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

Structure: