Diff of /branches/VisionGame/Main_Escape_PLC/Plc Logic/Application/Function Blocks/Puzzle/VtemStateMachine/svnobj [r57] .. [r58]  Maximize  Restore

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--- a/branches/VisionGame/Main_Escape_PLC/Plc Logic/Application/Function Blocks/Puzzle/VtemStateMachine/svnobj
+++ b/branches/VisionGame/Main_Escape_PLC/Plc Logic/Application/Function Blocks/Puzzle/VtemStateMachine/svnobj
@@ -1,20 +1,20 @@
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longTagText$IF NOT xInit THEN	N	UM				(		sName := 'Normal Operation', ì							dwSupportedStates := PACK_ML.State.All - PACK_ML.State.Suspending - PACK_ML.State.Suspended - PACK_ML.State.UnSuspending - PACK_ML.Holding - PACK_ML.Held - PACK_ML.UnHolding, Ô							dwAllowsLeavingFromStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, Ö							dwAllowsEnteringIntoStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, \							eInitialState := PACK_ML.State.Aborted,0							xActive := TRUE);(	ItfUnitMode := UM; 	xInit := TRUE;	END_IF4IF Client.bReadyToPLC THEN:	CASE Client.iCommandToPLC OF"	0 : 	//Handshake	1 : 	//Lock 		IF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[0]) =  0 THEN		!0			//First Lock Function"2			xLockLoadConfig:=TRUE;#â			SendCommand(Command:= CommandType.Hint, 'Release the valvecontrol to let us load the correct configuration.');$			%			;&–		ELSIF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[1]) =  0 THEN		'2			//Second Lock Function(
-			;	)		END_IF*	2 : 	//Key+Ž		IF SysStrCmp(Client.sCommandToPLC, Client.KeyCommands[0]) =  0 THEN		,6			//Echo first key example-Ž			SendCommand(Command:= CommandType.Key,Value:=Client.KeyCommands[0]);.		END_IF	/	3 : 	//IO0	4 : 	//Media1	5 : 	//Hint2	6 : 	//State	3l		IF SysStrCmp(Client.sCommandToPLC, 'SC') =  0 THEN		4&			StateComplete();5x		ELSIF SysStrCmp(Client.sCommandToPLC, 'Start') =  0 THEN		6			Start();7v		ELSIF SysStrCmp(Client.sCommandToPLC, 'Stop') =  0 THEN		8			Stop();9x		ELSIF SysStrCmp(Client.sCommandToPLC, 'Reset') =  0 THEN		:			Reset();;x		ELSIF SysStrCmp(Client.sCommandToPLC, 'Abort') =  0 THEN		<			Abort();=x		ELSIF SysStrCmp(Client.sCommandToPLC, 'Clear') =  0 THEN		>			Clear();?v		ELSIF SysStrCmp(Client.sCommandToPLC, 'Hold') =  0 THEN		@			Hold();Az		ELSIF SysStrCmp(Client.sCommandToPLC, 'UnHold') =  0 THEN		B			Unhold();	C|		ELSIF SysStrCmp(Client.sCommandToPLC, 'Suspend') =  0 THEN		D			Suspend();E€		ELSIF SysStrCmp(Client.sCommandToPLC, 'UnSuspend') =  0 THEN		F			UnSuspend();G		H	END_CASEI6	Client.iCommandToPLC := 0;J8	Client.sCommandToPLC := '';K:	Client.bReadyToPLC := FALSE;L*CheckConfiguration();M`tonCheckWebAppActive(IN:=Client.ActualStep=120);N.CASE UM.CurrentState OFO,PACK_ML.State.Stopped:P	;Q.PACK_ML.State.Aborted: R&PACK_ML.State.Idle:S(	gxhideStart:=FALSE;T(	IF waitTimer.Q THENU		wait:=FALSE;V0		bySetAppControlAll:=0;W	END_IFX(	IF gxGameStart THENY0PACK_ML.State.Complete :Z,bySetAppControlAll:=3;[&			iTarBackLeft:=0;\(			iTarFrontLeft:=0;]*			iTarFrontRight:=0;^*			iTarBackRight:=0;	_.PACK_ML.State.Execute :`b		gstElapsedTime:= CleanTime(ElapsedGameTime.ET);a8		IF iNumTargetsLeft<=0 THENb<			gxhideMissionSucces:=FALSE;c>			gxhideCrossandTargets:=TRUE;d4			gxhideNumTargets:=TRUE;ef			gstElapsedTime:=CleanTime(ElapsedGameTime.ET);		f.			xGameRunning:=FALSE;g2			bySetAppControlAll:=3;h(			iTarBackRight:=0;iH			StateComplete(); // -> Completingj		END_IF		k		;l2PACK_ML.State.Resetting :m4	CASE Client.ActualStep OFn		1000:o*			xExecuteFB:=FALSE;p>			xDownloadConfigDone1:=FALSE;q4			xDownloadError1:=FALSE;r>			xDownloadConfigDone2:=FALSE;s4			xDownloadError2:=FALSE;t,			iResponseConfig:=0;u<			Client.ActualStep:=1010;			v
-					w		1010:x,			iVTEMComsRights:=2;yf			IF NOT xTransferDone AND NOT xTransferError THENz*				xExecuteFB:=TRUE;{6			ELSIF xTransferDone THEN|8				client.ActualStep:=1020;},				xExecuteFB:=FALSE;~d			ELSIF xTransferError OR tonConfigTimeout.Q THEN			END_IF€		1020:,			iVTEMComsRights:=3;‚8				client.ActualStep:=1030;ƒ		1030:„,			iVTEMComsRights:=4;…8				client.ActualStep:=1040;† 		1040:‡,			iVTEMComsRights:=5;ˆ8				client.ActualStep:=1100;‰		1100:Š:			xCheckConfiguration:=TRUE;‹6			client.ActualStep:=1105;Œ		1105:Z			IF NOT xCheckConfiguration AND xMatch THENŽ8				Client.ActualStep:=1110;b			IF NOT xCheckConfiguration AND NOT xMatch THEN8				Client.ActualStep:=1100;‘		1110:’,			iVTEMComsRights:=1;“D			xUseGlobalSetpointValues:=TRUE;”4			bySetValveModeAll:= 61;•4			bySetAppControlAll:= 0;–2			bySetAppOptionAll:= 0;—6			gxHidecalibration:=TRUE;˜$			gxhideGo:=TRUE;™:			gxhideMissionSucces:=TRUE;š*			gxhideStart:=TRUE;›d			gstElapsedTime:= CleanTime(ElapsedGameTime.ET);œ6			Client.ActualStep:=1120;		1120:ž2			bySetValveModeAll:= 3;Ÿ4			bySetAppControlAll:= 3; 0			bySetAppOptionAll:=0;¡6			IF iAvgPressure<100 THEN¢(				StateComplete();£		END_CASE¤0PACK_ML.State.Starting :¥6	CASE Client.ActualStep OF ¦		0:§:		IF client.Mode = Mode1 THEN¨.		Client.ActualStep:=5;©		ELSEªD		//	IF NOT xSendCommandReply THEN«ä				xSendCommandReply := SendCommand(Command:= CommandType.Media,Value:= 'http://10.0.0.13/cgi-bin/vtem-welcome');¬		//	ELSE­B			//	xSendCommandReply := FALSE;®6				client.ActualStep:=100;¯		//	END_IF°		5:±B	//	IF NOT xSendCommandReply THEN²Ø			xSendCommandReply:=	SendCommand(Command:= CommandType.Media,Value:= 'http://10.0.0.10:8080/webvisu.htm');³	(*ELSE´<			xSendCommandReply:=FALSE;*)µ0			Client.ActualStep:=6;¶	//	END_IF·		6:¸*		iVTEMComsRights:=1;¹H		xUseGlobalSetpointValues := false;º:		gxHidecalibration := FALSE;»,		gxhideStart := TRUE;¼8		gxhideMissionSucces:=TRUE;½2		bySetValveModeAll :=3	;¾0		bySetAppControlAll:=3;¿*		iTarBackLeft:=4000;À,		iTarFrontLeft:=3000;Á.		iTarFrontRight:=2000;Â,		iTarBackRight:=3000;Ã		wait:=TRUE;Ä$		ONETIME:=FALSE;	Å0		Client.ActualStep:=10;Æ
-		10:Ç*		IF waitTimer.Q THENÈ			wait:=FALSE;É2			Client.ActualStep:=20;Ê
-		20:Ë*		iTarBackLeft:=3000;Ì,		iTarFrontLeft:=4000;Í.		iTarFrontRight:=3000;Î,		iTarBackRight:=2000;Ï0		Client.ActualStep:=30;Ð
-		30:Ñ2			Client.ActualStep:=40;Ò			40:Ó*		iTarBackLeft:=2000;Ô.		iTarFrontRight:=4000;Õ0		Client.ActualStep:=50;Ö
-		50:×2			Client.ActualStep:=60;Ø
-		60:Ù,		iTarFrontLeft:=2000;Ú,		iTarBackRight:=4000;Û0		Client.ActualStep:=70;Ü
-		70:Ýj			Client.ActualStep:=80; // Go to step dance game :)Þ
-		80:ßp		atp1(iTar:=4000, iVar:=iValve_BackLeft, iOffset:= 30);àr		atp2(iTar:=4000, iVar:=iValve_BackRight, iOffset:= 30);ár		atp3(iTar:=4000, iVar:=iValve_FrontLeft, iOffset:= 30);ât		atp4(iTar:=4000, iVar:=iValve_FrontRight, iOffset:= 30);ãÖ		gitotalTime:=(TIME_TO_LINT(atp1.timerprogress+atp2.timerprogress+atp3.timerprogress+atp4.timerprogress));ä				åº		IF atp1.atTargetPres AND atp2.atTargetPres AND atp3.atTargetPres AND atp4.atTargetPres THENæ”			SendCommand(Command:= CommandType.Key, Value := Client.KeyCommands[0]);ç,			iNumTargetsLeft:=5;è2			bySetAppControlAll:=0;é*			gxhideGo := FALSE;ê6			gxhideNumTargets:=FALSE;ë@			gxhideCrossandTargets:=FALSE;ì			wait:=TRUE;í			wait:=false;î,			xGameRunning:=TRUE;ï		100:ð*		iVTEMComsRights:=8;ñ6				client.ActualStep:=110;ò		110:ó,			iVTEMComsRights:=9;ô6				client.ActualStep:=111;õ		111:ö0			iVTEMComsRights := 1;÷0			bySetValveModeAll:=1;ø4			Client.ActualStep:=112;ù			112:úr			IF FB_ValveControl_1.iResponseToValveModeSet=1033 THENûN				iVTEMComsRights:=0; //do something.ü6				Client.ActualStep:=120;ý\			// repeat trying to match the configurationþ		120:ÿˆ			iVTEMComsRights:=0; // No control, leave to let webapp take over.€B			IF tonCheckWebAppActive.Q THEN6				Client.ActualStep:=125;‚.				iVTEMComsRights:=1;ƒ		125:„2		IF xLockLoadConfig THEN…6			Client.ActualStep:=1010;†¼			IF FB_ValveControl_1.iResponseToValveModeSet = FestoVTEMdc.eResponseToValveModeSet.access_denied_WebConfig OR  FB_ValveControl_2.iResponseToValveModeSet = FestoVTEMdc.eResponseToValveModeSet.access_denied_WebConfig THEN‡>				xPlayerInWebConfig := TRUE;ˆ			ELSE‰@				xPlayerInWebConfig := FALSE;Š.				iVTEMComsRights:=0;‹>				Client.ActualStep:=140;				Œ		140:4			client.ActualStep:=150;Ž		150:2				Client.ActualStep:=5;˜			//SendCommand(Command:= CommandType.Key, Value := Client.KeyCommands[2]);‘			1010:’6				client.ActualStep:=140;“		END_CASE;”4PACK_ML.State.Completing :•"	StateComplete();–0PACK_ML.State.Aborting :—.			xGameRunning:=false;˜*bySetValveModeAll:=3;™ iTarBackLeft:=0;š.PACK_ML.State.Stopping:›2PACK_ML.State.Clearing :	œEND_CASEfIF NOT (DI_EmergencyGF AND NOT DI_EmergencyFF) THENž(	// Emergency Abort.Ÿ	UM.Abort();	 END_IF ¡LClient.ActualState := UM.CurrentState;¢>messageQueue(Client := Client);£BwaitTimer(IN:=wait,PT:=T#1000MS);¤ZElapsedGameTime(IN:=xGameRunning, PT:=T#30M);¥$//Average on sides¦jiAvgPrsLeft		:=	(iValve_FrontLeft+iValve_BackLeft)/2;§liAvgPrsTop		:=	(iValve_FrontLeft+iValve_FrontRight)/2;¨niAvgPrsRight	:=	(iValve_FrontRight+iValve_BackRight)/2;©liAvgPrsBottom	:=	(iValve_BackRight+iValve_BackLeft)/2;ª//Total average«¬iSumPressure := iValve_BackLeft + iValve_BackRight+iValve_frontleft+iValve_frontright;¬\iAvgPressure:= LINT_TO_INT( iSumPressure / 4);­BIF (xUseGlobalSetpointValues)THEN®L	iTarBackLeft:=iSetPointValue_1Global;¯N	iTarBackRight:=iSetPointValue_1Global;°N	iTarFrontLeft:=iSetPointValue_1Global;±P	iTarFrontRight:=iSetPointValue_1Global;²ðxAllValvesRunning:= FB_ValveControl_1.iResponseToValveModeSet =1033 AND FB_ValveControl_2.iResponseToValveModeSet =1033;³¢FB_ValveControl_1.xManualAcknowledge := NOT FB_ValveControl_1.xManualAcknowledge;´šFB_ValveControl_2.xManualAcknowledge := FB_ValveControl_1.xManualAcknowledge;µ¾xAnyValveNotReady:=NOT(FB_ValveControl_1.iErrorCode=0 AND (FB_ValveControl_1.iResponseToValveModeSet =1033 OR FB_ValveControl_1.iResponseToValveModeSet =1041) ¶¨					AND FB_ValveControl_2.iErrorCode =0 AND (FB_ValveControl_2.iResponseToValveModeSet =1033 OR FB_ValveControl_2.iResponseToValveModeSet =1041) );·4IF  xAnyValveNotReady THEN¸8	xVtemReset:=NOT xVtemReset;¹ELSEº&	xVtemReset:=FALSE;»$CheckParameters();¼VTEM_Control();½// VTEM_Control¾(*¿&FB_ValveControl_1 (Àj	awBusDataFromVTEM:=	GVL_In_Outputs.awData_Valve1_in,Áj	xEnable:=NOT( UM.CurrentState = pack_ml.Resetting) ,ÂF	bySetValveMode:=bySetValveModeAll,ÃJ	bySetAppControl:=bySetAppControlAll,ÄF	bySetAppOption:=bySetAppOptionAll,ÅT	iSetpointValue1:=iSetPointValue_BackLeft,ÆV	iSetpointValue2:=iSetPointValue_BackRight,Çf	awBusDataToVTEM:=GVL_In_Outputs.awData_Valve1_out,È@	iActualValue1=>iValve_BackLeft,É@	iActualValue2=>iValve_BackRightÊ);Ë&FB_ValveControl_2 (Ìj	awBusDataFromVTEM:=	GVL_In_Outputs.awData_Valve2_in,ÍV	iSetpointValue1:=iSetPointValue_FrontLeft,ÎX	iSetpointValue2:=iSetPointValue_FrontRight,Ïf	awBusDataToVTEM:=GVL_In_Outputs.awData_Valve2_out,ÐB	iActualValue1=>iValve_FrontLeft,ÑB	iActualValue2=>iValve_FrontRightÒ);*)Ó((*	CASE resetstep OFÔþ			FB_WriteConfig_MA03_Valve2 (iParameterSet:=1 ,awBusDataFromVTEM := GVL_In_Outputs.awData_Valve2_in,xExecute:=xExecuteConfig,iCharacteristicAt2:=1,iCharacteristicAt4:=1,awBusDataToVTEM:=GVL_In_Outputs.awData_Valve2_out, xDownloadDone=>xDownloadConfigDone, xDownloadError=> xDownloadError,iResponse=> iResponseConfig);Õ		30:	Ö„			FB_WriteConfig_MA08_Valve1 (iParameterSet:=1 ,awBusDataFromVTEM :=  GVL_In_Outputs.awData_Valve1_in,xExecute:=xExecuteConfig,iLoadRetracting:=200,iLoadAdvancing:=200,iSoftStartFunction:=1, iTubingLengthAt2:=1000, iTubingLengthAt4:=1000 ,iTubingInnerDiameterAt2:=570,iTubingInnerDiameterAt4:=570,iDriveStroke:=180,iDriveType:=901,iInstallationPositionDrive :=9000,awBusDataToVTEM:=GVL_In_Outputs.awData_Valve1_out, xDownloadDone=>xDownloadConfigDone, xDownloadError=> xDownloadError,iResponse=> iResponseConfig);×		40:	Ø„			FB_WriteConfig_MA08_Valve2 (iParameterSet:=1 ,awBusDataFromVTEM := GVL_In_Outputs.awData_Valve2_in,xExecute:=xExecuteConfig, iLoadRetracting:=200,iLoadAdvancing:=200,iSoftStartFunction:=1, iTubingLengthAt2:=1000, iTubingLengthAt4:=1000 ,iTubingInnerDiameterAt2:=570,iTubingInnerDiameterAt4:=570,iDriveStroke:=180,iDriveType:=901,iInstallationPositionDrive :=9000,awBusDataToVTEM:=GVL_In_Outputs.awData_Valve2_out, xDownloadDone=>xDownloadConfigDone, xDownloadError=> xDownloadError,iResponse=> iResponseConfig);Ù
-				;ÚEND_CASE*)Û// Gamevisu PRGÜ//Timers ÝPtargetTimer(IN:=xAtTarget, PT:=T#600MS);ÞBtonConfigTimeout(IN:=xExecuteFB);ßpgxGameVisuOffset.X := LIMIT(-600,gpOffsetRaw.X*5/2,600);àpgxGameVisuOffset.Y := LIMIT(-600,gpOffsetRaw.Y*5/2,600);á&IF NOT onetime THENâ`	pStaticTarget.X:= pStaticTarget.X+randomNumber;ãb	pStaticTarget.Y:= pStaticTarget.Y+randomNumber2;ä–	IF pStaticTarget.X > 500 THEN pStaticTarget.X:=pStaticTarget.X-1000;END_IFå–	IF pStaticTarget.Y > 500 THEN pStaticTarget.Y:=pStaticTarget.Y-1000;END_IFæ	onetime:=TRUE;ç:randomNumber:=randomNumber+3;è0IF randomNumber>500 THENé@	randomNumber:=randomNumber-200;ê>randomNumber2:=randomNumber2+3;ë2IF randomNumber2>500 THENìD	randomNumber2:=randomNumber2-200;í,IF targetTimer.Q THEN	îL	iNumTargetsLeft:=iNumTargetsLeft -1;	ï*CASE Client.Level OF ð	1:ñ2	//no changes to the dataò˜	IF pStaticTarget.X > 500 THEN pStaticTarget.X:=pstaticTarget.X-1000; END_IFóš	IF pStaticTarget.X < -500 THEN pStaticTarget.X:=pstaticTarget.X+1000;	END_IFô@	pNextTarget.X:=pStaticTarget.X;õ@	pNextTarget.Y:=pStaticTarget.Y;ö	2:÷4	IF xMovementPositive THENøN		pStaticTarget.X := pStaticTarget.X+1;ù
-	ELSEúR		pStaticTarget.X := pStaticTarget.X-1;		û	3:üN		pStaticTarget.X := pStaticTarget.X+2;ýR		pStaticTarget.X := pStaticTarget.X-2;		þ	4:ÿ®	pNextTarget.Y := pStaticTarget.Y+REAL_TO_INT(SIN(DINT_TO_REAL(pNextTarget.X)/100)*50);€	5:°	pNextTarget.Y := pStaticTarget.Y+REAL_TO_INT(SIN(DINT_TO_REAL(pNextTarget.X)/50)*100);	‚&// target approach.ƒþxAtTarget:=(gxGameVisuOffset.X > (pNextTarget.x - gxGameAccuracy) AND gxGameVisuOffset.X < (pNextTarget.X + gxGameAccuracy) AND„âgxGameVisuOffset.Y > (pNextTarget.Y - gxGameAccuracy) AND gxGameVisuOffset.Y < (pNextTarget.Y + gxGameAccuracy));…//END_IF†&// VTEM_Druk_PID 's‡.IF NOT gxDisablePD THENˆüDruk_PD_BackLeft(target := iTarBackLeft, xAllValvesRunning:=xAllValvesRunning,bySetAppControlAll:=bySetAppControlAll, actualPressure := iValve_BackLeft, setpoint => iSetPointValue_BackLeft);‰„Druk_PD_backRight(target := iTarbackRight, xAllValvesRunning:=xAllValvesRunning,bySetAppControlAll:=bySetAppControlAll, actualPressure := iValve_backRight, setpoint => iSetPointValue_backRight);Š„Druk_PD_frontLeft(target := iTarfrontLeft, xAllValvesRunning:=xAllValvesRunning,bySetAppControlAll:=bySetAppControlAll, actualPressure := iValve_frontLeft, setpoint => iSetPointValue_frontLeft);‹ŒDruk_PD_frontRight(target := iTarfrontRight, xAllValvesRunning:=xAllValvesRunning,bySetAppControlAll:=bySetAppControlAll, actualPressure := iValve_frontRight, setpoint => iSetPointValue_frontRight);ŒTgpOffsetRaw.X:=(iAvgPrsRight-iAvgPrsLeft);TgpOffsetRaw.Y:=(iAvgPrsBottom-iAvgPrsTop);Ž.//offset for debug visuHgpOffsetDebug.X := gpOffsetRaw.X/10;HgpOffsetDebug.Y := gpOffsetRaw.Y/10;‘Interface’L{a9ed5b7e-75c5-4651-af16-d2c27e98cb94}“>FUNCTION_BLOCK VtemStateMachine”VAR•2	UM			: PACK_ML.UnitMode;–f	xInit		: BOOL := FALSE; // Flag for initialization—0	//VTEM ValveControl FBs˜`	FB_ValveControl_1: FestoVTEMdc.FB_ValveControl;™`	FB_ValveControl_2: FestoVTEMdc.FB_ValveControl;š`	FB_ValveControl_3: FestoVTEMdc.FB_ValveControl;›`	FB_ValveControl_4: FestoVTEMdc.FB_ValveControl;œ~	FB_WriteConfig_MA03_Valve1: FestoVTEMdc.FB_Write_config_MA_03;~	FB_WriteConfig_MA03_Valve2: FestoVTEMdc.FB_Write_config_MA_03;ž’	FB_WriteConfig_MA03_Valve1_Incorrect: FestoVTEMdc.FB_Write_config_MA_03;Ÿ’	FB_WriteConfig_MA03_Valve2_Incorrect: FestoVTEMdc.FB_Write_config_MA_03; ~	FB_WriteConfig_MA08_Valve1: FestoVTEMdc.FB_Write_config_MA_08;¡~	FB_WriteConfig_MA08_Valve2: FestoVTEMdc.FB_Write_config_MA_08;¢ 	FB_Upload_Multiple_Parameters_Valve1:FestoVTEMdc.FB_Upload_Multiple_Parameters;£ 	FB_Upload_Multiple_Parameters_Valve2:FestoVTEMdc.FB_Upload_Multiple_Parameters;¤š	aTransferPackagesResult: ARRAY[0..100] OF FestoVTEMdc.stTransferPackage := [¥l(iChannel := 1, iAddressedTarget := 3, iIndex := 220),¦l(iChannel := 1, iAddressedTarget := 3, iIndex := 221),§j(iChannel := 1, iAddressedTarget := 8, iIndex := 12),¨j(iChannel := 1, iAddressedTarget := 8, iIndex := 13),©j(iChannel := 1, iAddressedTarget := 8, iIndex := 14),ªj(iChannel := 1, iAddressedTarget := 8, iIndex := 15),«j(iChannel := 1, iAddressedTarget := 8, iIndex := 20),¬j(iChannel := 1, iAddressedTarget := 8, iIndex := 21),­j(iChannel := 1, iAddressedTarget := 8, iIndex := 60),®l(iChannel := 1, iAddressedTarget := 8, iIndex := 100),¯l(iChannel := 1, iAddressedTarget := 8, iIndex := 101),°~(iChannel := 1, iAddressedTarget := 8, iIndex := 222), 89(())];±0	iVTEMComsRights:INT:=1;²(	xTransferDone:BOOL;³*	xTransferError:BOOL;´L	CheckParameters : FB_CheckParameters;µ2	xSendCommandReply :BOOL;¶2	xExecuteFB :BOOL:=FALSE;·D	xDownloadConfigDone1:BOOL:=FALSE;¸:	xDownloadError1:BOOL:=FALSE;¹D	xDownloadConfigDone2:BOOL:=FALSE;º:	xDownloadError2:BOOL:=FALSE;»D	xDownloadConfigDone3:BOOL:=FALSE;¼:	xDownloadError3:BOOL:=FALSE;½D	xDownloadConfigDone4:BOOL:=FALSE;¾:	xDownloadError4:BOOL:=FALSE;¿0	iResponseConfig:INT:=0;Àd	tonConfigTimeout:TON:=(In:=xExecuteFB,PT:=T#15S);Á@	iStepCheckConfiguration:INT:=0;Â	xMatch:BOOL;Ã,	xLockLoadConfig:BOOL;Ä4	xCheckConfiguration:BOOL;Å$	xVtemReset: BOOL;Æ8	bySetValveModeAll:	BYTE:=3;Ç:	bySetAppControlAll:	BYTE:=0;È2	bySetAppOptionAll:	BYTE;ÉB	xUseGlobalSetpointValues	:	BOOL;Ê>	iSetPointValue_1Global		:	INT;Ë@	iSetPointValue_BackLeft		:	INT;Ì@	iSetPointValue_BackRight	:	INT;Í@	iSetPointValue_FrontLeft	:	INT;ÎB	iSetPointValue_FrontRight	:	INT;Ï$	iAvgPrsLeft :INT;Ð"	iAvgPrsTop :INT;Ñ$	iAvgPrsRight:INT;Ò&	iAvgPrsBottom:INT;Ó,	iValve_BackLeft: INT;Ô.	iValve_BackRight: INT;Õ.	iValve_FrontLeft: INT;Ö0	iValve_FrontRight: INT;×$	iTarBackLeft:INT;Ø&	iTarBackRight:INT;Ù&	iTarFrontLeft:INT;Ú(	iTarFrontRight:INT;Û&	iAvgPressure: INT;Ü&	gxDisablePD: BOOL;Ý(	gpOffsetRaw: POINT;Þ,	gpOffsetDebug: POINT;ß2	gxGameVisuOffset: POINT;à2	gxGameAccuracy: INT:=40;á"	factorA:INT:=20;â"	factorB:INT:=20;ã 	xAtTarget:BOOL;ä(	pNextTarget :Point;å	//tempæ 	targetHit:BOOL;ç$	gxGameStart:BOOL;è2	gxhideStart: BOOL:=TRUE;é,	gxhideGo: BOOL:=TRUE;ê:	gxhideNumTargets:BOOL:=true;ë6	iNumTargetsLeft: INT := 5;ìB	gxhideMissionSucces: BOOL:=true;íF	gxhideCrossandTargets: BOOL:=true;î&	gitotalTime: LINT;ï>	gxHidecalibration: BOOL:=TRUE;ð6	gxHideSBlocker:BOOL:=TRUE;ñ6	gtimeElapsedGametime:LINT;ò.	gstElapsedTime:STRING;ó*	ONETIME:BOOL:=TRUE;	ô	// Gamevisuõ$	randomNumber:INT;ö,	iScaleFactor:INT:=1;	÷0	randomNumber2: INT:=80;ø$	targetTimer: TON;ù"	// VTEM_Druk_PIDú6	Druk_PD_BackLeft: DRUK_PD;û8	Druk_PD_backRight: DRUK_PD;ü8	Druk_PD_frontLeft: Druk_pd;ý:	Druk_PD_frontRight: DRUK_PD;þ	// GameDataÿ		//Steps€&	iSumPressure: INT;	wait: BOOL;‚d	waitTimer: TON := (IN := wait, PT := TIME#400ms);ƒ0	atp1: attargetpressure;„0	atp2: attargetpressure;…0	atp3: attargetpressure;†0	atp4: attargetpressure;‡,	ElapsedGameTime: TON;ˆR	tonCheckWebAppActive :TON := (PT:=T#2S);‰.	pStaticTarget: Point;	Š2	xMovementPositive: BOOL;‹(	xGameRunning: BOOL;Œ2	xPlayerInWebConfig:BOOL;:	messageQueue : MessageQueue;ŽEND_VARVAR_IN_OUT.	Client : PuzzleClient;‘VAR_OUTPUT’r	ItfUnitMode	: PACK_ML.IUnitMode; // UnitMode of the axis“0	xAllValvesRunning:BOOL;”2	xAnyValveNotReady: BOOL;•"UniqueIdGenerator–7400—POULevel˜L{8e575c5b-1d37-49c6-941b-5c0ec7874787}™Standardš ChildObjectGuids›8System.Collections.ArrayListœ,AddAttributeSubsequentboolÐÐ-ÐÐ	E
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­ÚÐ-Е-–З˜-™š›М­+			;	)		END_IF*	2 : 	//Key+Ž		IF SysStrCmp(Client.sCommandToPLC, Client.KeyCommands[0]) =  0 THEN		,6			//Echo first key example-Ž			SendCommand(Command:= CommandType.Key,Value:=Client.KeyCommands[0]);.		END_IF	/	3 : 	//IO0	4 : 	//Media1	5 : 	//Hint2	6 : 	//State	3l		IF SysStrCmp(Client.sCommandToPLC, 'SC') =  0 THEN		4&			StateComplete();5x		ELSIF SysStrCmp(Client.sCommandToPLC, 'Start') =  0 THEN		6			Start();7v		ELSIF SysStrCmp(Client.sCommandToPLC, 'Stop') =  0 THEN		8			Stop();9x		ELSIF SysStrCmp(Client.sCommandToPLC, 'Reset') =  0 THEN		:			Reset();;x		ELSIF SysStrCmp(Client.sCommandToPLC, 'Abort') =  0 THEN		<			Abort();=x		ELSIF SysStrCmp(Client.sCommandToPLC, 'Clear') =  0 THEN		>			Clear();?v		ELSIF SysStrCmp(Client.sCommandToPLC, 'Hold') =  0 THEN		@			Hold();Az		ELSIF SysStrCmp(Client.sCommandToPLC, 'UnHold') =  0 THEN		B			Unhold();	C|		ELSIF SysStrCmp(Client.sCommandToPLC, 'Suspend') =  0 THEN		D			Suspend();E€		ELSIF SysStrCmp(Client.sCommandToPLC, 'UnSuspend') =  0 THEN		F			UnSuspend();G		H	END_CASEI6	Client.iCommandToPLC := 0;J8	Client.sCommandToPLC := '';K:	Client.bReadyToPLC := FALSE;L*CheckConfiguration();M`tonCheckWebAppActive(IN:=Client.ActualStep=120);N.CASE UM.CurrentState OFO,PACK_ML.State.Stopped:P	;Q.PACK_ML.State.Aborted: R&PACK_ML.State.Idle:S(	gxhideStart:=FALSE;T(	IF waitTimer.Q THENU		wait:=FALSE;V0		bySetAppControlAll:=0;W	END_IFX(	IF gxGameStart THENY0PACK_ML.State.Complete :Z.//iVTEMComsRights := 0;[2//bySetValveModeAll := 0;\,bySetAppControlAll:=0;]&			iTarBackLeft:=0;^(			iTarFrontLeft:=0;_*			iTarFrontRight:=0;`*			iTarBackRight:=0;	a.PACK_ML.State.Execute :bb		gstElapsedTime:= CleanTime(ElapsedGameTime.ET);c8		IF iNumTargetsLeft<=0 THENd<			gxhideMissionSucces:=FALSE;e>			gxhideCrossandTargets:=TRUE;f4			gxhideNumTargets:=TRUE;gf			gstElapsedTime:=CleanTime(ElapsedGameTime.ET);		h.			xGameRunning:=FALSE;i2			bySetAppControlAll:=3;j(			iTarBackRight:=0;kH			StateComplete(); // -> Completingl		END_IF		m		;n2PACK_ML.State.Resetting :o4	CASE Client.ActualStep OFp		1000:q*			xExecuteFB:=FALSE;r>			xDownloadConfigDone1:=FALSE;s4			xDownloadError1:=FALSE;t>			xDownloadConfigDone2:=FALSE;u4			xDownloadError2:=FALSE;v,			iResponseConfig:=0;w<			Client.ActualStep:=1010;			x
+					y		1010:z,			iVTEMComsRights:=2;{f			IF NOT xTransferDone AND NOT xTransferError THEN|*				xExecuteFB:=TRUE;}6			ELSIF xTransferDone THEN~8				client.ActualStep:=1020;,				xExecuteFB:=FALSE;€d			ELSIF xTransferError OR tonConfigTimeout.Q THEN			END_IF‚		1020:ƒ,			iVTEMComsRights:=3;„8				client.ActualStep:=1030;…		1030:†,			iVTEMComsRights:=4;‡8				client.ActualStep:=1040;ˆ 		1040:‰,			iVTEMComsRights:=5;Š8				client.ActualStep:=1100;‹		1100:Œ:			xCheckConfiguration:=TRUE;6			client.ActualStep:=1105;Ž		1105:Z			IF NOT xCheckConfiguration AND xMatch THEN8				Client.ActualStep:=1110;‘b			IF NOT xCheckConfiguration AND NOT xMatch THEN’8				Client.ActualStep:=1100;“		1110:”,			iVTEMComsRights:=1;•D			xUseGlobalSetpointValues:=TRUE;–4			bySetValveModeAll:= 61;—4			bySetAppControlAll:= 0;˜2			bySetAppOptionAll:= 0;™6			gxHidecalibration:=TRUE;š$			gxhideGo:=TRUE;›:			gxhideMissionSucces:=TRUE;œ*			gxhideStart:=TRUE;d			gstElapsedTime:= CleanTime(ElapsedGameTime.ET);ž6			Client.ActualStep:=1120;Ÿ		1120: 2			bySetValveModeAll:= 3;¡4			bySetAppControlAll:= 3;¢0			bySetAppOptionAll:=0;£4			IF iAvgPressure<50 THEN¤@				tonWaitForPDrop.IN := TRUE ;¥<				IF tonWaitForPDrop.Q THEN;¦*					StateComplete();§L					tonWaitForPDrop.IN := FALSE;					¨				END_IF©		END_CASEª0PACK_ML.State.Starting :«6	CASE Client.ActualStep OF ¬		0:­:		IF client.Mode = Mode1 THEN®.		Client.ActualStep:=5;¯		ELSE°D		//	IF NOT xSendCommandReply THEN±ä				xSendCommandReply := SendCommand(Command:= CommandType.Media,Value:= 'http://10.0.0.13/cgi-bin/vtem-welcome');²		//	ELSE³B			//	xSendCommandReply := FALSE;´6				client.ActualStep:=100;µ		//	END_IF¶		5:·B	//	IF NOT xSendCommandReply THEN¸Ø			xSendCommandReply:=	SendCommand(Command:= CommandType.Media,Value:= 'http://10.0.0.10:8080/webvisu.htm');¹	(*ELSEº<			xSendCommandReply:=FALSE;*)»0			Client.ActualStep:=6;¼	//	END_IF½		6:¾*		iVTEMComsRights:=1;¿H		xUseGlobalSetpointValues := false;À:		gxHidecalibration := FALSE;Á,		gxhideStart := TRUE;Â8		gxhideMissionSucces:=TRUE;Ã2		bySetValveModeAll :=3	;Ä0		bySetAppControlAll:=3;Å*		iTarBackLeft:=4000;Æ,		iTarFrontLeft:=3000;Ç.		iTarFrontRight:=2000;È,		iTarBackRight:=3000;É		wait:=TRUE;Ê$		ONETIME:=FALSE;	Ë0		Client.ActualStep:=10;Ì
+		10:Í*		IF waitTimer.Q THENÎ			wait:=FALSE;Ï2			Client.ActualStep:=20;Ð
+		20:Ñ*		iTarBackLeft:=3000;Ò,		iTarFrontLeft:=4000;Ó.		iTarFrontRight:=3000;Ô,		iTarBackRight:=2000;Õ0		Client.ActualStep:=30;Ö
+		30:×2			Client.ActualStep:=40;Ø			40:Ù*		iTarBackLeft:=2000;Ú.		iTarFrontRight:=4000;Û0		Client.ActualStep:=50;Ü
+		50:Ý2			Client.ActualStep:=60;Þ
+		60:ß,		iTarFrontLeft:=2000;à,		iTarBackRight:=4000;á0		Client.ActualStep:=70;â
+		70:ãj			Client.ActualStep:=80; // Go to step dance game :)ä
+		80:åp		atp1(iTar:=4000, iVar:=iValve_BackLeft, iOffset:= 30);ær		atp2(iTar:=4000, iVar:=iValve_BackRight, iOffset:= 30);çr		atp3(iTar:=4000, iVar:=iValve_FrontLeft, iOffset:= 30);èt		atp4(iTar:=4000, iVar:=iValve_FrontRight, iOffset:= 30);éÖ		gitotalTime:=(TIME_TO_LINT(atp1.timerprogress+atp2.timerprogress+atp3.timerprogress+atp4.timerprogress));ê				ëº		IF atp1.atTargetPres AND atp2.atTargetPres AND atp3.atTargetPres AND atp4.atTargetPres THENì”			SendCommand(Command:= CommandType.Key, Value := Client.KeyCommands[0]);í,			iNumTargetsLeft:=5;î2			bySetAppControlAll:=0;ï*			gxhideGo := FALSE;ð6			gxhideNumTargets:=FALSE;ñ@			gxhideCrossandTargets:=FALSE;ò			wait:=TRUE;ó			wait:=false;ô,			xGameRunning:=TRUE;õ		100:ö*		iVTEMComsRights:=8;÷6				client.ActualStep:=110;ø		110:ù,			iVTEMComsRights:=9;ú6				client.ActualStep:=111;û		111:ü0			iVTEMComsRights := 1;ý0			bySetValveModeAll:=1;þ4			Client.ActualStep:=112;ÿ			112:€r			IF FB_ValveControl_1.iResponseToValveModeSet=1033 THENN				iVTEMComsRights:=0; //do something.‚6				Client.ActualStep:=120;ƒ\			// repeat trying to match the configuration„		120:…ˆ			iVTEMComsRights:=0; // No control, leave to let webapp take over.†B			IF tonCheckWebAppActive.Q THEN‡6				Client.ActualStep:=125;ˆ.				iVTEMComsRights:=1;‰		125:Š2		IF xLockLoadConfig THEN‹6			Client.ActualStep:=1010;Œ¼			IF FB_ValveControl_1.iResponseToValveModeSet = FestoVTEMdc.eResponseToValveModeSet.access_denied_WebConfig OR  FB_ValveControl_2.iResponseToValveModeSet = FestoVTEMdc.eResponseToValveModeSet.access_denied_WebConfig THEN>				xPlayerInWebConfig := TRUE;Ž			ELSE@				xPlayerInWebConfig := FALSE;.				iVTEMComsRights:=0;‘>				Client.ActualStep:=140;				’		140:“4			client.ActualStep:=150;”		150:•2				Client.ActualStep:=5;–˜			//SendCommand(Command:= CommandType.Key, Value := Client.KeyCommands[2]);—			1010:˜6				client.ActualStep:=140;™		END_CASE;š4PACK_ML.State.Completing :›.	bySetAppControlAll:=3;œB	IF 	iValve_BackLeft  	<= 20 AND	:		iValve_BackRight	<= 20 AND ž:		iValve_FrontLeft 	<= 20 ANDŸB		iValve_FrontRight 	<= 20 THEN;	 $		StateComplete();¡0PACK_ML.State.Aborting :¢.			xGameRunning:=false;£*bySetValveModeAll:=3;¤,bySetAppControlAll:=3;¥ iTarBackLeft:=0;¦"	StateComplete();§.PACK_ML.State.Stopping:¨2PACK_ML.State.Clearing :	©END_CASEª&tonWaitForPDrop ();«fIF NOT (DI_EmergencyGF AND NOT DI_EmergencyFF) THEN¬(	// Emergency Abort.­	UM.Abort();	®END_IF ¯LClient.ActualState := UM.CurrentState;°>messageQueue(Client := Client);±BwaitTimer(IN:=wait,PT:=T#1000MS);²ZElapsedGameTime(IN:=xGameRunning, PT:=T#30M);³$//Average on sides´jiAvgPrsLeft		:=	(iValve_FrontLeft+iValve_BackLeft)/2;µliAvgPrsTop		:=	(iValve_FrontLeft+iValve_FrontRight)/2;¶niAvgPrsRight	:=	(iValve_FrontRight+iValve_BackRight)/2;·liAvgPrsBottom	:=	(iValve_BackRight+iValve_BackLeft)/2;¸//Total average¹¬iSumPressure := iValve_BackLeft + iValve_BackRight+iValve_frontleft+iValve_frontright;º\iAvgPressure:= LINT_TO_INT( iSumPressure / 4);»BIF (xUseGlobalSetpointValues)THEN¼L	iTarBackLeft:=iSetPointValue_1Global;½N	iTarBackRight:=iSetPointValue_1Global;¾N	iTarFrontLeft:=iSetPointValue_1Global;¿P	iTarFrontRight:=iSetPointValue_1Global;ÀðxAllValvesRunning:= FB_ValveControl_1.iResponseToValveModeSet =1033 AND FB_ValveControl_2.iResponseToValveModeSet =1033;Á¢FB_ValveControl_1.xManualAcknowledge := NOT FB_ValveControl_1.xManualAcknowledge;šFB_ValveControl_2.xManualAcknowledge := FB_ValveControl_1.xManualAcknowledge;þxAnyValveNotReady:=NOT(FB_ValveControl_1.iErrorCode=0 AND (FB_ValveControl_1.iResponseToValveModeSet =1033 OR FB_ValveControl_1.iResponseToValveModeSet =1041) Ĩ					AND FB_ValveControl_2.iErrorCode =0 AND (FB_ValveControl_2.iResponseToValveModeSet =1033 OR FB_ValveControl_2.iResponseToValveModeSet =1041) );Å4IF  xAnyValveNotReady THENÆ8	xVtemReset:=NOT xVtemReset;ÇELSEÈ&	xVtemReset:=FALSE;É$CheckParameters();ÊVTEM_Control();Ë// VTEM_ControlÌ(*Í&FB_ValveControl_1 (Îj	awBusDataFromVTEM:=	GVL_In_Outputs.awData_Valve1_in,Ïj	xEnable:=NOT( UM.CurrentState = pack_ml.Resetting) ,ÐF	bySetValveMode:=bySetValveModeAll,ÑJ	bySetAppControl:=bySetAppControlAll,ÒF	bySetAppOption:=bySetAppOptionAll,ÓT	iSetpointValue1:=iSetPointValue_BackLeft,ÔV	iSetpointValue2:=iSetPointValue_BackRight,Õf	awBusDataToVTEM:=GVL_In_Outputs.awData_Valve1_out,Ö@	iActualValue1=>iValve_BackLeft,×@	iActualValue2=>iValve_BackRightØ);Ù&FB_ValveControl_2 (Új	awBusDataFromVTEM:=	GVL_In_Outputs.awData_Valve2_in,ÛV	iSetpointValue1:=iSetPointValue_FrontLeft,ÜX	iSetpointValue2:=iSetPointValue_FrontRight,Ýf	awBusDataToVTEM:=GVL_In_Outputs.awData_Valve2_out,ÞB	iActualValue1=>iValve_FrontLeft,ßB	iActualValue2=>iValve_FrontRightà);*)á((*	CASE resetstep OFâþ			FB_WriteConfig_MA03_Valve2 (iParameterSet:=1 ,awBusDataFromVTEM := GVL_In_Outputs.awData_Valve2_in,xExecute:=xExecuteConfig,iCharacteristicAt2:=1,iCharacteristicAt4:=1,awBusDataToVTEM:=GVL_In_Outputs.awData_Valve2_out, xDownloadDone=>xDownloadConfigDone, xDownloadError=> xDownloadError,iResponse=> iResponseConfig);ã		30:	ä„			FB_WriteConfig_MA08_Valve1 (iParameterSet:=1 ,awBusDataFromVTEM :=  GVL_In_Outputs.awData_Valve1_in,xExecute:=xExecuteConfig,iLoadRetracting:=200,iLoadAdvancing:=200,iSoftStartFunction:=1, iTubingLengthAt2:=1000, iTubingLengthAt4:=1000 ,iTubingInnerDiameterAt2:=570,iTubingInnerDiameterAt4:=570,iDriveStroke:=180,iDriveType:=901,iInstallationPositionDrive :=9000,awBusDataToVTEM:=GVL_In_Outputs.awData_Valve1_out, xDownloadDone=>xDownloadConfigDone, xDownloadError=> xDownloadError,iResponse=> iResponseConfig);å		40:	æ„			FB_WriteConfig_MA08_Valve2 (iParameterSet:=1 ,awBusDataFromVTEM := GVL_In_Outputs.awData_Valve2_in,xExecute:=xExecuteConfig, iLoadRetracting:=200,iLoadAdvancing:=200,iSoftStartFunction:=1, iTubingLengthAt2:=1000, iTubingLengthAt4:=1000 ,iTubingInnerDiameterAt2:=570,iTubingInnerDiameterAt4:=570,iDriveStroke:=180,iDriveType:=901,iInstallationPositionDrive :=9000,awBusDataToVTEM:=GVL_In_Outputs.awData_Valve2_out, xDownloadDone=>xDownloadConfigDone, xDownloadError=> xDownloadError,iResponse=> iResponseConfig);ç
+				;èEND_CASE*)é// Gamevisu PRGê//Timers ëPtargetTimer(IN:=xAtTarget, PT:=T#600MS);ìBtonConfigTimeout(IN:=xExecuteFB);ípgxGameVisuOffset.X := LIMIT(-600,gpOffsetRaw.X*5/2,600);îpgxGameVisuOffset.Y := LIMIT(-600,gpOffsetRaw.Y*5/2,600);ï&IF NOT onetime THENð`	pStaticTarget.X:= pStaticTarget.X+randomNumber;ñb	pStaticTarget.Y:= pStaticTarget.Y+randomNumber2;ò–	IF pStaticTarget.X > 500 THEN pStaticTarget.X:=pStaticTarget.X-1000;END_IFó–	IF pStaticTarget.Y > 500 THEN pStaticTarget.Y:=pStaticTarget.Y-1000;END_IFô	onetime:=TRUE;õ:randomNumber:=randomNumber+3;ö0IF randomNumber>500 THEN÷@	randomNumber:=randomNumber-200;ø>randomNumber2:=randomNumber2+3;ù2IF randomNumber2>500 THENúD	randomNumber2:=randomNumber2-200;û,IF targetTimer.Q THEN	üL	iNumTargetsLeft:=iNumTargetsLeft -1;	ý*CASE Client.Level OF þ	1:ÿ2	//no changes to the data€˜	IF pStaticTarget.X > 500 THEN pStaticTarget.X:=pstaticTarget.X-1000; END_IFš	IF pStaticTarget.X < -500 THEN pStaticTarget.X:=pstaticTarget.X+1000;	END_IF‚@	pNextTarget.X:=pStaticTarget.X;ƒ@	pNextTarget.Y:=pStaticTarget.Y;„	2:…4	IF xMovementPositive THEN†N		pStaticTarget.X := pStaticTarget.X+1;‡
+	ELSEˆR		pStaticTarget.X := pStaticTarget.X-1;		‰	3:ŠN		pStaticTarget.X := pStaticTarget.X+2;‹R		pStaticTarget.X := pStaticTarget.X-2;		Œ	4:®	pNextTarget.Y := pStaticTarget.Y+REAL_TO_INT(SIN(DINT_TO_REAL(pNextTarget.X)/100)*50);Ž	5:°	pNextTarget.Y := pStaticTarget.Y+REAL_TO_INT(SIN(DINT_TO_REAL(pNextTarget.X)/50)*100);	&// target approach.‘þxAtTarget:=(gxGameVisuOffset.X > (pNextTarget.x - gxGameAccuracy) AND gxGameVisuOffset.X < (pNextTarget.X + gxGameAccuracy) AND’âgxGameVisuOffset.Y > (pNextTarget.Y - gxGameAccuracy) AND gxGameVisuOffset.Y < (pNextTarget.Y + gxGameAccuracy));“//END_IF”&// VTEM_Druk_PID 's•.IF NOT gxDisablePD THEN–üDruk_PD_BackLeft(target := iTarBackLeft, xAllValvesRunning:=xAllValvesRunning,bySetAppControlAll:=bySetAppControlAll, actualPressure := iValve_BackLeft, setpoint => iSetPointValue_BackLeft);—„Druk_PD_backRight(target := iTarbackRight, xAllValvesRunning:=xAllValvesRunning,bySetAppControlAll:=bySetAppControlAll, actualPressure := iValve_backRight, setpoint => iSetPointValue_backRight);˜„Druk_PD_frontLeft(target := iTarfrontLeft, xAllValvesRunning:=xAllValvesRunning,bySetAppControlAll:=bySetAppControlAll, actualPressure := iValve_frontLeft, setpoint => iSetPointValue_frontLeft);™ŒDruk_PD_frontRight(target := iTarfrontRight, xAllValvesRunning:=xAllValvesRunning,bySetAppControlAll:=bySetAppControlAll, actualPressure := iValve_frontRight, setpoint => iSetPointValue_frontRight);šTgpOffsetRaw.X:=(iAvgPrsRight-iAvgPrsLeft);›TgpOffsetRaw.Y:=(iAvgPrsBottom-iAvgPrsTop);œ.//offset for debug visuHgpOffsetDebug.X := gpOffsetRaw.X/10;žHgpOffsetDebug.Y := gpOffsetRaw.Y/10;ŸInterface L{a9ed5b7e-75c5-4651-af16-d2c27e98cb94}¡>FUNCTION_BLOCK VtemStateMachine¢VAR£2	UM			: PACK_ML.UnitMode;¤f	xInit		: BOOL := FALSE; // Flag for initialization¥0	//VTEM ValveControl FBs¦`	FB_ValveControl_1: FestoVTEMdc.FB_ValveControl;§`	FB_ValveControl_2: FestoVTEMdc.FB_ValveControl;¨`	FB_ValveControl_3: FestoVTEMdc.FB_ValveControl;©`	FB_ValveControl_4: FestoVTEMdc.FB_ValveControl;ª~	FB_WriteConfig_MA03_Valve1: FestoVTEMdc.FB_Write_config_MA_03;«~	FB_WriteConfig_MA03_Valve2: FestoVTEMdc.FB_Write_config_MA_03;¬’	FB_WriteConfig_MA03_Valve1_Incorrect: FestoVTEMdc.FB_Write_config_MA_03;­’	FB_WriteConfig_MA03_Valve2_Incorrect: FestoVTEMdc.FB_Write_config_MA_03;®~	FB_WriteConfig_MA08_Valve1: FestoVTEMdc.FB_Write_config_MA_08;¯~	FB_WriteConfig_MA08_Valve2: FestoVTEMdc.FB_Write_config_MA_08;° 	FB_Upload_Multiple_Parameters_Valve1:FestoVTEMdc.FB_Upload_Multiple_Parameters;± 	FB_Upload_Multiple_Parameters_Valve2:FestoVTEMdc.FB_Upload_Multiple_Parameters;²š	aTransferPackagesResult: ARRAY[0..100] OF FestoVTEMdc.stTransferPackage := [³l(iChannel := 1, iAddressedTarget := 3, iIndex := 220),´l(iChannel := 1, iAddressedTarget := 3, iIndex := 221),µj(iChannel := 1, iAddressedTarget := 8, iIndex := 12),¶j(iChannel := 1, iAddressedTarget := 8, iIndex := 13),·j(iChannel := 1, iAddressedTarget := 8, iIndex := 14),¸j(iChannel := 1, iAddressedTarget := 8, iIndex := 15),¹j(iChannel := 1, iAddressedTarget := 8, iIndex := 20),ºj(iChannel := 1, iAddressedTarget := 8, iIndex := 21),»j(iChannel := 1, iAddressedTarget := 8, iIndex := 60),¼l(iChannel := 1, iAddressedTarget := 8, iIndex := 100),½l(iChannel := 1, iAddressedTarget := 8, iIndex := 101),¾~(iChannel := 1, iAddressedTarget := 8, iIndex := 222), 89(())];¿0	iVTEMComsRights:INT:=1;À(	xTransferDone:BOOL;Á*	xTransferError:BOOL;ÂL	CheckParameters : FB_CheckParameters;Ã2	xSendCommandReply :BOOL;Ä2	xExecuteFB :BOOL:=FALSE;ÅD	xDownloadConfigDone1:BOOL:=FALSE;Æ:	xDownloadError1:BOOL:=FALSE;ÇD	xDownloadConfigDone2:BOOL:=FALSE;È:	xDownloadError2:BOOL:=FALSE;ÉD	xDownloadConfigDone3:BOOL:=FALSE;Ê:	xDownloadError3:BOOL:=FALSE;ËD	xDownloadConfigDone4:BOOL:=FALSE;Ì:	xDownloadError4:BOOL:=FALSE;Í0	iResponseConfig:INT:=0;Îd	tonConfigTimeout:TON:=(In:=xExecuteFB,PT:=T#15S);Ï@	iStepCheckConfiguration:INT:=0;Ð	xMatch:BOOL;Ñ,	xLockLoadConfig:BOOL;Ò4	xCheckConfiguration:BOOL;Ó$	xVtemReset: BOOL;Ô8	bySetValveModeAll:	BYTE:=3;Õ:	bySetAppControlAll:	BYTE:=0;Ö2	bySetAppOptionAll:	BYTE;×B	xUseGlobalSetpointValues	:	BOOL;Ø>	iSetPointValue_1Global		:	INT;Ù@	iSetPointValue_BackLeft		:	INT;Ú@	iSetPointValue_BackRight	:	INT;Û@	iSetPointValue_FrontLeft	:	INT;ÜB	iSetPointValue_FrontRight	:	INT;Ý$	iAvgPrsLeft :INT;Þ"	iAvgPrsTop :INT;ß$	iAvgPrsRight:INT;à&	iAvgPrsBottom:INT;á,	iValve_BackLeft: INT;â.	iValve_BackRight: INT;ã.	iValve_FrontLeft: INT;ä0	iValve_FrontRight: INT;å$	iTarBackLeft:INT;æ&	iTarBackRight:INT;ç&	iTarFrontLeft:INT;è(	iTarFrontRight:INT;é&	iAvgPressure: INT;ê&	gxDisablePD: BOOL;ë(	gpOffsetRaw: POINT;ì,	gpOffsetDebug: POINT;í2	gxGameVisuOffset: POINT;î2	gxGameAccuracy: INT:=40;ï"	factorA:INT:=20;ð"	factorB:INT:=20;ñ 	xAtTarget:BOOL;ò(	pNextTarget :Point;ó	//tempô 	targetHit:BOOL;õ$	gxGameStart:BOOL;ö2	gxhideStart: BOOL:=TRUE;÷,	gxhideGo: BOOL:=TRUE;ø:	gxhideNumTargets:BOOL:=true;ù6	iNumTargetsLeft: INT := 5;úB	gxhideMissionSucces: BOOL:=true;ûF	gxhideCrossandTargets: BOOL:=true;ü&	gitotalTime: LINT;ý>	gxHidecalibration: BOOL:=TRUE;þ6	gxHideSBlocker:BOOL:=TRUE;ÿ6	gtimeElapsedGametime:LINT;€.	gstElapsedTime:STRING;*	ONETIME:BOOL:=TRUE;	‚	// Gamevisuƒ$	randomNumber:INT;„,	iScaleFactor:INT:=1;	…0	randomNumber2: INT:=80;†$	targetTimer: TON;‡"	// VTEM_Druk_PIDˆ6	Druk_PD_BackLeft: DRUK_PD;‰8	Druk_PD_backRight: DRUK_PD;Š8	Druk_PD_frontLeft: Druk_pd;‹:	Druk_PD_frontRight: DRUK_PD;Œ	// GameData		//StepsŽ&	iSumPressure: INT;	wait: BOOL;d	waitTimer: TON := (IN := wait, PT := TIME#400ms);‘0	atp1: attargetpressure;’0	atp2: attargetpressure;“0	atp3: attargetpressure;”0	atp4: attargetpressure;•,	ElapsedGameTime: TON;–R	tonCheckWebAppActive :TON := (PT:=T#2S);—Z	tonWaitForPDrop :Standard.TON := (PT:=T#5S);˜.	pStaticTarget: Point;	™2	xMovementPositive: BOOL;š(	xGameRunning: BOOL;›2	xPlayerInWebConfig:BOOL;œ:	messageQueue : MessageQueue;END_VARžVAR_IN_OUTŸ.	Client : PuzzleClient; VAR_OUTPUT¡r	ItfUnitMode	: PACK_ML.IUnitMode; // UnitMode of the axis¢0	xAllValvesRunning:BOOL;£2	xAnyValveNotReady: BOOL;¤"UniqueIdGenerator¥7422¦POULevel§L{8e575c5b-1d37-49c6-941b-5c0ec7874787}¨Standard© ChildObjectGuidsª8System.Collections.ArrayList«,AddAttributeSubsequent¬boolÐÐ-ÐÐ	E
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