Feature/expand object arrays

Base Project.sln

@@ -13,6 +13,7 @@ Global
 		Debug|TwinCAT OS (ARMV7-M) = Debug|TwinCAT OS (ARMV7-M)
 		Debug|TwinCAT OS (ARMV8-A) = Debug|TwinCAT OS (ARMV8-A)
 		Debug|TwinCAT OS (x64) = Debug|TwinCAT OS (x64)
+		Debug|TwinCAT OS (x64-E) = Debug|TwinCAT OS (x64-E)
 		Debug|TwinCAT RT (x64) = Debug|TwinCAT RT (x64)
 		Debug|TwinCAT RT (x86) = Debug|TwinCAT RT (x86)
 		Release|TwinCAT CE7 (ARMV7) = Release|TwinCAT CE7 (ARMV7)
@@ -21,6 +22,7 @@ Global
 		Release|TwinCAT OS (ARMV7-M) = Release|TwinCAT OS (ARMV7-M)
 		Release|TwinCAT OS (ARMV8-A) = Release|TwinCAT OS (ARMV8-A)
 		Release|TwinCAT OS (x64) = Release|TwinCAT OS (x64)
+		Release|TwinCAT OS (x64-E) = Release|TwinCAT OS (x64-E)
 		Release|TwinCAT RT (x64) = Release|TwinCAT RT (x64)
 		Release|TwinCAT RT (x86) = Release|TwinCAT RT (x86)
 	EndGlobalSection
@@ -37,6 +39,8 @@ Global
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Debug|TwinCAT OS (ARMV8-A).Build.0 = Debug|TwinCAT OS (ARMV8-A)
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Debug|TwinCAT OS (x64).ActiveCfg = Debug|TwinCAT OS (x64)
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Debug|TwinCAT OS (x64).Build.0 = Debug|TwinCAT OS (x64)
+		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Debug|TwinCAT OS (x64-E).ActiveCfg = Debug|TwinCAT OS (x64-E)
+		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Debug|TwinCAT OS (x64-E).Build.0 = Debug|TwinCAT OS (x64-E)
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
@@ -53,6 +57,8 @@ Global
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Release|TwinCAT OS (ARMV8-A).Build.0 = Release|TwinCAT OS (ARMV8-A)
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Release|TwinCAT OS (x64).ActiveCfg = Release|TwinCAT OS (x64)
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Release|TwinCAT OS (x64).Build.0 = Release|TwinCAT OS (x64)
+		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Release|TwinCAT OS (x64-E).ActiveCfg = Release|TwinCAT OS (x64-E)
+		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Release|TwinCAT OS (x64-E).Build.0 = Release|TwinCAT OS (x64-E)
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
 		{E3FDD453-7143-4CBE-AF2D-E7E762464CFC}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
@@ -69,6 +75,8 @@ Global
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Debug|TwinCAT OS (ARMV8-A).Build.0 = Debug|TwinCAT OS (ARMV8-A)
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Debug|TwinCAT OS (x64).ActiveCfg = Debug|TwinCAT OS (x64)
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Debug|TwinCAT OS (x64).Build.0 = Debug|TwinCAT OS (x64)
+		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Debug|TwinCAT OS (x64-E).ActiveCfg = Debug|TwinCAT OS (x64-E)
+		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Debug|TwinCAT OS (x64-E).Build.0 = Debug|TwinCAT OS (x64-E)
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
@@ -85,6 +93,8 @@ Global
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Release|TwinCAT OS (ARMV8-A).Build.0 = Release|TwinCAT OS (ARMV8-A)
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Release|TwinCAT OS (x64).ActiveCfg = Release|TwinCAT OS (x64)
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Release|TwinCAT OS (x64).Build.0 = Release|TwinCAT OS (x64)
+		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Release|TwinCAT OS (x64-E).ActiveCfg = Release|TwinCAT OS (x64-E)
+		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Release|TwinCAT OS (x64-E).Build.0 = Release|TwinCAT OS (x64-E)
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
 		{DD3A0B29-8E7C-4E32-989D-B0222C998777}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)

Base Project/Base Project.tsproj

@@ -35782,7 +35782,7 @@ External Setpoint Generation:
 		</System>
 		<Motion>
 			<NC>
-				<SafTask Priority="8" CycleTime="20000" AmsPort="501" Affinity="#x00000080" IoAtBegin="true" AmsNetId="169.254.15.111.1.1" SafTaskInfo="256">
+				<SafTask Priority="8" CycleTime="20000" AmsPort="501" Affinity="#x00000080" IoAtBegin="true" SafTaskInfo="256">
 					<Name>NC SAF</Name>
 					<Vars VarGrpType="1" InsertType="1">
 						<Name>Inputs</Name>
@@ -36083,7 +36083,7 @@ External Setpoint Generation:
 		</Motion>
 		<Plc>
 			<Project GUID="{DD3A0B29-8E7C-4E32-989D-B0222C998777}" Name="PLC1" PrjFilePath="PLC1\PLC1.plcproj" TmcFilePath="PLC1\PLC1.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
-				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{A7604CCE-606B-473D-2C90-D3645B0AE4EF}" TmcPath="PLC1\PLC1.tmc">
+				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{EAF32191-5142-E46E-A9D4-232736F396E2}" TmcPath="PLC1\PLC1.tmc">
 					<Name>PLC1 Instance</Name>
 					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 					<Vars VarGrpType="2" AreaNo="1">

Base Project/PLC1/GVLs/Param.TcGVL

@@ -3,11 +3,14 @@
   <GVL Name="Param" Id="{673621fc-c806-000b-08ea-fd34161e1bd8}" ParameterList="True">
     <Declaration><![CDATA[{attribute 'qualified_only'}
 VAR_GLOBAL CONSTANT
-	// The following should be set to a value **equal to or greater than** the number of movers needed
-	MAX_MOVERS   			: USINT := 100;   // Movers
-	MAX_POSITIONTRIGGERS	: USINT := 100;
+	// The following should be set to a value **equal to or greater than** the number of objects needed
+	MAX_MOVERS   			: USINT := 100;	// Movers
+	MAX_POSITIONTRIGGERS	: USINT := 100;	// Position triggers
+	MAX_STATIONS			: USINT := 100;	// Stations
+	MAX_ZONES				: USINT := 100;	// Zones
 
 	// The following should be set to a value **equal to or greater than** the number of objectives needed
+	// it's also possible to declare additional stations, zones and position triggers in MAIN
 	NUM_MOVERLISTS			: USINT := 10;	// Mover Lists
 	NUM_POSITIONTRIGGERS	: USINT := 10;	// Position Triggers
 	NUM_STATIONS			: USINT := 10;	// Stations

Base Project/PLC1/XTS (Do Not Edit)/Administrative/Mediator.TcPOU

@@ -8,9 +8,9 @@ VAR_INPUT
 	MoverArray				: ARRAY [1..Param.MAX_MOVERS] OF POINTER TO Mover;
 
 	MoverListArray			: ARRAY [0..Param.NUM_MOVERLISTS-1] OF POINTER TO MoverList;
-	PositionTriggerArray	: ARRAY [0..Param.NUM_POSITIONTRIGGERS-1] OF POINTER TO PositionTrigger;
-	StationArray			: ARRAY [0..Param.NUM_STATIONS-1] OF POINTER TO Station;
-	ZoneArray				: ARRAY [0..Param.NUM_ZONES-1] OF POINTER TO Zone;
+	PositionTriggerArray	: ARRAY [0..Param.MAX_POSITIONTRIGGERS-1] OF POINTER TO PositionTrigger;
+	StationArray			: ARRAY [0..Param.MAX_STATIONS-1] OF POINTER TO Station;
+	ZoneArray				: ARRAY [0..Param.MAX_ZONES-1] OF POINTER TO Zone;
 	TrackArray				: ARRAY [0..Param.NUM_TRACKS] OF POINTER TO Track;	// track 0 is a special absolute case, this makes the array 1 larger than normal	
 
 	GROUP_REF				: AXES_GROUP_REF;
@@ -79,8 +79,8 @@ END_VAR
 
 VAR
 	duplicateFound		: BOOL;
-	i					: UDINT;
-	emptyIDX			: UDINT;
+	i					: DINT;
+	emptyIDX			: DINT := -1;;
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[
@@ -100,12 +100,18 @@ IF __ISVALIDREF( Mover ) THEN
 			END_IF
 		ELSE
 			// track the first empty index
-			IF (emptyIDX = 0) THEN
+			IF (emptyIDX = -1) THEN
 				emptyIDX	:= i;
 			END_IF;
 		END_IF	
 	END_FOR
 
+	// if no empty index is available set a message and return
+	IF emptyIDX = -1 THEN
+		ADSLOGSTR( ADSLOG_MSGTYPE_WARN, 'AddMover System Array is full. %s not added. Check Params.MAX_MOVERS' , Mover.InstancePath);
+		RETURN;
+	END_IF;
+
 	IF duplicateFound = FALSE THEN
 
 		THIS^.MoverArray[emptyIDX]		:= ADR( Mover );	// new mover into empty array element
@@ -141,8 +147,8 @@ END_VAR
 
 VAR
 	duplicateFound		: BOOL;
-	i					: UDINT;
-	emptyIDX			: UDINT;
+	i					: DINT;
+	emptyIDX			: DINT := -1;
 END_VAR
 ]]></Declaration>
       <Implementation>
@@ -162,12 +168,18 @@ IF __ISVALIDREF( MoverList ) THEN
 			END_IF
 		ELSE
 			// track the first empty index
-			IF (emptyIDX = 0) THEN
+			IF (emptyIDX = -1) THEN
 				emptyIDX	:= i;
 			END_IF;
 		END_IF
 	END_FOR
 
+	// if no empty index is available set a message and return
+	IF emptyIDX = -1 THEN
+		ADSLOGSTR( ADSLOG_MSGTYPE_WARN, 'MoverList System Array is full. %s not added. Check Params.MAX_MOVERLISTS' , MoverList.InstancePath);
+		RETURN;
+	END_IF;
+
 	IF duplicateFound = FALSE THEN
 		THIS^.MoverListArray[emptyIDX]		:= ADR( MoverList );
 	END_IF
@@ -187,8 +199,8 @@ END_VAR
 
 VAR
 	duplicateFound		: BOOL;
-	i					: UDINT;
-	emptyIDX			: UDINT;
+	i					: DINT;
+	emptyIDX			: DINT := -1;
 END_VAR
 ]]></Declaration>
       <Implementation>
@@ -208,12 +220,18 @@ IF __ISVALIDREF( PositionTrigger ) THEN
 			END_IF
 		ELSE
 			// track the first empty index
-			IF (emptyIDX = 0) THEN
+			IF (emptyIDX = -1) THEN
 				emptyIDX	:= i;
 			END_IF;
 		END_IF
 	END_FOR
 
+	// if no empty index is available set a message and return
+	IF emptyIDX = -1 THEN
+		ADSLOGSTR( ADSLOG_MSGTYPE_WARN, 'AddPositionTrigger System Array is full. %s not added. Check Params.MAX_POSITIONTRIGGERS' , PositionTrigger.InstancePath);
+		RETURN;
+	END_IF;
+
 	IF duplicateFound = FALSE THEN
 		THIS^.PositionTriggerArray[emptyIDX]		:= ADR( PositionTrigger );
 
@@ -238,8 +256,8 @@ END_VAR
 
 VAR
 	duplicateFound		: BOOL;
-	i					: UDINT;
-	emptyIDX			: UDINT;
+	i					: DINT;
+	emptyIDX			: DINT := -1;
 END_VAR
 ]]></Declaration>
       <Implementation>
@@ -259,12 +277,18 @@ IF __ISVALIDREF( Station ) THEN
 			END_IF
 		ELSE
 			// track the first empty index
-			IF (emptyIDX = 0) THEN
+			IF (emptyIDX = -1) THEN
 				emptyIDX	:= i;
 			END_IF;
 		END_IF
 	END_FOR
 
+	// if no empty index is available set a message and return
+	IF emptyIDX = -1 THEN
+		ADSLOGSTR( ADSLOG_MSGTYPE_WARN, 'AddStation System Array is full. %s not added. Check Params.MAX_STATIONS' , Station.InstancePath);
+		RETURN;
+	END_IF;
+
 	IF duplicateFound = FALSE THEN
 		THIS^.StationArray[emptyIDX]		:= ADR( Station );
 	END_IF
@@ -324,8 +348,8 @@ END_VAR
 
 VAR
 	duplicateFound		: BOOL;
-	i					: UDINT;
-	emptyIDX			: UDINT;
+	i					: DINT;
+	emptyIDX			: DINT := -1;
 END_VAR
 ]]></Declaration>
       <Implementation>
@@ -345,12 +369,18 @@ IF __ISVALIDREF( Zone ) THEN
 			END_IF
 		ELSE
 			// track the first empty index
-			IF (emptyIDX = 0) THEN
+			IF (emptyIDX = -1) THEN
 				emptyIDX	:= i;
 			END_IF;
 		END_IF
 	END_FOR
 
+	// if no empty index is available set a message and return
+	IF emptyIDX = -1 THEN
+		ADSLOGSTR( ADSLOG_MSGTYPE_WARN, 'AddZone System Array is full. %s not added. Check Params.MAX_ZONES' , Zone.InstancePath);
+		RETURN;
+	END_IF;
+
 	IF duplicateFound = FALSE THEN
 		THIS^.ZoneArray[emptyIDX]		:= ADR( Zone );
 
@@ -528,13 +558,13 @@ FOR i := 1 TO Param.MAX_MOVERS DO
 	END_IF
 END_FOR
 
-FOR i := 0 TO Param.NUM_STATIONS - 1 DO
+FOR i := 0 TO Param.MAX_STATIONS - 1 DO
 	IF StationArray[i] <> 0 THEN
 		StationArray[i]^.Cyclic();
 	END_IF
 END_FOR
 
-FOR i := 0 TO Param.NUM_POSITIONTRIGGERS - 1 DO
+FOR i := 0 TO Param.MAX_POSITIONTRIGGERS - 1 DO
 	IF PositionTriggerArray[i] <> 0 THEN
 		PositionTriggerArray[i]^.Cyclic();
 	END_IF
@@ -855,16 +885,16 @@ IF THIS^.InfoServerIsReady AND internalEnabled AND Param.AUTO_POPULATE_STATIONS
 
 		40:
 			// calculate minimum number of stations that can be set up
-			nUsableStations := MIN(nInfoServerStations, Param.NUM_STATIONS);
+			nUsableStations := MIN(nInfoServerStations, Param.MAX_STATIONS);
 			workingStation := 0;
 			FOR i := 1 TO nUsableStations DO
 				workingStation := workingStation + 1;
 				// in case a sparse Station array is used, only detect stations that have a position value <> 0
-				WHILE (workingStation < Param.NUM_STATIONS AND_THEN (StationArray[workingStation] = 0 OR_ELSE StationArray[workingStation]^.Position = 0)) DO
+				WHILE (workingStation < Param.MAX_STATIONS AND_THEN (StationArray[workingStation] = 0 OR_ELSE StationArray[workingStation]^.Position = 0)) DO
 					workingStation := workingStation + 1;
 				END_WHILE
 				// check for valid working station, and exit this for loop iteration if we're outside it
-				IF workingStation >= Param.NUM_STATIONS THEN
+				IF workingStation >= Param.MAX_STATIONS THEN
 					EXIT;
 				END_IF
 				// get XTS_Base Station pointer
@@ -1162,11 +1192,15 @@ END_VAR
 ]]></Declaration>
       <Implementation>
         <ST><![CDATA[// reset statistics at all postion triggers and stations
-FOR i := 0 TO Param.NUM_POSITIONTRIGGERS-1 DO
-	PositionTriggerArray[i]^.ResetStatistics();
+FOR i := 0 TO Param.MAX_POSITIONTRIGGERS-1 DO
+	IF PositionTriggerArray[i] <> 0 THEN
+		PositionTriggerArray[i]^.ResetStatistics();
+	END_IF
 END_FOR
-FOR i := 0 TO Param.NUM_STATIONS-1 DO
-	StationArray[i]^.ResetStatistics();
+FOR i := 0 TO Param.MAX_STATIONS-1 DO
+	IF StationArray[i] <> 0 THEN
+		StationArray[i]^.ResetStatistics();
+	END_IF
 END_FOR
 ]]></ST>
       </Implementation>

Base Project/PLC1/XTS (Do Not Edit)/Objects/Mover.TcPOU

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
   <POU Name="Mover" Id="{461a92b9-026e-4cbb-aa50-b18297f25ecc}" SpecialFunc="None">
     <Declaration><![CDATA[{attribute 'reflection'}
@@ -1922,16 +1922,22 @@ FOR i := 0 TO Param.NUM_MOVERLISTS-1 DO
 	Mediator.MoverListArray[i]^.UnregisterMover( THIS^ );
 END_FOR
 
-FOR i := 0 TO Param.NUM_POSITIONTRIGGERS-1 DO
-	Mediator.PositionTriggerArray[i]^.UnregisterMover( THIS^ );
+FOR i := 0 TO Param.MAX_POSITIONTRIGGERS-1 DO
+	IF Mediator.PositionTriggerArray[i] <> 0 THEN
+		Mediator.PositionTriggerArray[i]^.UnregisterMover( THIS^ );
+	END_IF
 END_FOR
 
-FOR i := 0 TO Param.NUM_STATIONS-1 DO
-	Mediator.StationArray[i]^.UnregisterMover( THIS^ );
+FOR i := 0 TO Param.MAX_STATIONS-1 DO
+	IF Mediator.StationArray[i] <> 0 THEN
+		Mediator.StationArray[i]^.UnregisterMover( THIS^ );
+	END_IF;
 END_FOR
 
-FOR i := 0 TO Param.NUM_ZONES-1 DO
-	Mediator.ZoneArray[i]^.UnregisterMover( THIS^ );
+FOR i := 0 TO Param.MAX_ZONES-1 DO
+	IF Mediator.ZoneArray[i] <> 0 THEN
+		Mediator.ZoneArray[i]^.UnregisterMover( THIS^ );
+	END_IF
 END_FOR]]></ST>
       </Implementation>
     </Method>

Documentation/docs/CodeReference/Parameters.md

@@ -0,0 +1,33 @@
+
+# Parameters
+
+Paramaters configure the overall size of the XTS application including the number of objects such as stations or zones needed. Parameters can be viewed and adjusted in `GVL\Param`.
+
+!!! Note
+	Mover appears in parameters but is not addressed in this section as it has additional needs when increasing or decreasing its count. Please see [Project Customization](../GettingStarted/2_FirstSteps.md#project-customization).
+
+## NUM_ Parameters
+
+The provided FB_XTS object includes a set of the objects listed already pre-configured and ready to use.
+
+- `XTS.Mover[]`
+- `XTS.PositionTrigger[]`
+- `XTS.Station[]`
+- `XTS.Zone[]`
+
+The size of these arrays is configured with the corresponding `NUM_` parameter.
+
+In many XTS applications, especially ones that implement simple station-to-station motion, the provided objects are all that is needed for user code. An simple adjustment of the `NUM_` parameter to increase stations, zones or position triggers may be the only parameters that need to be adjusted to fit the application.
+
+## MAX_ Parameters
+
+The mediator can manage additional Position Triggers, Stations and Zones outside of those declared in FB_XTS if needed for an application. This can help with code modularity and allows you to create custom objects (as FBs) that contain their own stations, zones and position triggers as needed.
+
+The `MAX_` parameters define the absolute maximum number of any of these objects that can be declared. The value selected should be high enough to include the number of objects created by the `NUM_` parameter, and any additional objects you will create in user code.
+
+!!! Note
+	There is no performance penalty for having more MAX_ objects than you actually use. Any objects in the array that have not been configured do not cause additional code to execute. There is a small amount of memory required for extra, unused objects but this often is insignificant in the overall size of the program and memory available on IPCs capable of running XTS.
+
+## MAX_ Parameters Example
+
+An example of declaring additional objects that consume space under the `MAX_` parameter limits is available in [Custom Objects](../Examples/CustomObjects.md)