EscapeRoom

FUNCTION_BLOCK HatchStateMachine
VAR_IN_OUT
	Client : IOClient;
END_VAR
VAR
	f_trig: F_TRIG;
	_open : BOOL;
	messageQueue : MessageQueue;
647
{8e575c5b-1d37-49c6-941b-5c0ec7874787}
ChildObjectGuids
AddAttributeSubsequent
IF NOT xInit THEN	
	UM				(		sName := 'Normal Operation', 
							dwAllowsLeavingFromStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, 
		IF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[0]) =  0 THEN			
			_open := TRUE;
		ELSIF SysStrCmp(Client.sCommandToPLC, 'UnSuspend') =  0 THEN		
			UnSuspend();
		
	END_CASE
	Client.iCommandToPLC := 0;
	Client.sCommandToPLC := '';
	Client.bReadyToPLC := FALSE;
CASE UM.CurrentState OF
PACK_ML.State.Stopped,
PACK_ML.State.Aborted,
PACK_ML.State.Idle,
PACK_ML.State.Complete :
;	
PACK_ML.State.Resetting :	
	DO_Lock_Stair := FALSE;
	Client.Message:='Waiting for hatch to be closed.';
	f_trig(CLK:= DI_HatchTrigger);
	IF f_trig.Q THEN
		DO_Lock_Stair := TRUE;	
		StateComplete();			
	END_IF
PACK_ML.State.Starting :
	IF DO_Lock_Stair = FALSE THEN
		UM.Stop();
	ELSE
PACK_ML.State.Execute :
	CASE Client.ActualStep OF
	0:
		Client.ActualStep := 300;
	300:
		IF _close THEN
			Client.ActualStep := 310;			
			_close := FALSE;
		ELSIF _open THEN
			Client.ActualStep := 320;			
			_open := FALSE;		
			
	310:
		DO_Lock_Stair := FALSE;
		f_trig(CLK:= DI_HatchTrigger);
		Client.Message:='Closing the hatch.';
		IF f_trig.Q THEN
			Client.Message:='Hatch closed.';
			DO_Lock_Stair := TRUE;
			Client.ActualStep := 300;		
	320:
		Client.Message:='Opening the hatch';
		Client.ActualStep := 300;	
		Client.Message:='Hatch opened.';		
	END_CASE;
PACK_ML.State.Completing :
	StateComplete();	
PACK_ML.State.Aborting :
	DO_Lock_Stair := FALSE;	
PACK_ML.State.Stopping:
PACK_ML.State.Clearing :		
END_CASE
IF NOT (DI_EmergencyGF AND NOT DI_EmergencyFF) THEN
	Abort();	
END_IF 
Client.ActualState := UM.CurrentState;
messageQueue(Client := Client);