Some refactoring after static code analysis

PLC/00_Main/PRG_Main.TcPOU

@@ -7,7 +7,7 @@ VAR
 	_fbHVTester : FB_HVTester;
 	_fbEtcher1 : FB_Etcher;
 	_fbEtcher2 : FB_Etcher;
-	_fbTrayFeederInput : FB_TrayFeeder(sIPAddr := '192.168.1.10', udiPort := 5000);
+	_fbTrayFeederInput : FB_TrayFeeder(sIPAddr := '192.168.0.41', udiPort := 1337);
 	_fbHeatCoolPlates : FB_HeatCoolPlates;
 	_fbAligner : FB_Aligner;
 	
@@ -20,7 +20,7 @@ VAR
 	_stRobotJobParams : ST_KukaRobot_JobParams;
 	_stUnitFeedbacks : ST_KukaRobot_UnitFeedbacks;
 	
-	_stCamResult AT %I* : ST_TrayFeederCamPosData;
+	stCamResult AT %I* : ST_TrayFeederCamPosData;
 	
 	_rtStopRobotFromSafety : R_TRIG;
 	
@@ -36,8 +36,8 @@ VAR
 	_xStartCycle : BOOL;
 	
 	_xStartTrigger : BOOL;
-	_tofTriggerTime : TOF := (PT := T#1S);
-	_xTriggerCamera AT %Q* : BOOL;
+	_tofTriggerTime : TOF;
+	xTriggerCamera AT %Q* : BOOL;
 	
 	_iState : INT;
 END_VAR
@@ -177,17 +177,22 @@ CASE _iState OF
 		
 	// Align blank
 	40:
+		;
+		
+	ELSE
+		// Nothing to do here
+		;
 END_CASE
 
 // =====
 // DEBUG
 // =====
 
-_tofTriggerTime(IN := _xStartTrigger);
+_tofTriggerTime(IN := _xStartTrigger, PT := T#1S);
 IF _xStartTrigger THEN
 	_xStartTrigger := FALSE;
 END_IF
-_xTriggerCamera := _tofTriggerTime.Q;
+xTriggerCamera := _tofTriggerTime.Q;
 
 // Reset alarm reset request
 GVL_SCADA.xErrAck := FALSE;
@@ -383,6 +388,10 @@ CASE _iState OF
 			ELSE
 				_iState := 90;
 		END_CASE
+		
+	ELSE
+		// Nothing to do here
+		;
 END_CASE]]></ST>
       </Implementation>
     </Method>

PLC/00_Main/PRG_Safety.TcPOU

@@ -8,34 +8,37 @@ VAR_INPUT
 END_VAR
 VAR_OUTPUT
 	xStopRobot : BOOL := FALSE;
+	xEStopOk AT %I* : BOOL;
 END_VAR
 VAR
-	_xRun AT %Q* : BOOL;
-	_xEStopOk AT %I* : BOOL;
+	xComStartup AT %I* : BOOL;
 	
+	xRequestOpenDoor AT %I* : BOOL;
 	
-	_xRequestOpenDoor AT %I* : BOOL;
-	_rtrigDoorUnlock : R_TRIG;
+	xRun AT %Q* : BOOL;
+	xErrorAck AT %Q* : BOOL;
+	xLockDoor AT %Q* : BOOL := TRUE;
 	
-	_xLockDoor AT %Q* : BOOL := TRUE;
+	_rtDoorUnlock : R_TRIG;
+	_tofErrorAck : TOF;
 	
-	_xComStartup AT %I* : BOOL;
-	
-	_xErrorAck AT %Q* : BOOL;
-	_tofErrorAck : TOF := (PT := T#500MS);
+	_xStopRobot : BOOL;
 END_VAR
 ]]></Declaration>
     <Implementation>
-      <ST><![CDATA[_xRun := NOT _xComStartup;
+      <ST><![CDATA[xRun := NOT xComStartup;
 
-_rtrigDoorUnlock(CLK := _xRequestOpenDoor AND xRobotStopped);
-IF _rtrigDoorUnlock.Q THEN
-	xStopRobot := (NOT xStopRobot);
-	_xLockDoor := (NOT _xLockDoor);
+_rtDoorUnlock(CLK := xRequestOpenDoor AND xRobotStopped);
+IF _rtDoorUnlock.Q THEN
+	_xStopRobot := (NOT _xStopRobot);
+	xLockDoor := (NOT xLockDoor);
 END_IF
 
 // Reset safety group errors
-_tofErrorAck(IN:= xConfirmAlarms, PT:= T#500MS, Q=> _xErrorAck, ET=> );]]></ST>
+_tofErrorAck(IN:= xConfirmAlarms, PT:= T#500MS, Q=> xErrorAck, ET=> );
+
+// Copy internal signals to outputs
+xStopRobot := _xStopRobot;]]></ST>
     </Implementation>
   </POU>
 </TcPlcObject>

PLC/00_Main/ST_PosData.TcDUT

@@ -4,8 +4,8 @@
     <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
 TYPE ST_PosData :
 STRUCT
-	wPosX : INT;
-	wPosY : INT;
+	iPosX : INT;
+	iPosY : INT;
 END_STRUCT
 END_TYPE
 ]]></Declaration>