELSIF hwIdDO_64_bytes = WORD#0 THEN
// RobotStatus.Error.Id := UINT#702;
// RETURN;
// END_IF;

// _hwID := hwID ;
// _hwIdDI_64_bytes := hwIdDI_64_bytes;
// _hwIdDO_64_bytes := hwIdDO_64_bytes;


// THIS.Execute();
// END_METHOD

METHOD PRIVATE Execute
VAR
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76 changes: 38 additions & 38 deletions src/components.abb.robotics/ctrl/src/AxoOmnicore_v_1_x_x.st
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Expand Up @@ -156,44 +156,44 @@ NAMESPACE AXOpen.Components.Abb.Robotics
THIS.Execute();
END_METHOD

///<summary>
/// Runs tasks and logic of this component.
/// >[!IMPORTANT] This method must or one of its overloads be called cyclically.
///</summary>
METHOD PUBLIC Run
VAR_INPUT
parent : IAxoContext;
hwID : WORD;
hwIdDI_64_bytes : WORD; // Hardware Id of the input data of the robot
hwIdDO_64_bytes : WORD; // Hardware Id of the output data of the robot
END_VAR

THIS.Initialize(parent);

Messenger.Serve(THIS);

Messenger.ActivateOnCondition(ULINT#700,parent = NULL, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#701,hwIdDI_64_bytes = WORD#0, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#702,hwIdDO_64_bytes = WORD#0, eAxoMessageCategory#ProgrammingError);

IF parent = NULL THEN
RobotStatus.Error.Id := UINT#700;
RETURN;
ELSIF hwIdDI_64_bytes = WORD#0 THEN
RobotStatus.Error.Id := UINT#701;
RETURN;
ELSIF hwIdDO_64_bytes = WORD#0 THEN
RobotStatus.Error.Id := UINT#702;
RETURN;
END_IF;

_hwID := hwID ;
_hwIdDI_64_bytes := hwIdDI_64_bytes;
_hwIdDO_64_bytes := hwIdDO_64_bytes;


THIS.Execute();
END_METHOD
// ///<summary>
// /// Runs tasks and logic of this component.
// /// >[!IMPORTANT] This method must or one of its overloads be called cyclically.
// ///</summary>
// METHOD PUBLIC Run
// VAR_INPUT
// parent : IAxoContext;
// hwID : WORD;
// hwIdDI_64_bytes : WORD; // Hardware Id of the input data of the robot
// hwIdDO_64_bytes : WORD; // Hardware Id of the output data of the robot
// END_VAR

// THIS.Initialize(parent);

// Messenger.Serve(THIS);

// Messenger.ActivateOnCondition(ULINT#700,parent = NULL, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#701,hwIdDI_64_bytes = WORD#0, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#702,hwIdDO_64_bytes = WORD#0, eAxoMessageCategory#ProgrammingError);

// IF parent = NULL THEN
// RobotStatus.Error.Id := UINT#700;
// RETURN;
// ELSIF hwIdDI_64_bytes = WORD#0 THEN
// RobotStatus.Error.Id := UINT#701;
// RETURN;
// ELSIF hwIdDO_64_bytes = WORD#0 THEN
// RobotStatus.Error.Id := UINT#702;
// RETURN;
// END_IF;

// _hwID := hwID ;
// _hwIdDI_64_bytes := hwIdDI_64_bytes;
// _hwIdDO_64_bytes := hwIdDO_64_bytes;


// THIS.Execute();
// END_METHOD

METHOD PRIVATE Execute
VAR
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42 changes: 21 additions & 21 deletions src/components.balluff.identification/ctrl/src/Axo_BIS_M_4XX_045.st
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Expand Up @@ -180,34 +180,34 @@ NAMESPACE AXOpen.Components.Balluff.Identification
/// Runs tasks and logic of this component.
/// >[!IMPORTANT] This method must or one of its overloads be called cyclically.
///</summary>
METHOD PUBLIC Run
VAR_INPUT
parent : IAxoContext;
hwID : WORD;
hwId_BISM : WORD; // Hardware Id of the reader
END_VAR
// METHOD PUBLIC Run
// VAR_INPUT
// parent : IAxoContext;
// hwID : WORD;
// hwId_BISM : WORD; // Hardware Id of the reader
// END_VAR

THIS.Initialize(parent);
// THIS.Initialize(parent);

Messenger.Serve(THIS);
// Messenger.Serve(THIS);


Messenger.ActivateOnCondition(ULINT#700,parent = NULL, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#701,hwId_BISM = WORD#0, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#700,parent = NULL, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#701,hwId_BISM = WORD#0, eAxoMessageCategory#ProgrammingError);

IF parent = NULL THEN
ReaderStatus.Error.Id := UINT#700;
RETURN;
ELSIF hwId_BISM = WORD#0 THEN
ReaderStatus.Error.Id := UINT#701;
RETURN;
END_IF;
// IF parent = NULL THEN
// ReaderStatus.Error.Id := UINT#700;
// RETURN;
// ELSIF hwId_BISM = WORD#0 THEN
// ReaderStatus.Error.Id := UINT#701;
// RETURN;
// END_IF;

_hwID := hwID;
_hwId_BISM := hwId_BISM;
// _hwID := hwID;
// _hwId_BISM := hwId_BISM;

THIS.Execute();
END_METHOD
// THIS.Execute();
// END_METHOD

METHOD PRIVATE Execute
VAR
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144 changes: 72 additions & 72 deletions src/components.cognex.vision/ctrl/src/AxoDataman/v_6_0_0/AxoDataman.st
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Expand Up @@ -213,79 +213,79 @@ NAMESPACE AXOpen.Components.Cognex.Vision.v_6_0_0_0
THIS.Close();
END_METHOD

///<summary>
/// Runs tasks and logic of this component.
/// >[!IMPORTANT] This method or one of its overloads must be called cyclically.
///</summary>
METHOD PUBLIC Run
VAR_INPUT
parent : IAxoContext;
ResultDataSize : eAxoDataman_ResultDataSize;
UserDataSize : eAxoDataman_UserDataSize;
hwID : WORD;
hwIdAcquisitionControl : WORD;
hwIdAcquisitionStatus : WORD;
hwIdResultsControl : WORD;
hwIdResultsStatus : WORD;
hwIdSoftEventControl : WORD;
hwIdResultData : WORD;
hwIdUserData : WORD;
END_VAR

THIS.Initialize(parent);
// ///<summary>
// /// Runs tasks and logic of this component.
// /// >[!IMPORTANT] This method or one of its overloads must be called cyclically.
// ///</summary>
// METHOD PUBLIC Run
// VAR_INPUT
// parent : IAxoContext;
// ResultDataSize : eAxoDataman_ResultDataSize;
// UserDataSize : eAxoDataman_UserDataSize;
// hwID : WORD;
// hwIdAcquisitionControl : WORD;
// hwIdAcquisitionStatus : WORD;
// hwIdResultsControl : WORD;
// hwIdResultsStatus : WORD;
// hwIdSoftEventControl : WORD;
// hwIdResultData : WORD;
// hwIdUserData : WORD;
// END_VAR

// THIS.Initialize(parent);

Messenger.Serve(THIS);

Messenger.ActivateOnCondition(ULINT#700,parent = NULL, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#701,hwIdAcquisitionControl = WORD#0, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#702,hwIdAcquisitionStatus = WORD#0, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#703,hwIdResultsControl = WORD#0, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#704,hwIdResultsStatus = WORD#0, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#705,hwIdSoftEventControl = WORD#0, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#706,hwIdResultData = WORD#0, eAxoMessageCategory#ProgrammingError);
Messenger.ActivateOnCondition(ULINT#707,hwIdUserData = WORD#0, eAxoMessageCategory#ProgrammingError);

IF parent = NULL THEN
Status.Error.Id := UINT#700;
RETURN;
ELSIF hwIdAcquisitionControl = WORD#0 THEN
Status.Error.Id := UINT#701;
RETURN;
ELSIF hwIdAcquisitionStatus = WORD#0 THEN
Status.Error.Id := UINT#702;
RETURN;
ELSIF hwIdResultsControl = WORD#0 THEN
Status.Error.Id := UINT#703;
RETURN;
ELSIF hwIdResultsStatus = WORD#0 THEN
Status.Error.Id := UINT#704;
RETURN;
ELSIF hwIdSoftEventControl = WORD#0 THEN
Status.Error.Id := UINT#705;
RETURN;
ELSIF hwIdResultData = WORD#0 THEN
Status.Error.Id := UINT#706;
RETURN;
ELSIF hwIdUserData = WORD#0 THEN
Status.Error.Id := UINT#707;
RETURN;
END_IF;

_hwID := hwID;
_ResultDataSize := ResultDataSize;
_UserDataSize := UserDataSize;
_hwIdAcquisitionControl := hwIdAcquisitionControl;
_hwIdAcquisitionStatus := hwIdAcquisitionStatus;
_hwIdResultsControl := hwIdResultsControl;
_hwIdResultsStatus := hwIdResultsStatus;
_hwIdSoftEventControl := hwIdSoftEventControl;
_hwIdResultData := hwIdResultData;
_hwIdUserData := hwIdUserData;

THIS.Open();
THIS.Execute();
THIS.Close();
END_METHOD
// Messenger.Serve(THIS);

// Messenger.ActivateOnCondition(ULINT#700,parent = NULL, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#701,hwIdAcquisitionControl = WORD#0, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#702,hwIdAcquisitionStatus = WORD#0, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#703,hwIdResultsControl = WORD#0, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#704,hwIdResultsStatus = WORD#0, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#705,hwIdSoftEventControl = WORD#0, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#706,hwIdResultData = WORD#0, eAxoMessageCategory#ProgrammingError);
// Messenger.ActivateOnCondition(ULINT#707,hwIdUserData = WORD#0, eAxoMessageCategory#ProgrammingError);

// IF parent = NULL THEN
// Status.Error.Id := UINT#700;
// RETURN;
// ELSIF hwIdAcquisitionControl = WORD#0 THEN
// Status.Error.Id := UINT#701;
// RETURN;
// ELSIF hwIdAcquisitionStatus = WORD#0 THEN
// Status.Error.Id := UINT#702;
// RETURN;
// ELSIF hwIdResultsControl = WORD#0 THEN
// Status.Error.Id := UINT#703;
// RETURN;
// ELSIF hwIdResultsStatus = WORD#0 THEN
// Status.Error.Id := UINT#704;
// RETURN;
// ELSIF hwIdSoftEventControl = WORD#0 THEN
// Status.Error.Id := UINT#705;
// RETURN;
// ELSIF hwIdResultData = WORD#0 THEN
// Status.Error.Id := UINT#706;
// RETURN;
// ELSIF hwIdUserData = WORD#0 THEN
// Status.Error.Id := UINT#707;
// RETURN;
// END_IF;

// _hwID := hwID;
// _ResultDataSize := ResultDataSize;
// _UserDataSize := UserDataSize;
// _hwIdAcquisitionControl := hwIdAcquisitionControl;
// _hwIdAcquisitionStatus := hwIdAcquisitionStatus;
// _hwIdResultsControl := hwIdResultsControl;
// _hwIdResultsStatus := hwIdResultsStatus;
// _hwIdSoftEventControl := hwIdSoftEventControl;
// _hwIdResultData := hwIdResultData;
// _hwIdUserData := hwIdUserData;

// THIS.Open();
// THIS.Execute();
// THIS.Close();
// END_METHOD

METHOD PRIVATE UpdateInputs : BOOL
VAR
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