Table of Contents

ManagedObject

Namespace
ZCore
Extends
Inherited Properties
Inherited Methods
Implements

Its main purpose is the FB_init block that is used to notify a potential parent about a new child object. For identification purposes also a name may be provided to such an object.

This mechanism is used throughout the framework to simplify the generation of an object hierachie in order to automate calling the Cyclic method for objects in the framework. All 'bigger' objects should extend ManagedObject and may implement IManagedObject to make the name of an object available to users.

See Objects types for details

FUNCTION_BLOCK ABSTRACT ManagedObject EXTENDS ZCore.Object IMPLEMENTS ZCore.IManagedObject, ZCore.IObject, ZCore.IBootable, ZCore.IError

Constructor

FB_init

The constructor of ManagedObject takes a parent as parameter, which is then notified about the creation of this instance.

METHOD FB_init (
 bInitRetains : BOOL,
 bInCopyCode : BOOL,
 parent : IManagedObject) : BOOL

Inputs

bInitRetains BOOL

if TRUE, the retain variables are initialized (warm start / cold start)

bInCopyCode BOOL

if TRUE, the instance afterwards gets moved into the copy code (online change)

parent IManagedObject

Object that is informed about this object by calling its NotifyChild method

Returns

BOOL

Properties

BootingHints

Suggests when the Cyclic method should be called during the booting phase of the application

The default booting hint is WhenNotBooted, which means the cyclic should only be called if the object is itself in the booting phase

PROPERTY BootingHints : ManagedObjectBootingHintFlags

Property Value

ManagedObjectBootingHintFlags

ExecutionHints

Suggests when the Cyclic method should be called after the booting phase of the application

The default execution hint is EveryCycle.

PROPERTY ExecutionHints : ManagedObjectExecutionHintFlags

Property Value

ManagedObjectExecutionHintFlags

Methods

Cyclic 

METHOD Cyclic ()

Name

Returns the name of the object as it has been set by calling the SetName. Usually this name is used for logging in particular extensions of ManagedObject.

METHOD Name () : ZString

Returns

ZString

NotifyChild

This method is internally used to inform an object of a new child. This method should only be called internally by the framework in the FB_init constructor. By default this object's method simply forwards the call to the parent (if it exists)

METHOD NotifyChild (
 child : IManagedObject)

Inputs

child IManagedObject

Reject

With this method, calls to an Async method can be rejected. This may be done for several reasons, including, but not limited to, invalid parameters or any other reason without aborting the object itself (maybe because its already running). The method should only be used internally in Async mehhods of an object.

The behavior of Reject is as follows.

  1. It always aborts startToken (if available)
  2. It aborts the object itself if
    • no startToken was given by passing 0 as parameter
    • the object is NOT Busy when calling the method.

Note that this implies that an active object is not aborted - even if a consecutive call to Async is invalid.

Example 1: An axis is already moving and another consecutive call to a different position has been made but a wrong speed has been given in that call

METHOD MoveAbsoluteAsync
VAR_INPUT
  startToken : ZCore.IStartToken
  position : LREAL;
  speed : LREAL;
END_VAR
------------------------------------------
IF IsNullLreal(speed, 1E-5)
THEN
  Reject(startToken, 'Action can not be started, invalid speed parameter given!');
  RETURN;
END_IF
...

Example 2: An axis should be enabled but has no power
```st
METHOD EnableDriveAsync
VAR_INPUT
  startToken : ZCore.IStartToken;  
  on : BOOL;
END_VAR
------------------------------------------
IF NOT Busy
THEN
  SetBusy(TRUE);

  IF NOT _drive.IsDrivePowered() AND_THEN on
  THEN
    Reject(startToken, 'Failed to start EnableDriveAsync command, no power available');
    RETURN;
  END_IF
...

METHOD PROTECTED Reject (
 startToken : IStartToken,
 reason : ZString)

Inputs

startToken IStartToken

Starttoken which has to be aborted

reason ZString

Abort message, simply the reason why a call to an Async method is rejected

SetName

Sets a human-readable name for this object. Usually this name is used for logging in particular extensions of ManagedObject.

METHOD SetName (
 name : ZString)

Inputs

name ZString

TraceErrorStack

This method is used internally when recording an error trace.

METHOD TraceErrorStack (
 trace : IErrorTrace)

Inputs

trace IErrorTrace