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 path preprocessing and is typically inserted right before SMC_CheckVelocities.

Note

SMC_BlockSearch requires the position values from SMC_BlockSearchSavePos, which must have been executed before.

Note

The element to restart with is identified by its sourceline number. So, there will be ambiguities when dealing with subprograms (we will restart with the first element holding the correct sourceline number, which, in general, is part of the main program).

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