MBP-389: Monitoring crash

POUs/Monitoring/FB_ESSMonitoringBase.TcPOU

@@ -397,41 +397,82 @@ VAR
 END_VAR
 
 VAR_INST
-    fbUpdateEcSlaveStateTON: TON;
     fbGetEcSlaveStates: FB_EcGetAllSlaveStates;
     stSlaveState: ARRAY[0..nMAX_EC_SLAVES] OF ST_EcSlaveState;
     nActualEcSlaves: UINT := 0;
-    TON_UpdateGetEcConfSlaves: TON;
     fbGetEcConfSlaves: FB_EcGetConfSlaves;
-    _aSlaveConfig: ARRAY[1..EC_MAX_SLAVES] OF ST_EcSlaveConfigData;  // Temporary container
-    aSlaveConfig: ARRAY[1..EC_MAX_SLAVES] OF ST_EcSlaveConfigData;
-
-    //Frame statistics
-    fbUpdateEcMasterFrame: TON;
+    aSlaveConfigBuffer1: ARRAY[1..EC_MAX_SLAVES] OF ST_EcSlaveConfigData; //Buffer 1 for EtherCAT Slave Config Data
+    aSlaveConfigBuffer2: ARRAY[1..EC_MAX_SLAVES] OF ST_EcSlaveConfigData; //Buffer 2 for EtherCAT Slave Config Data
+    pWriteSlaveConfigBuffer: POINTER TO ARRAY[1..EC_MAX_SLAVES] OF ST_EcSlaveConfigData; //Pointer to the buffer with write access
+    pReadSlaveConfigBuffer: POINTER TO ARRAY[1..EC_MAX_SLAVES] OF ST_EcSlaveConfigData; //Pointer to the buffer with read access
     fbGetEcMasterFrames: FB_EcMasterFrameStatistic;
-
-    fbEtherCATAlarmDelayTON: TON;
-    bStartEtherCATdelayTON: BOOL := FALSE;
-    bEtherCATInitialized: BOOL := FALSE;
+    tonAutoResetError: TON;
+    bFirstReadSlaveConfigDone: BOOL := FALSE;
+    bErrorZeroEcSlavesFound: BOOL := FALSE;
+    bInit: BOOL := TRUE;
+END_VAR
+VAR CONSTANT
+    tAUTO_RESET: TIME := T#3S;
 END_VAR
 ]]></Declaration>
       <Implementation>
-        <ST><![CDATA[//Read frames
-fbUpdateEcMasterFrame(IN:=NOT fbUpdateEcMasterFrame.q, PT:=T#1000MS);
-fbGetEcMasterFrames(sNetId:= nEcMasterNetId, bExecute:= fbUpdateEcMasterFrame.q);
-TON_UpdateGetEcConfSlaves(IN:=NOT TON_UpdateGetEcConfSlaves.Q, PT:=T#100MS);
-fbGetEcConfSlaves(
-    sNetId:=nEcMasterNetId,
-    pArrEcConfSlaveInfo := ADR(_aSlaveConfig),
-    cbBufLen := SIZEOF(_aSlaveConfig),
-    bExecute := TON_UpdateGetEcConfSlaves.Q);
-IF NOT fbGetEcConfSlaves.bBusy AND NOT fbGetEcConfSlaves.bError THEN
-    aSlaveConfig := _aSlaveConfig;
+        <ST><![CDATA[IF bInit THEN
+    bInit := FALSE;
+    pWriteSlaveConfigBuffer := ADR(aSlaveConfigBuffer1);
+    pReadSlaveConfigBuffer := ADR(aSlaveConfigBuffer2);
 END_IF
 
-
+tonAutoResetError(
+    PT := tAUTO_RESET,
+    IN := NOT tonAutoResetError.Q
+        AND (fbGetEcMasterFrames.bError
+        OR fbGetEcConfSlaves.bError
+        OR fbGetEcSlaveStates.bError));
+
+//Read the frame statistics of the EtherCAT master.
+fbGetEcMasterFrames(
+    sNetId := nEcMasterNetId,
+    bExecute := NOT (fbGetEcMasterFrames.bBusy
+        OR fbGetEcMasterFrames.bError)
+        OR tonAutoResetError.Q);
 nEcMasterFramesLost := fbGetEcMasterFrames.nLostFrames;
 
+//Read a list of configured slaves from the EtherCAT master object directory.
+fbGetEcConfSlaves(
+    sNetId := nEcMasterNetId,
+    pArrEcConfSlaveInfo := pWriteSlaveConfigBuffer,
+    cbBufLen := SIZEOF(pWriteSlaveConfigBuffer^),
+    bExecute := NOT (fbGetEcConfSlaves.bBusy
+        OR fbGetEcConfSlaves.bError)
+        OR tonAutoResetError.Q);
+
+//Swap buffer if read out is sucessfully finishes
+IF NOT (fbGetEcConfSlaves.bBusy
+    OR fbGetEcConfSlaves.bError
+    OR fbGetEcConfSlaves.nSlaves = 0)
+THEN
+    bFirstReadSlaveConfigDone := TRUE;
+    IF pWriteSlaveConfigBuffer = ADR(aSlaveConfigBuffer1) THEN
+        pWriteSlaveConfigBuffer := ADR(aSlaveConfigBuffer2);
+        pReadSlaveConfigBuffer := ADR(aSlaveConfigBuffer1);
+    ELSE
+        pWriteSlaveConfigBuffer := ADR(aSlaveConfigBuffer1);
+        pReadSlaveConfigBuffer := ADR(aSlaveConfigBuffer2);
+    END_IF
+END_IF
+
+//Get EtherCAT status and the Link status of all the slaves connected to the master.
+fbGetEcSlaveStates(
+    sNetId := nEcMasterNetId,
+    pStateBuf := ADR(stSlaveState),
+    cbBufLen := SIZEOF(stSlaveState),
+    //fbGetEcSlaveStates never goes bBusy (finishes same cycle as bExecute)
+    //Starts on bExecute of fbGetEcConfSlaves instead
+    bExecute := (fbGetEcConfSlaves.bExecute
+        AND NOT fbGetEcSlaveStates.bError)
+        OR tonAutoResetError.Q);
+nActualEcSlaves := fbGetEcSlaveStates.nSlaves;
+
 //Check ethercat master device state
 bEcLinkError := _nEcMasterDevState.0;
 bEcIOlocked := _nEcMasterDevState.1;
@@ -447,41 +488,39 @@ bEcSlaveSafeOP := _nEcMasterDevState.10;
 bEcSlaveError := _nEcMasterDevState.11;
 bEcDCnotInSync := _nEcMasterDevState.12;
 
-//Check ethercat slave device state
-fbUpdateEcSlaveStateTON(IN:=NOT fbUpdateEcSlaveStateTON.q, PT:=T#100MS);
-fbGetEcSlaveStates(
-    sNetId:=nEcMasterNetId,
-    pStateBuf:=ADR(stSlaveState),
-    cbBufLen:=SIZEOF(stSlaveState),
-    bExecute:=fbUpdateEcSlaveStateTON.q);
-nActualEcSlaves:=fbGetEcSlaveStates.nSlaves;
-
-fbEtherCATAlarmDelayTON(IN:=bStartEtherCATdelayTON, PT:=T#3S);
-IF fbEtherCATAlarmDelayTON.Q THEN
-    bStartEtherCATdelayTON := FALSE;
-    bEtherCATInitialized := TRUE;
-END_IF
-
-IF NOT bEtherCATInitialized THEN
-    bStartEtherCATdelayTON := TRUE;
-    RETURN;
-END_IF
-
 bEcMasterError := _nEcMasterDevState > 0;
 
-// After startup timeout, reset variables before loop
+//After startup reset variables before loop
 bSlaveStateNotOP := FALSE;
 bSlaveLinkError := FALSE;
 aExtraMessage[nSLAVE_NOT_OP_STATE_ENTRY] := ', Slave Id #: ';
 aExtraMessage[nSLAVE_LINK_ERROR_ENTRY] := ', Slave Id #: ';
 
+IF nActualEcSlaves = 0 THEN
+    IF NOT bErrorZeroEcSlavesFound THEN
+        bErrorZeroEcSlavesFound := TRUE;
+        ADSLOGSTR(
+            msgCtrlMask := ADSLOG_MSGTYPE_ERROR,
+            msgFmtStr := 'FB_ESSMonitoringBase Error: %s',
+            strArg := '0 EtherCAT Slaves found, check correct AmsNetId in CabinetMonitoring');
+    END_IF
+    bSlaveLinkError := TRUE;
+    aExtraMessage[nSLAVE_LINK_ERROR_ENTRY] := ', 0 EtherCAT Slaves found';
+    RETURN;
+END_IF
+bErrorZeroEcSlavesFound := FALSE;
+
+IF NOT bFirstReadSlaveConfigDone THEN
+    RETURN;
+END_IF
+
 FOR i:=0 TO nActualEcSlaves-1 DO
     IF stSlaveState[i].linkState <> EC_LINK_STATE_OK  THEN
         aExtraMessage[nSLAVE_LINK_ERROR_ENTRY] :=
             CONCAT(STR1:=aExtraMessage[nSLAVE_LINK_ERROR_ENTRY], STR2:=UINT_TO_STRING(i+1));
         IF NOT bSlaveLinkError THEN
             aExtraMessage[nSLAVE_LINK_ERROR_ENTRY] :=
-                CONCAT(STR1:=aExtraMessage[nSLAVE_LINK_ERROR_ENTRY], STR2:=CONCAT('-', LEFT(aSlaveConfig[i+1].sName, FIND(aSlaveConfig[i+1].sName,' (')-1)));
+                CONCAT(STR1:=aExtraMessage[nSLAVE_LINK_ERROR_ENTRY], STR2:=CONCAT('-', LEFT(pReadSlaveConfigBuffer^[i+1].sName, FIND(pReadSlaveConfigBuffer^[i+1].sName,' (')-1)));
         END_IF
         aExtraMessage[nSLAVE_LINK_ERROR_ENTRY] :=
             CONCAT(STR1:=aExtraMessage[nSLAVE_LINK_ERROR_ENTRY], STR2:=', ');
@@ -495,7 +534,7 @@ FOR i:=0 TO nActualEcSlaves-1 DO
             CONCAT(STR1:=aExtraMessage[nSLAVE_NOT_OP_STATE_ENTRY], STR2:= UINT_TO_STRING(i+1));
         IF NOT bSlaveStateNotOP THEN
             aExtraMessage[nSLAVE_NOT_OP_STATE_ENTRY] :=
-                CONCAT(STR1:=aExtraMessage[nSLAVE_NOT_OP_STATE_ENTRY], STR2:=CONCAT('-', LEFT(aSlaveConfig[i+1].sName, FIND(aSlaveConfig[i+1].sName,' (')-1)));
+                CONCAT(STR1:=aExtraMessage[nSLAVE_NOT_OP_STATE_ENTRY], STR2:=CONCAT('-', LEFT(pReadSlaveConfigBuffer^[i+1].sName, FIND(pReadSlaveConfigBuffer^[i+1].sName,' (')-1)));
         END_IF
         aExtraMessage[nSLAVE_NOT_OP_STATE_ENTRY] :=
             CONCAT(STR1:=aExtraMessage[nSLAVE_NOT_OP_STATE_ENTRY], STR2:=', ');