beremiz

Move python evaluator to create a python plugin containing any related python module

2009-07-29, laurent
cd90e4c10261
Move python evaluator to create a python plugin containing any related python module
<?xml version="1.0" encoding="UTF-8"?>
<project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xmlns="http://www.plcopen.org/xml/tc6.xsd"
xmlns:xhtml="http://www.w3.org/1999/xhtml"
xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd">
<fileHeader companyName="Lolitech"
productName="GenTraj"
productVersion="1.0"
creationDateTime="2009-01-13T12:15:00"/>
<contentHeader name="GenTraj"
modificationDateTime="2009-01-14T20:10:13">
<coordinateInfo>
<fbd>
<scaling x="0" y="0"/>
</fbd>
<ld>
<scaling x="0" y="0"/>
</ld>
<sfc>
<scaling x="0" y="0"/>
</sfc>
</coordinateInfo>
</contentHeader>
<types>
<dataTypes/>
<pous>
<pou name="GenTraj" pouType="functionBlock">
<interface>
<inputVars>
<variable name="Period">
<type>
<REAL/>
</type>
</variable>
<variable name="Gmvt">
<type>
<REAL/>
</type>
</variable>
<variable name="Vmvt">
<type>
<REAL/>
</type>
</variable>
<variable name="P0">
<type>
<REAL/>
</type>
</variable>
<variable name="V0">
<type>
<REAL/>
</type>
</variable>
<variable name="Pf">
<type>
<REAL/>
</type>
</variable>
<variable name="Vf">
<type>
<REAL/>
</type>
</variable>
</inputVars>
<outputVars>
<variable name="Pn">
<type>
<REAL/>
</type>
</variable>
<variable name="Vn">
<type>
<REAL/>
</type>
</variable>
<variable name="Gn">
<type>
<REAL/>
</type>
</variable>
</outputVars>
<localVars>
<variable name="P">
<type>
<REAL/>
</type>
</variable>
<variable name="F">
<type>
<REAL/>
</type>
</variable>
<variable name="Ps2">
<type>
<REAL/>
</type>
</variable>
<variable name="Fs3">
<type>
<REAL/>
</type>
</variable>
<variable name="delta">
<type>
<REAL/>
</type>
</variable>
<variable name="Va">
<type>
<REAL/>
</type>
</variable>
<variable name="Vb">
<type>
<REAL/>
</type>
</variable>
<variable name="Vaut">
<type>
<REAL/>
</type>
</variable>
</localVars>
</interface>
<body>
<ST>
<![CDATA[IF Period <> P THEN
P := Period;
F := 1.0 / P;
Ps2 := P / 2.0;
Fs3 := F / 3.0;
END_IF;
IF Pf <> Pn THEN
delta := Pf - P0 - V0 * P;
Va := SQRT(ABS(2.0 * Gmvt * delta) + Vf * Vf);
Vb := Vf + delta * Fs3;
IF Va > ABS(Vb) THEN
Vaut := MIN(ABS(Vb), Vmvt);
IF Vb < 0.0 THEN
Vaut := -Vaut;
END_IF;
ELSE
Vaut := MIN(Va, Vmvt);
IF Pf < P0 THEN
Vaut := -Vaut;
END_IF;
END_IF;
Gn := MIN(ABS((Vaut - V0) * F), Gmvt);
IF Vaut < V0 THEN
Gn := -Gn;
END_IF;
END_IF;
Vn := V0 + Gn * P;
Pn := P0 + (Vn + V0) * Ps2;
IF (P0 >= Pf) <> (Pn >= Pf) AND Vf <> 0.0 THEN
Pn := Pf;
END_IF;
]]>
</ST>
</body>
</pou>
<pou name="TestMotion" pouType="program">
<interface>
<localVars>
<variable name="GO">
<type>
<BOOL/>
</type>
<initialValue>
<simpleValue value="TRUE"/>
</initialValue>
</variable>
<variable name="TRIG">
<type>
<BOOL/>
</type>
</variable>
<variable name="GenTraj1">
<type>
<derived name="GenTraj"/>
</type>
</variable>
<variable name="py_eval">
<type>
<derived name="python_eval"/>
</type>
</variable>
<variable name="RS1">
<type>
<derived name="RS"/>
</type>
</variable>
</localVars>
</interface>
<body>
<FBD>
<inVariable localId="2" height="25" width="63">
<position x="203" y="208"/>
<connectionPointOut>
<relPosition x="63" y="12"/>
</connectionPointOut>
<expression>GO</expression>
</inVariable>
<inVariable localId="4" height="25" width="100">
<position x="295" y="312"/>
<connectionPointOut>
<relPosition x="100" y="12"/>
</connectionPointOut>
<expression>REAL#0.1</expression>
</inVariable>
<inVariable localId="6" height="25" width="100">
<position x="294" y="345"/>
<connectionPointOut>
<relPosition x="100" y="12"/>
</connectionPointOut>
<expression>REAL#1.0</expression>
</inVariable>
<inVariable localId="7" height="25" width="99">
<position x="294" y="378"/>
<connectionPointOut>
<relPosition x="99" y="12"/>
</connectionPointOut>
<expression>REAL#1.0</expression>
</inVariable>
<inVariable localId="8" height="25" width="100">
<position x="292" y="477"/>
<connectionPointOut>
<relPosition x="100" y="12"/>
</connectionPointOut>
<expression>REAL#10.0</expression>
</inVariable>
<block localId="9" width="178" height="290" typeName="GenTraj" instanceName="GenTraj1">
<position x="488" y="255"/>
<inputVariables>
<variable formalParameter="EN">
<connectionPointIn>
<relPosition x="0" y="36"/>
<connection refLocalId="13" formalParameter="Q1">
<position x="488" y="291"/>
<position x="442" y="291"/>
<position x="442" y="259"/>
<position x="396" y="259"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Period">
<connectionPointIn>
<relPosition x="0" y="69"/>
<connection refLocalId="4">
<position x="488" y="324"/>
<position x="395" y="324"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Gmvt">
<connectionPointIn>
<relPosition x="0" y="102"/>
<connection refLocalId="6">
<position x="488" y="357"/>
<position x="394" y="357"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Vmvt">
<connectionPointIn>
<relPosition x="0" y="135"/>
<connection refLocalId="7">
<position x="488" y="390"/>
<position x="393" y="390"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="P0">
<connectionPointIn>
<relPosition x="0" y="168"/>
<connection refLocalId="9" formalParameter="Pn">
<position x="488" y="423"/>
<position x="430" y="423"/>
<position x="430" y="607"/>
<position x="724" y="607"/>
<position x="724" y="324"/>
<position x="666" y="324"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="V0">
<connectionPointIn>
<relPosition x="0" y="201"/>
<connection refLocalId="9" formalParameter="Vn">
<position x="488" y="456"/>
<position x="453" y="456"/>
<position x="453" y="577"/>
<position x="696" y="577"/>
<position x="696" y="357"/>
<position x="666" y="357"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Pf">
<connectionPointIn>
<relPosition x="0" y="234"/>
<connection refLocalId="8">
<position x="488" y="489"/>
<position x="392" y="489"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Vf">
<connectionPointIn>
<relPosition x="0" y="267"/>
<connection refLocalId="10">
<position x="488" y="522"/>
<position x="392" y="522"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="ENO">
<connectionPointOut>
<relPosition x="178" y="36"/>
</connectionPointOut>
</variable>
<variable formalParameter="Pn">
<connectionPointOut>
<relPosition x="178" y="69"/>
</connectionPointOut>
</variable>
<variable formalParameter="Vn">
<connectionPointOut>
<relPosition x="178" y="102"/>
</connectionPointOut>
</variable>
<variable formalParameter="Gn">
<connectionPointOut>
<relPosition x="178" y="135"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="10" height="25" width="99">
<position x="293" y="510"/>
<connectionPointOut>
<relPosition x="99" y="12"/>
</connectionPointOut>
<expression>REAL#0.0</expression>
</inVariable>
<block localId="11" width="75" height="70" typeName="EQ">
<position x="197" y="247"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="32"/>
<connection refLocalId="9" formalParameter="Pn">
<position x="197" y="279"/>
<position x="145" y="279"/>
<position x="145" y="629"/>
<position x="724" y="629"/>
<position x="724" y="324"/>
<position x="666" y="324"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="57"/>
<connection refLocalId="8">
<position x="197" y="304"/>
<position x="176" y="304"/>
<position x="176" y="433"/>
<position x="409" y="433"/>
<position x="409" y="489"/>
<position x="392" y="489"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="75" y="32"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<block localId="12" width="120" height="87" typeName="python_eval" instanceName="py_eval">
<position x="318" y="73"/>
<inputVariables>
<variable formalParameter="TRIG">
<connectionPointIn>
<relPosition x="0" y="36"/>
<connection refLocalId="15" formalParameter="OUT">
<position x="318" y="109"/>
<position x="225" y="109"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="CODE">
<connectionPointIn>
<relPosition x="0" y="69"/>
<connection refLocalId="14">
<position x="318" y="142"/>
<position x="280" y="142"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="ACK">
<connectionPointOut>
<relPosition x="120" y="36"/>
</connectionPointOut>
</variable>
<variable formalParameter="RESULT">
<connectionPointOut>
<relPosition x="120" y="69"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<block localId="13" width="55" height="60" typeName="RS" instanceName="RS1">
<position x="341" y="229"/>
<inputVariables>
<variable formalParameter="S">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="2">
<position x="341" y="259"/>
<position x="303" y="259"/>
<position x="303" y="220"/>
<position x="266" y="220"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="R1">
<connectionPointIn>
<relPosition x="0" y="50"/>
<connection refLocalId="11" formalParameter="OUT">
<position x="341" y="279"/>
<position x="272" y="279"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Q1">
<connectionPointOut>
<relPosition x="55" y="30"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="14" height="25" width="50">
<position x="230" y="130"/>
<connectionPointOut>
<relPosition x="50" y="12"/>
</connectionPointOut>
<expression>'GO'</expression>
</inVariable>
<block localId="15" width="65" height="40" typeName="NOT">
<position x="160" y="79"/>
<inputVariables>
<variable formalParameter="IN">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="16">
<position x="160" y="109"/>
<position x="118" y="109"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="65" y="30"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inOutVariable localId="16" height="25" width="50">
<position x="68" y="97"/>
<connectionPointIn>
<relPosition x="0" y="12"/>
<connection refLocalId="15" formalParameter="OUT">
<position x="68" y="109"/>
<position x="42" y="109"/>
<position x="42" y="50"/>
<position x="262" y="50"/>
<position x="262" y="109"/>
<position x="225" y="109"/>
</connection>
</connectionPointIn>
<connectionPointOut>
<relPosition x="50" y="12"/>
</connectionPointOut>
<expression>TRIG</expression>
</inOutVariable>
<block localId="17" width="140" height="40" typeName="STRING_TO_INT">
<position x="486" y="112"/>
<inputVariables>
<variable formalParameter="IN">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="12" formalParameter="RESULT">
<position x="486" y="142"/>
<position x="438" y="142"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="140" y="30"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<block localId="18" width="120" height="40" typeName="INT_TO_BOOL">
<position x="671" y="112"/>
<inputVariables>
<variable formalParameter="IN">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="17" formalParameter="OUT">
<position x="671" y="142"/>
<position x="626" y="142"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="120" y="30"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<outVariable localId="19" height="25" width="63">
<position x="826" y="130"/>
<connectionPointIn>
<relPosition x="0" y="12"/>
<connection refLocalId="18" formalParameter="OUT">
<position x="826" y="142"/>
<position x="791" y="142"/>
</connection>
</connectionPointIn>
<expression>GO</expression>
</outVariable>
</FBD>
</body>
</pou>
</pous>
</types>
<instances>
<configurations>
<configuration name="config">
<resource name="ress">
<task name="MAIN_TASK" interval="00:00:00.100000" priority="0">
<pouInstance name="MAIN_INSTANCE" type="TestMotion"/>
</task>
</resource>
</configuration>
</configurations>
</instances>
</project>