SMC_BlockSearch (FB)

FUNCTION_BLOCK SMC_BlockSearch

This function block shortens the path from start up to the position that is stored in SMC_BlockSearchPos . From this position, the original path is put on. SMC_BlockSearch runs in the context of the path preprocessing and is inserted typically in the data flow before SMC_CheckVelocities .

Note

SMC_BlockSearch requires the position values from SMC_BlockSearchPos , that must be executed previously.

InOut:

Scope	Name	Type	Initial	Comment
Inout	ePos	SMC_BlockSearchPos		Position information. Requires connection to output ePos of SMC_BlockSearchSavePos
Input	bExecute	BOOL	FALSE	Risign edge: Enables the function block
	bAbort	BOOL	FALSE	TRUE: Aborts the processing of the function block
	bAppend	BOOL	FALSE	FALSE: Starts emptying poqDataOut on a rising edge at bExecute
	poqDataIn	POINTER TO SMC_OUTQUEUE	NULL	Pointer to data of structure SMC_OUTQUEUE containing the path objects of typ SMC_GEOINFO, that are interpolated.
	bStartFromSavedPos	BOOL		TRUE: Enables the function block to shorten the path from start up to the position, that is stored in SMC_BlockSearchPos . FALSE: Disables the function block
	nSizeOutQueue	UDINT	0	Size in bytes of the data buffer pbyBufferOutQueue, in which the path elements are copied. If the value is set, it may not be changed except after a reset.
	pbyBufferOutQueue	POINTER TO ARRAY [0..0] OF SMC_GEOINFO	NULL	Pointer to the first byte of the storage area created for the path elements. If the value is set, it may not be changed except after a reset.
Output	bDone	BOOL	FALSE	TRUE: input date from poqDataIn have been precessed fully. After that, the function block performs no action until a reset is detected. When bExecute is set to FALSE, bDone is reset to FALSE.
	bBusy	BOOL	FALSE	TRUE: Function block in execution
	bError	BOOL	FALSE	TRUE: Error has occurred
	wErrorID	SMC_ERROR	0	Error identification Possible values SMC_BS_SAVEDPOS_NOT_REACHED: Stored position has not been found. Probably wrong path. SMC_BS_NO_POS_STORED: ePos contains no stored position. Possible cause is that SMC_BlockSearchSavePos was not executed or in a wrong way.
	poqDataOut	POINTER TO SMC_OUTQUEUE	NULL	Pointer to data of structure SMC_OUTQUEUE containing the path elements of type SMC_GEOINFO that have been processed

SMC_BlockSearch.SMC_DoBeforeLeave (ACT)

SMC_BlockSearch.SMC_InitAction (ACT)