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[NEW-FEATURE]KukaKss - #65
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- Implemented TcoKukaKss_StopProgramTask_v_9_3_x function block for stopping the KSS program. - Updated TcoKukaRobotics.plcproj to include new DUTs and POUs for KSS 9.3. - Enhanced GVL to include additional robot instances for testing. - Modified MAIN program to initialize KSS test context. - Created TcoKukaKssTestContext for simulating KSS 9.3 behavior in tests. - Added eTcoKukaKssTests enumeration for test identification. - Developed unit tests for KSS 9.3 functionality, including motor control and program execution. - Updated WPF UI to include KSS 9.3 robot controls.
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src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Properties/strings.Designer.cs: Generated file
What changed in this PR
Adds KSS 9.3 robot support to TcOpen’s KUKA robotics library.
Changes:
- Adds PROFINET/EtherCAT components, data structures, and robot operation tasks.
- Adds a PLC simulator and NUnit integration tests.
- Adds WPF service views, sandbox integration, and localized diagnostics.
| File | Description |
|---|---|
| src/TcoKukaRobotics/tests/TcoKukaRoboticsUnitTests/PlcExectutedTests/TcoKukaKssTests.cs | Updated as part of this pull request. |
| src/TcoKukaRobotics/tests/TcoKukaRobotics.Wpf.Sandbox/MainWindow.xaml | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRoboticsTests/Tests/TcoKukaKss/TcoKukaKssTestContext.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRoboticsTests/Tests/TcoKukaKss/eTcoKukaKssTests.TcDUT | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRoboticsTests/Tests/TcoContext/WpfContext.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRoboticsTests/TcoKukaRoboticsTests.plcproj | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRoboticsTests/POUs/MAIN.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRoboticsTests/GVLs/GVL.TcGVL | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/TcoKukaRobotics.plcproj | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKssTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKss_StopProgramTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKss_StopMovementsTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKss_StopMovementsAndProgramTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKss_StopMotorsTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKss_StartProgramTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKss_StartMovementsTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKss_StartMotorsTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKss_StartMotorsProgramAndMovementsTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKss_StartMotorsAndProgramTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKss_StartAtMainTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/RoboticsTasks/Kss_v_9_3_x/TcoKukaKss_ResetAllOutputsTask_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/KSS/TcoKukaKssPn_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/KSS/TcoKukaKssEcat_v_9_3_x.TcPOU | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/KSS/IO/TcoKukaKssPn_IO_v_9_3_x.TcDUT | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/KSS/IO/TcoKukaKssEcat_IO_v_9_3_x.TcDUT | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/KSS/IO/TcoKukaKss_Outputs_v_9_3_x.TcDUT | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/POUs/Prototypes/KSS/IO/TcoKukaKss_Inputs_v_9_3_x.TcDUT | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/DUTs/Kss/TcoKukaKss_Status_v_9_3_x.TcDUT | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/DUTs/Kss/TcoKukaKss_State_v_9_3_x.TcDUT | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/DUTs/Kss/TcoKukaKss_Control_v_9_3_x.TcDUT | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/XaeTcoKukaRobotics/TcoKukaRobotics/DUTs/Kss/TcoKukaKss_Config_v_9_3_x.TcDUT | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRoboticsConnector/Properties/Localizations.sk-SK.resx | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRoboticsConnector/Properties/Localizations.resx | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRoboticsConnector/Properties/Localizations.es-ES.resx | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRoboticsConnector/Properties/Localizations.de-DE.resx | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRoboticsConnector/Properties/Localizations.cs-CZ.resx | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRoboticsConnector/pex/TcoKukaKssPn_v_9_3_x.cs | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRoboticsConnector/pex/TcoKukaKssEcat_v_9_3_x.cs | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/TcOpen.Inxton.TcoKukaRobotics.Wpf.csproj | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Properties/strings.sk-Sk.resx | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Properties/strings.resx | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Properties/strings.es-ES.resx | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Properties/strings.Designer.cs | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Properties/strings.de-DE.resx | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Properties/strings.cs-CZ.resx | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Kss/Service/TcoKukaKssPn_v_9_3_xServiceViewModel.cs | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Kss/Service/TcoKukaKssPn_v_9_3_xServiceView.xaml.cs | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Kss/Service/TcoKukaKssPn_v_9_3_xServiceView.xaml | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Kss/Service/TcoKukaKssEcat_v_9_3_xServiceViewModel.cs | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Kss/Service/TcoKukaKssEcat_v_9_3_xServiceView.xaml.cs | Updated as part of this pull request. |
| src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Kss/Service/TcoKukaKssEcat_v_9_3_xServiceView.xaml | Updated as part of this pull request. |
Review effort: Balanced
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| var numberFromString = string.Join(string.Empty, Regex.Matches(onlineMsg, @"\d+").OfType<Match>().Select(m => m.Value)); | ||
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| uint errorCode; | ||
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| UInt32.TryParse(numberFromString, out errorCode); |
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| var numberFromString = string.Join(string.Empty, Regex.Matches(onlineMsg, @"\d+").OfType<Match>().Select(m => m.Value)); | ||
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| uint errorCode; | ||
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| UInt32.TryParse(numberFromString, out errorCode); |
| _control.GlobalSpeed := 0; | ||
| _control.ActivateInterface := FALSE; | ||
| _control.ErrorConfirmation := FALSE; | ||
| _control.ExternalStart := FALSE; |
| _control.GlobalSpeed := 0; | ||
| _control.ActivateInterface := FALSE; | ||
| _control.ErrorConfirmation := FALSE; | ||
| _control.ExternalStart := FALSE; |
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| IF inoStatus.State.CutEnableDrives THEN | ||
| inoControl.DrivesOn := _blink.outQ; | ||
| END_IF |
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| inoControl.MoveEnable := FALSE; | ||
| END_IF |
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| IF inoStatus.State.CutEnableDrives THEN | ||
| inoControl.DrivesOn := _blink.outQ; | ||
| END_IF |
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| IF _progress = 1 THEN | ||
| // AX step 0: waiting for 'DrivesReady' to be off | ||
| inoControl.DrivesOn := TRUE; |
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closes #64