ported(44895a7): add single DoF specialization for AtTime

.Zeugwerk/config.json

@@ -6,7 +6,7 @@
       "name": "Struckig",
       "plcs": [
         {
-          "version": "0.9.0.0",
+          "version": "0.9.3.0",
           "name": "Struckig",
           "type": "Library",
           "frameworks": {},

Struckig/Struckig/Struckig/Struckig.plcproj

@@ -18,7 +18,7 @@
     <LibraryReferences>{f4bffdbd-5758-46b1-8be5-022517971003}</LibraryReferences>
     <Released>false</Released>
     <Title>Struckig</Title>
-    <ProjectVersion>0.9.0.0</ProjectVersion>
+    <ProjectVersion>0.9.3.0</ProjectVersion>
     <DefaultNamespace>Struckig</DefaultNamespace>
     <Author>Stefan Besler and contributers</Author>
     <Company>Stefan Besler</Company>

Struckig/Struckig/Struckig/Struckig/IOtg.TcIO

@@ -13,6 +13,17 @@ VAR_INPUT
   new_velocity : POINTER TO LREAL;
   new_acceleration : POINTER TO LREAL;
   new_section : POINTER TO INT;
+END_VAR]]></Declaration>
+    </Method>
+    <Method Name="AtTime1" Id="{0d37baef-f79a-4d1b-9576-a2376af604c9}">
+      <Declaration><![CDATA[/// \copydoc Struckig.Otg#AtTime1
+{attribute 'conditionalshow'}
+METHOD AtTime1
+VAR_INPUT
+  t : LREAL;
+  new_position : REFERENCE TO LREAL;
+  new_velocity : REFERENCE TO LREAL;
+  new_acceleration : REFERENCE TO LREAL;
 END_VAR]]></Declaration>
     </Method>
     <Method Name="Cyclic" Id="{d26b89d9-5de1-4e69-9c66-3af979a1e1cd}">

Struckig/Struckig/Struckig/Struckig/Otg.TcPOU

@@ -127,7 +127,8 @@ _errorId := errorId;]]></ST>
       </Implementation>
     </Method>
     <Method Name="AtTime" Id="{bf1093a4-cb3c-415c-bc2d-e44ec3ea9553}">
-      <Declaration><![CDATA[{attribute 'conditionalshow'}
+      <Declaration><![CDATA[/// Get the kinematic state at a given time
+{attribute 'conditionalshow'}
 METHOD AtTime
 VAR_INPUT
   t : LREAL;
@@ -152,7 +153,7 @@ END_VAR]]></Declaration>
   RETURN;
 END_IF
 
-new_section := 0;
+//new_section := 0;
 FOR dof:=0 TO _dofsEnd DO
   p REF= _profiles[dof];
 
@@ -208,6 +209,25 @@ FOR dof:=0 TO _dofsEnd DO
 END_FOR]]></ST>
       </Implementation>
     </Method>
+    <Method Name="AtTime1" Id="{d543d75f-6e83-4f40-aeff-b8c350fca5a8}">
+      <Declaration><![CDATA[/// Get the kinematic state and current section at a given time without vectors for a single DoF.
+/// Using this method is only allowed for DoF = 1, for higher degrees of freedom use
+/// [AtTime](xref:Struckig.Otg#AtTime). Using this method for DoF > 0 will not yield any result
+{attribute 'conditionalshow'}
+METHOD AtTime1
+VAR_INPUT
+  t : LREAL;
+  new_position : REFERENCE TO LREAL;
+  new_velocity : REFERENCE TO LREAL;
+  new_acceleration : REFERENCE TO LREAL;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF _dofs = 1
+THEN
+  AtTime(t, ADR(new_position), ADR(new_velocity), ADR(new_acceleration), 0);
+END_IF]]></ST>
+      </Implementation>
+    </Method>
     <Method Name="Calculate" Id="{d4e77b2d-b7a2-4486-8e6b-9e101a6d8b8b}">
       <Declaration><![CDATA[METHOD PRIVATE Calculate : TrajectoryErrorCode
 VAR_INST

Struckig/Struckig/Struckig/Struckig/Otg1.TcPOU

@@ -70,6 +70,20 @@ END_VAR]]></Declaration>
         <ST><![CDATA[_otg.AtTime(t, new_position, new_velocity, new_acceleration, new_section);]]></ST>
       </Implementation>
     </Method>
+    <Method Name="AtTime1" Id="{1d694463-453a-4697-a59a-2e7b7e0e0ffd}">
+      <Declaration><![CDATA[/// \copydoc Struckig.Otg#AtTime1
+{attribute 'conditionalshow'}
+METHOD AtTime1
+VAR_INPUT
+  t : LREAL;
+  new_position : REFERENCE TO LREAL;
+  new_velocity : REFERENCE TO LREAL;
+  new_acceleration : REFERENCE TO LREAL;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[_otg.AtTime1(t, new_position, new_velocity, new_acceleration);]]></ST>
+      </Implementation>
+    </Method>
     <Method Name="Cyclic" Id="{222cfd84-0828-4551-b3bf-cdb6fa696da0}">
       <Declaration><![CDATA[/// \copydoc Struckig.Otg#Cyclic
 METHOD Cyclic

Struckig/Struckig/Struckig/Struckig/_DataTypes/SynchronizationType.TcDUT

@@ -8,9 +8,9 @@ TYPE SynchronizationType :
   Undefined,
   TimeSync, //< Always synchronize the DoFs to reach the target at the same time (Default)
   TimeIfNecessarySync, //< Synchronize only when necessary (e.g. for non-zero target velocity or acceleration)
-  Phase,  ///< Phase synchronize the DoFs when this is possible, else fallback to "Time" strategy. Phase synchronization will result a straight-line trajectory
-    // PhaseOnly, ///< Always phase synchronize the DoFs (even when this is not time-optimal), else returns "ErrorNoPhaseSynchronization". Ruckig will then guarantee a straight-line trajectory
-  None //! Calculate every DoF independently
+  Phase,  //< Phase synchronize the DoFs when this is possible, else fallback to "Time" strategy. Phase synchronization will result a straight-line trajectory
+    // PhaseOnly, //< Always phase synchronize the DoFs (even when this is not time-optimal), else returns "ErrorNoPhaseSynchronization". Ruckig will then guarantee a straight-line trajectory
+  None //< Calculate every DoF independently
 );
 END_TYPE
 ]]></Declaration>

Struckig/Struckig/Struckig/Struckig/_DataTypes/TrajectoryErrorCode.TcDUT

@@ -4,8 +4,8 @@
     <Declaration><![CDATA[{attribute 'qualified_only'}
 TYPE TrajectoryErrorCode :
 (
-	Undefined := 0,
-  InvalidInput,
+  Undefined := 0,
+  InvalidInput, //< Error in the input parameter
   SynchronizationFailed,
   CalculateStep1Failed
 );

Struckig/Struckig/Struckig/Struckig/_DataTypes/TrajectoryState.TcDUT

@@ -6,8 +6,16 @@
 TYPE TrajectoryState :
 (
   Undefined,
+  
+  /// The trajectory has reached its final position. For trajectories with a target velocity or/and a target acceleration
+  /// there will still be movement.
   Idle,
+  
+  /// The trajectory is calculated normally
   Busy,
+  
+  /// An error occured, use [ErrorCode](Struckig.IOtg#ErrorCode) and [ErrorMessage](Struckig.IOtg#ErrorMessage) to get more
+  /// information about the error.
   Error
 );
 END_TYPE

tests/.Zeugwerk/config.json

@@ -6,13 +6,13 @@
 	  "name": "Struckig_unittest",
 	  "plcs": [
 		{
-          "version": "0.9.0.0",
+          "version": "0.9.3.0",
           "name": "Struckig_unittest",
           "type": "Application",
           "frameworks": {},
           "references": {
             "*": [
-              "Struckig=0.9.0.0",
+              "Struckig=0.9.3.0",
               "Tc3_Module=*",
               "TcUnit=*"
             ]

tests/Struckig_unittest/Struckig_unittest.tsproj

@@ -13,7 +13,7 @@
 		</System>
 		<Plc>
 			<Project GUID="{D01D1C3D-8E1A-4350-AEDC-05EAE2EFCF27}" Name="Struckig_unittest" PrjFilePath="Struckig_unittest\Struckig_unittest.plcproj" TmcFilePath="Struckig_unittest\Struckig_unittest.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
-				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="Struckig_unittest\Struckig_unittest.tmc" TmcHash="{EC611819-5991-4CE9-8566-F45A78C162EB}">
+				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="Struckig_unittest\Struckig_unittest.tmc" TmcHash="{EB14F6DF-3C7D-C5BE-93FF-15D34BBE132A}">
 					<Name>Struckig_unittest Instance</Name>
 					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 					<Contexts>

tests/Struckig_unittest/Struckig_unittest/POUs/SecondaryFeaturesTest.TcPOU

@@ -10,18 +10,23 @@ VAR
 END_VAR]]></Declaration>
     <Implementation>
       <ST><![CDATA[Test_AtTime();
+Test_AtTime1();
+Test_AtTime1_2();
+Test_DurationDiscretization();
 Test_EnabledDof();
 Test_FirstStateAtTime();
 Test_IndependentMinDurations();
-Test_InvalidInput();
+Test_IndependentMinDurations_1();
+Test_InputInitalized();
 Test_InputValidation();
+Test_InvalidInput();
 Test_PerDofSettings();
 Test_PerDofSettings_1();
 Test_PhaseSynchronization();
 Test_PositionExtrema();
-Test_DurationDiscretization();
-Test_InputInitalized();
-Test_IndependentMinDurations_1();]]></ST>
+
+
+]]></ST>
     </Implementation>
     <Method Name="Test_AtTime" Id="{8747a524-a952-4b4b-9b1d-d5709bbaaf50}">
       <Declaration><![CDATA[METHOD Test_AtTime
@@ -75,6 +80,93 @@ values[1] := -2.6871268303;
 values[2] := 1.0;
 AssertArrayEquals_LREAL(values, NewPosition, 1E-9, message:='');
 
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="Test_AtTime1" Id="{6b9a2765-c384-4cf1-ad5e-1b9d190a840a}">
+      <Declaration><![CDATA[METHOD Test_AtTime1
+VAR_INST
+  otg : Struckig.Otg(0.005, 1) := (
+    CurrentPosition :=     [ 0.0 ],
+    CurrentVelocity :=     [ 0.0 ],
+    CurrentAcceleration := [ 0.0 ],
+    TargetPosition :=      [ 1.0 ],
+    TargetVelocity :=      [ 0.0 ],
+    TargetAcceleration :=  [ 0.0 ],
+    MaxVelocity :=         [ 1.0 ],
+    MaxAcceleration :=     [ 1.0 ],
+    MaxJerk :=             [ 1.0 ],
+	EnableAutoPropagate := FALSE
+  ); 
+END_VAR
+VAR
+  result : Struckig.TrajectoryState;
+  newPosition, newVelocity, newAcceleration : LREAL;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('AtTime1');
+
+
+otg();
+
+AssertEquals_INT(Expected := Struckig.TrajectoryState.Busy, Actual := otg.State, Message := '');
+AssertEquals_LREAL(3.1748, otg.Duration, 1E-4, Message:='');
+
+otg.AtTime1(0, newPosition, newVelocity, newAcceleration);
+AssertEquals_LREAL(otg.CurrentPosition[0], newPosition, 1E-5, Message:='');
+
+otg.AtTime1(3.1748 / 2, newPosition, newVelocity, newAcceleration);
+AssertEquals_LREAL(0.5, newPosition, 1E-4, Message:='');
+
+otg.AtTime1(3.1748, newPosition, newVelocity, newAcceleration);
+AssertEquals_LREAL(1.0, newPosition, 1E-4, Message:='');
+AssertEquals_LREAL(0.0, newVelocity, 1E-4, Message:='');
+AssertEquals_LREAL(0.0, newAcceleration, 1E-4, Message:='');
+
+
+TEST_FINISHED();]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="Test_AtTime1_2" Id="{96218005-af63-4d3f-bab2-ab982daff044}">
+      <Declaration><![CDATA[METHOD Test_AtTime1_2
+VAR_INST
+  otg : Struckig.Otg(0.005, 2) := (
+    CurrentPosition :=     [ 0.0, 0.0 ],
+    CurrentVelocity :=     [ 0.0, 0.0 ],
+    CurrentAcceleration := [ 0.0, 0.0 ],
+    TargetPosition :=      [ 1.0, 1.0 ],
+    TargetVelocity :=      [ 0.0, 0.0 ],
+    TargetAcceleration :=  [ 0.0, 0.0 ],
+    MaxVelocity :=         [ 1.0, 1.0 ],
+    MaxAcceleration :=     [ 1.0, 1.0 ],
+    MaxJerk :=             [ 1.0, 1.0 ],
+	EnableAutoPropagate := FALSE
+  ); 
+END_VAR
+VAR
+  result : Struckig.TrajectoryState;
+  newPosition, newVelocity, newAcceleration : LREAL;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[TEST('AtTime1_2');
+
+
+otg();
+
+AssertEquals_INT(Expected := Struckig.TrajectoryState.Busy, Actual := otg.State, Message := '');
+AssertEquals_LREAL(3.1748, otg.Duration, 1E-4, Message:='');
+
+newPosition := 5;
+otg.AtTime1(0, newPosition, newVelocity, newAcceleration);
+AssertEquals_LREAL(5.0, newPosition, 1E-4, Message:='No calculation with AtTime1 if DoF != 1');
+
+otg.AtTime1(3.1748 / 2, newPosition, newVelocity, newAcceleration);
+AssertEquals_LREAL(5.0, newPosition, 1E-4, Message:='No calculation with AtTime1 if DoF != 1');
+
+otg.AtTime1(3.1748, newPosition, newVelocity, newAcceleration);
+AssertEquals_LREAL(5.0, newPosition, 1E-4, Message:='No calculation with AtTime1 if DoF != 1');
+
+
 TEST_FINISHED();]]></ST>
       </Implementation>
     </Method>

tests/Struckig_unittest/Struckig_unittest/Struckig_unittest.plcproj

@@ -16,7 +16,7 @@
     <Implicit_KindOfTask>{23a670f4-2417-4917-907e-f416baaaec8d}</Implicit_KindOfTask>
     <Implicit_Jitter_Distribution>{58f48993-e77e-4536-bff7-b0d34be7acb8}</Implicit_Jitter_Distribution>
     <LibraryReferences>{604fede9-7b95-4a71-aceb-a9436682d543}</LibraryReferences>
-    <ProjectVersion>0.9.0.0</ProjectVersion>
+    <ProjectVersion>0.9.3.0</ProjectVersion>
   </PropertyGroup>
   <ItemGroup>
     <Compile Include="PlcTask.TcTTO">
@@ -102,7 +102,7 @@
   </ItemGroup>
   <ItemGroup>
     <PlaceholderReference Include="Struckig">
-      <DefaultResolution>Struckig, 0.9.0.0 (Stefan Besler)</DefaultResolution>
+      <DefaultResolution>Struckig, 0.9.3.0 (Stefan Besler)</DefaultResolution>
       <Namespace>Struckig</Namespace>
     </PlaceholderReference>
     <PlaceholderReference Include="Tc3_Module">
@@ -130,7 +130,7 @@
   </ItemGroup>
   <ItemGroup>
     <PlaceholderResolution Include="Struckig">
-      <Resolution>Struckig, 0.9.0.0 (Stefan Besler)</Resolution>
+      <Resolution>Struckig, 0.9.3.0 (Stefan Besler)</Resolution>
     </PlaceholderResolution>
     <PlaceholderResolution Include="Tc3_Module">
       <Resolution>Tc3_Module, * (Beckhoff Automation GmbH)</Resolution>