SM3_RBase Library Documentation ¶ Company : CODESYS Title : SM3_RBase Version : 4.17.0.0 Categories : Intern|SoftMotion Namespace : SMRB Author : CODESYS Development GmbH Placeholder : SM3_RBase Description [ 1 ] ¶ Library with basic functionality for SoftMotion Contents: ¶ Atomic Atomic_SRSW_R (FunctionBlock) Atomic_SRSW_W (FunctionBlock) AxisLimits AXISLIMITS (Struct) CoordinateSystem CSPredictionAdapter (FunctionBlock) CSPredictionAdapterState (Alias) CSPredictionElem (Struct) ICoordinateSystem (Interface) ICoordinateSystemPrediction (Interface) SplineKnotEvaluationMode (Enum) DynFactors DynFactors (Struct) DynFactors_Equal (Function) DynFactors_One (Function) DynFactors_Positive (Function) DynFactors_Serialize (Function) DynLimits DynLimits (Struct) DynLimits_DivInf (Function) DynLimits_Effective (Function) DynLimits_Equal (Function) DynLimits_Infinity (Function) DynLimits_LessOrEqual (Function) DynLimits_Lint (Function) DynLimits_Max (Function) DynLimits_Min (Function) DynLimits_Mult (Function) DynLimits_MultF (Function) DynLimits_MultS (Function) DynLimits_Positive (Function) DynLimits_Serialize (Function) Helpers ASSERT (Function) CloseRel (Function) DivInf (Function) GVL_ASSERT (GVL) Vec_CloseRel (Function) InterpolateAxisPos AxisInterpolateData (Struct) InterpolateAxisPosition (Function) Intersection Is_SphereWithLine (Function) Kinematic DynV2State (Struct) DynV2State_Lint (Function) DynV2State_Serialize (Function) DynVState (Struct) DynVState_Add (Function) DynVState_Assign (Function) DynVState_Eq (Function) DynVState_IsConstant (Function) DynVState_Lint (Function) DynVState_Serialize (Function) DynVState_Zero (Function) Matrix Mat (Struct) Mat_Add (Function) Mat_FromCols3 (Function) Mat_Get (Function) Mat_GetCol (Function) Mat_InitDim (Function) Mat_Mult (Function) Mat_MultV (Function) Mat_MultV_Left (Function) Mat_NormMax (Function) Mat_Set22 (Function) Mat_Set33 (Function) Mat_SetCol (Function) Mat_Sub (Function) Mat_Zero (Function) Poly Poly5_Create (Function) Poly7_Create (Function) Poly_Eval (Function) Poly_EvalDerivs (Function) VPoly (Struct) VPoly5_Create (Function) VPoly_Add (Function) VPoly_Create (Function) VPoly_Create_0 (Function) VPoly_Create_1 (Function) VPoly_Derive (Function) VPoly_Dot (Function) VPoly_DotSq (Function) VPoly_Eval (Function) VPoly_EvalDerivs (Function) VPoly_GetNthPoly (Function) VPoly_MAdd (Function) VPoly_Mult (Function) VPoly_Zero (Function) Queue GenericQueue (FunctionBlock) GenericQueue_SingleTask (FunctionBlock) RBase_Constants (GVL) RootFinder FindRoot_Newton (FunctionBlock) FindRoot_NewtonExt (FunctionBlock) FindRoot_RegulaFalsi (FunctionBlock) FindRoot_Ridder (FunctionBlock) RF_ComputeM (Function) RF_ComputeNextC (Function) RF_HandleAstronomicArguments (Function) RF_Intervall (Struct) RF_UpdateInterval (Function) RF_Variant (Enum) Timer TimerHires (FunctionBlock) Indices and tables ¶ [ 1 ] Based on SM3_RBase.library, last modified 26.07.2024, 11:49:51. LibDoc 4.5.0.0 The content file SM3_RBase.clean.json was generated with CODESYS V3.5 SP16 Patch 3 on 26.07.2024, 11:49:53.
Atomic ¶ Atomic_SRSW_R (FunctionBlock) Init (Method) Read (Method) SetPointer (Method) Write (Method) Atomic_SRSW_W (FunctionBlock) Init (Method) Read (Method) SetPointer (Method) Write (Method)
Atomic_SRSW_R (FB) ¶ FUNCTION_BLOCK FINAL Atomic_SRSW_R This FB provides atomic access to data of arbitrary length, provided that there is a single reader and a single writer task. Reading and writing is lock-free. The reader is favored, in that reading is wait-free while writing may need to busy wait until the reader is done. Note that the reader task must have higher priority than the writer task, otherwise the writer may busy-wait forever. (Except if reader and writer are on different cores.) Methods: Init Read SetPointer Write Structure: Init (Method) Read (Method) SetPointer (Method) Write (Method)
Atomic_SRSW_R.Init (METH) ¶ METHOD FINAL Init : BOOL Initializes the atomic object. Note that the contents of pData0 are read on the first call of Read if there is no previous call to Write. (I.e., pData0 holds the initial value.) InOut: Scope Name Type Comment Return Init BOOL Input pData0 POINTER TO BYTE Pointer to the first copy of the element. pData1 POINTER TO BYTE Pointer to a second copy of the element. udiElemSize UDINT The size of the element in bytes.
Atomic_SRSW_R.Read (METH) ¶ METHOD FINAL Read Reads the current element value. Lock- and wait-free. InOut: Scope Name Type Comment Input pDst POINTER TO BYTE Pointer to the element where the current value is copied to. Must be a valid pointer to an element of the correct length.
Atomic_SRSW_R.SetPointer (METH) ¶ METHOD FINAL SetPointer : BOOL Method to cyclically set the pointer for the elements. The pointer needs to be udpated every cycle because it could change due to an online-change. InOut: Scope Name Type Input pData0 POINTER TO BYTE pData1 POINTER TO BYTE Return SetPointer BOOL
Atomic_SRSW_W.Write (METH) ¶ METHOD FINAL Write Writes a new value to the element. Wait- and lock-free. InOut: Scope Name Type Comment Input pData POINTER TO BYTE Pointer to new element data.
AxisLimits ¶ AXISLIMITS (Struct)
AXISLIMITS (STRUCT) ¶ TYPE AXISLIMITS : STRUCT This data structure defines the allowed range for an axis. Note that dLower <= dUpper must hold. InOut: Name Type Comment xUnlimited BOOL TRUE: no limits for this axis. dLower, dUpper have no meaning in this case. dLower LREAL Lower limit dUpper LREAL Positive limit
CoordinateSystem ¶ CSPredictionAdapter (FunctionBlock) Extrapolate (Method) GetPredictionState (Method) GetPredictionStateSize (Method) Init (Method) CSPredictionAdapterState (Alias) CSPredictionElem (Struct) ICoordinateSystem (Interface) GetPose (Method) ICoordinateSystemPrediction (Interface) Extrapolate (Method) GetPredictionState (Method) GetPredictionStateSize (Method) SplineKnotEvaluationMode (Enum)