Queue.Enqueue (METH) ¶ METHOD FINAL Enqueue : BOOL Stores a new element on the queue. Returns whether the new element has fit into the queue. task-safety: call from producer task only InOut: Scope Name Type Comment Return Enqueue BOOL Input pData POINTER TO BYTE A pointer to the underlying data array. pElemData POINTER TO BYTE A pointer to the new element, must not be 0 udiElemSizeBytes UDINT The size of the element in bytes, must not be 0
Queue.Initialize (METH) ¶ METHOD PUBLIC Initialize Initializes a FIFO queue. When called on an already initialized queue, it is emptied. task-safety: not task-safe. The application has to make sure that no other task than the initializing task calls the queue’s methods during initialization. InOut: Scope Name Type Comment Input udiCapacityBytes UDINT The capacity of the data array in elements. Must be at least 6.
ComputeTrajectoryLimits (FUN) ¶ FUNCTION ComputeTrajectoryLimits : ETrajectoryLimit InOut: Scope Name Type Inout Const path PathQueue wCur DynState Input segment SegmentId Return ComputeTrajectoryLimits ETrajectoryLimit Output pPeCur POINTER TO PathElem pPeEnd POINTER TO PathElem pPePause POINTER TO PathElem dSEndSegment LREAL dSEndEffective LREAL k_left UDINT k_right UDINT dS_start_left LREAL dS_start_right LREAL
Queue.IsEmpty (METH) ¶ METHOD FINAL IsEmpty : BOOL Returns whether the queue is empty. InOut: Scope Name Type Return IsEmpty BOOL
Random ¶ RndI (FunctionBlock) Advance (Method) GetCur (Method) Init (Method) RndI_Range (FunctionBlock) Advance (Method) GetCur (Method) Init (Method)
RndI (FB) ¶ FUNCTION_BLOCK FINAL RndI Returns pseudo-random integer numbers in the range [0, MAX_VALUE]. Methods: Advance GetCur Init Structure: Advance (Method) GetCur (Method) Init (Method)
CacheElems_Serialize (FUN) ¶ FUNCTION CacheElems_Serialize : BOOL InOut: Scope Name Type Return CacheElems_Serialize BOOL Input stream SM0.IOutStream i0 UDINT Inout Const cache Trj_EvalCache Output nCacheElems UDINT
Logging ¶ DoLog (Function) DoLogError (Function) DoLogInfo (Function)
DoLog (FUN) ¶ FUNCTION DoLog : BOOL Writes to the standard logger with the SoftMotion class ID. The message is only written if (lc AND Logging.FilterMask) is not 0. InOut: Scope Name Type Comment Return DoLog BOOL Input lc UDINT The logging class (see CmpLog.LogClass). sLog STRING(255) The text to be logged.
DoLogError (FUN) ¶ FUNCTION DoLogError : BOOL Writes log messages with regard to an error to the standard logger with the SoftMotion class ID. The message is only written if (CmpLog.LogClass.LOG_ERROR AND Logging.FilterMask) is not 0. InOut: Scope Name Type Comment Return DoLogError BOOL Input sLog STRING(255) The text to be logged. errorId SM3_Error.SMC_ERROR The error id that this log message belongs to.