@kuriousdesign/machine-sdk 1.0.65 → 1.0.70

package/src/abb/procs/MainModule.mod

@@ -1,188 +1,188 @@
-!************************************************************
-! RAPID MAIN PROGRAM — State Machine Framework (PLC-style)
-!************************************************************
-MODULE MainModule
-
-    !========================================================
-    ! GLOBAL STATE VARIABLES
-    !========================================================
-    PERS num StepNum := States.INACTIVE;
-    VAR bool FirstScan := TRUE;
-    VAR bool StepMode := FALSE;
-    VAR bool GoToNextStep := FALSE;
-    VAR clock StepStartTime;
-
-    !========================================================
-    ! SIMULATED DEVICE & ENGINE FLAGS (replace with real I/O)
-    !========================================================
-    VAR bool ErrorPresent := FALSE;
-    VAR bool ChildrenErrorPresent := FALSE;
-    VAR bool InstantKill_ON := FALSE;
-    VAR bool Reset_REQ := FALSE;
-    VAR bool Clear_REQ := FALSE;
-    VAR bool AutoReset := FALSE;
-
-    VAR bool RequestTask := FALSE;
-    VAR bool RequestProcess := FALSE;
-
-    !========================================================
-    ! HELPER PROCEDURES / FUNCTIONS
-    !========================================================
-    PROC preRun()
-        ! Overhead logic before state processing
-    ENDPROC
-
-    PROC updateStatus()
-        ! Update status or communications
-    ENDPROC
-
-    PROC postRun()
-        ! Cleanup or end-of-cycle logic
-    ENDPROC
-
-    PROC desc(msg STRING)
-        TPWrite "STATE: "\msg;
-    ENDPROC
-
-    PROC setNextStep(nextState num)
-        StepNum := nextState;
-        FirstScan := TRUE;
-        StepStartTime := Clock();
-        TPWrite "→ Next State: "\numtostr(nextState, 0);
-    ENDPROC
-
-    FUNC bool Aborting()
-        ! Insert abort handling logic
-        RETURN TRUE;
-    ENDFUNC
-
-    FUNC bool Resetting()
-        ! Insert reset logic
-        RETURN TRUE;
-    ENDFUNC
-
-    FUNC bool Stopping()
-        ! Insert stop logic
-        RETURN TRUE;
-    ENDFUNC
-
-    PROC Clear()
-        ErrorPresent := FALSE;
-        ChildrenErrorPresent := FALSE;
-        TPWrite "Cleared errors";
-    ENDPROC
-
-    !========================================================
-    ! MAIN EXECUTION LOOP
-    !========================================================
-    PROC main()
-        TPWrite "=== Starting Main State Machine ===";
-        StepStartTime := Clock();
-
-        WHILE TRUE DO
-            preRun;
-            updateStatus;
-
-            ! Step mode logic
-            IF StepMode THEN
-                IF GoToNextStep THEN
-                    GoToNextStep := FALSE;
-                    FirstScan := TRUE;
-                ENDIF
-            ENDIF
-
-            !----------------------------------------------------
-            ! STATE MACHINE
-            !----------------------------------------------------
-            SELECT StepNum
-
-            CASE States.ABORTING:
-                desc("ABORTING");
-                IF Aborting() THEN
-                    setNextStep(States.KILLED);
-                ENDIF
-
-            CASE States.KILLED:
-                desc("KILLED");
-                IF NOT InstantKill_ON THEN
-                    IF ErrorPresent OR ChildrenErrorPresent THEN
-                        setNextStep(States.ERROR);
-                    ELSE
-                        setNextStep(States.INACTIVE);
-                    ENDIF
-                ENDIF
-
-            CASE States.ERROR:
-                desc("ERROR");
-                IF NOT ErrorPresent AND NOT ChildrenErrorPresent THEN
-                    setNextStep(States.INACTIVE);
-                ELSIF Clear_REQ THEN
-                    Clear;
-                ENDIF
-
-            CASE States.INACTIVE:
-                desc("INACTIVE");
-                IF ErrorPresent OR ChildrenErrorPresent THEN
-                    setNextStep(States.ERROR);
-                ELSIF Reset_REQ OR AutoReset THEN
-                    setNextStep(States.RESETTING);
-                ENDIF
-
-            CASE States.RESETTING:
-                desc("RESETTING");
-                IF Resetting() THEN
-                    setNextStep(States.IDLE);
-                ENDIF
-
-            CASE States.IDLE:
-                desc("IDLE");
-                checkForNewTaskRequest(); --> going to read the pLC variable for task Request and those task params
-                SWITCH requestedTaskId  ! Pseudo-variable for requested task
-                CASE RobTasks.WEIGHING:
-                    PROC WeighingTask();
-                    setNextStep(States.RUNNING);
-                ! Idle logic here
-                ! check for any task requests and transition to running if so
-                ! setNextStep(States.RUNNING);
-
-            CASE States.RUNNING:
-                desc("RUNNING");
-                SELECT requestedTaskId ! Pseudo-variable for requested task
-                CASE 1:
-                    ! Execute Task 1
-
-            CASE States.STOPPING:
-                desc("STOPPING");
-                IF Stopping() THEN
-                    IF ErrorPresent OR ChildrenErrorPresent THEN
-                        setNextStep(States.ABORTING);
-                    ELSE
-                        setNextStep(States.IDLE);
-                    ENDIF
-                ENDIF
-
-            CASE States.DONE:
-                desc("DONE");
-                ! Final state logic
-
-            CASE States.PAUSED:
-                desc("PAUSED");
-                ! Handle paused logic
-
-            CASE States.MANUAL:
-                desc("MANUAL");
-                ! Handle manual mode logic
-
-            DEFAULT:
-                desc("UNKNOWN STATE");
-                setNextStep(States.INACTIVE);
-
-            ENDSELECT
-
-            postRun;
-            FirstScan := FALSE;
-            WaitTime 0.1;  ! 100ms scan cycle
-        ENDWHILE
-    ENDPROC
-
-ENDMODULE
+!************************************************************
+! RAPID MAIN PROGRAM — State Machine Framework (PLC-style)
+!************************************************************
+MODULE MainModule
+
+    !========================================================
+    ! GLOBAL STATE VARIABLES
+    !========================================================
+    PERS num StepNum := States.INACTIVE;
+    VAR bool FirstScan := TRUE;
+    VAR bool StepMode := FALSE;
+    VAR bool GoToNextStep := FALSE;
+    VAR clock StepStartTime;
+
+    !========================================================
+    ! SIMULATED DEVICE & ENGINE FLAGS (replace with real I/O)
+    !========================================================
+    VAR bool ErrorPresent := FALSE;
+    VAR bool ChildrenErrorPresent := FALSE;
+    VAR bool InstantKill_ON := FALSE;
+    VAR bool Reset_REQ := FALSE;
+    VAR bool Clear_REQ := FALSE;
+    VAR bool AutoReset := FALSE;
+
+    VAR bool RequestTask := FALSE;
+    VAR bool RequestProcess := FALSE;
+
+    !========================================================
+    ! HELPER PROCEDURES / FUNCTIONS
+    !========================================================
+    PROC preRun()
+        ! Overhead logic before state processing
+    ENDPROC
+
+    PROC updateStatus()
+        ! Update status or communications
+    ENDPROC
+
+    PROC postRun()
+        ! Cleanup or end-of-cycle logic
+    ENDPROC
+
+    PROC desc(msg STRING)
+        TPWrite "STATE: "\msg;
+    ENDPROC
+
+    PROC setNextStep(nextState num)
+        StepNum := nextState;
+        FirstScan := TRUE;
+        StepStartTime := Clock();
+        TPWrite "→ Next State: "\numtostr(nextState, 0);
+    ENDPROC
+
+    FUNC bool Aborting()
+        ! Insert abort handling logic
+        RETURN TRUE;
+    ENDFUNC
+
+    FUNC bool Resetting()
+        ! Insert reset logic
+        RETURN TRUE;
+    ENDFUNC
+
+    FUNC bool Stopping()
+        ! Insert stop logic
+        RETURN TRUE;
+    ENDFUNC
+
+    PROC Clear()
+        ErrorPresent := FALSE;
+        ChildrenErrorPresent := FALSE;
+        TPWrite "Cleared errors";
+    ENDPROC
+
+    !========================================================
+    ! MAIN EXECUTION LOOP
+    !========================================================
+    PROC main()
+        TPWrite "=== Starting Main State Machine ===";
+        StepStartTime := Clock();
+
+        WHILE TRUE DO
+            preRun;
+            updateStatus;
+
+            ! Step mode logic
+            IF StepMode THEN
+                IF GoToNextStep THEN
+                    GoToNextStep := FALSE;
+                    FirstScan := TRUE;
+                ENDIF
+            ENDIF
+
+            !----------------------------------------------------
+            ! STATE MACHINE
+            !----------------------------------------------------
+            SELECT StepNum
+
+            CASE States.ABORTING:
+                desc("ABORTING");
+                IF Aborting() THEN
+                    setNextStep(States.KILLED);
+                ENDIF
+
+            CASE States.KILLED:
+                desc("KILLED");
+                IF NOT InstantKill_ON THEN
+                    IF ErrorPresent OR ChildrenErrorPresent THEN
+                        setNextStep(States.ERROR);
+                    ELSE
+                        setNextStep(States.INACTIVE);
+                    ENDIF
+                ENDIF
+
+            CASE States.ERROR:
+                desc("ERROR");
+                IF NOT ErrorPresent AND NOT ChildrenErrorPresent THEN
+                    setNextStep(States.INACTIVE);
+                ELSIF Clear_REQ THEN
+                    Clear;
+                ENDIF
+
+            CASE States.INACTIVE:
+                desc("INACTIVE");
+                IF ErrorPresent OR ChildrenErrorPresent THEN
+                    setNextStep(States.ERROR);
+                ELSIF Reset_REQ OR AutoReset THEN
+                    setNextStep(States.RESETTING);
+                ENDIF
+
+            CASE States.RESETTING:
+                desc("RESETTING");
+                IF Resetting() THEN
+                    setNextStep(States.IDLE);
+                ENDIF
+
+            CASE States.IDLE:
+                desc("IDLE");
+                checkForNewTaskRequest(); --> going to read the pLC variable for task Request and those task params
+                SWITCH requestedTaskId  ! Pseudo-variable for requested task
+                CASE RobTasks.WEIGHING:
+                    PROC WeighingTask();
+                    setNextStep(States.RUNNING);
+                ! Idle logic here
+                ! check for any task requests and transition to running if so
+                ! setNextStep(States.RUNNING);
+
+            CASE States.RUNNING:
+                desc("RUNNING");
+                SELECT requestedTaskId ! Pseudo-variable for requested task
+                CASE 1:
+                    ! Execute Task 1
+
+            CASE States.STOPPING:
+                desc("STOPPING");
+                IF Stopping() THEN
+                    IF ErrorPresent OR ChildrenErrorPresent THEN
+                        setNextStep(States.ABORTING);
+                    ELSE
+                        setNextStep(States.IDLE);
+                    ENDIF
+                ENDIF
+
+            CASE States.DONE:
+                desc("DONE");
+                ! Final state logic
+
+            CASE States.PAUSED:
+                desc("PAUSED");
+                ! Handle paused logic
+
+            CASE States.MANUAL:
+                desc("MANUAL");
+                ! Handle manual mode logic
+
+            DEFAULT:
+                desc("UNKNOWN STATE");
+                setNextStep(States.INACTIVE);
+
+            ENDSELECT
+
+            postRun;
+            FirstScan := FALSE;
+            WaitTime 0.1;  ! 100ms scan cycle
+        ENDWHILE
+    ENDPROC
+
+ENDMODULE

package/src/abb/records/DeviceDataTypes.mod

@@ -1,35 +1,35 @@
-MODULE DeviceDataTypes
-
-    ! Maximum parameters constant (from your DeviceConstants)
-    CONST num MAX_NUM_PARAMS := 10;  ! replace 10 with actual value from DeviceConstants
-
-    ! Define ProcessData record
-    TYPE ProcessData
-        STRUCT
-            !------------------------------------------------------
-            ! Parameters that must only be written by SendProcessRequest()
-            !------------------------------------------------------
-            UniqueActionRequestId : num;  ! DINT in ST
-            RequestId : num;              ! INT in ST
-            RequestParamArray : array[0..MAX_NUM_PARAMS-1] of num; ! LREAL in ST
-            SenderId : num;               ! INT in ST
-
-            !------------------------------------------------------
-            ! Internal parameters
-            !------------------------------------------------------
-            ActiveId : num;
-            ActiveName : string[255];
-            LastId : num;
-            firstScan : bool;
-            isStepNum : num;             ! read-only in ST
-            StepDescription : string[255];
-            isDone : bool;
-            isError : bool;
-            NextStepNum : num;
-            DeviceStateThatCalled : num;
-            DeviceStepThatCalled : num;
-            ParamArray : array[0..MAX_NUM_PARAMS-1] of num;
-        END_STRUCT
-    END_TYPE
-
-ENDMODULE
+MODULE DeviceDataTypes
+
+    ! Maximum parameters constant (from your DeviceConstants)
+    CONST num MAX_NUM_PARAMS := 10;  ! replace 10 with actual value from DeviceConstants
+
+    ! Define ProcessData record
+    TYPE ProcessData
+        STRUCT
+            !------------------------------------------------------
+            ! Parameters that must only be written by SendProcessRequest()
+            !------------------------------------------------------
+            UniqueActionRequestId : num;  ! DINT in ST
+            RequestId : num;              ! INT in ST
+            RequestParamArray : array[0..MAX_NUM_PARAMS-1] of num; ! LREAL in ST
+            SenderId : num;               ! INT in ST
+
+            !------------------------------------------------------
+            ! Internal parameters
+            !------------------------------------------------------
+            ActiveId : num;
+            ActiveName : string[255];
+            LastId : num;
+            firstScan : bool;
+            isStepNum : num;             ! read-only in ST
+            StepDescription : string[255];
+            isDone : bool;
+            isError : bool;
+            NextStepNum : num;
+            DeviceStateThatCalled : num;
+            DeviceStepThatCalled : num;
+            ParamArray : array[0..MAX_NUM_PARAMS-1] of num;
+        END_STRUCT
+    END_TYPE
+
+ENDMODULE