[NEW-FEATURE] Add message that the task's execute is not called cycli…

…cally (#106)

* Create draft PR for #50

* wip failes to pass IAxoObject refernce to serve method of messenger

* clup report

* mend

---------

Co-authored-by: LukasKytka <LukasKytka@users.noreply.github.com>
Co-authored-by: Lukas Kytka <lukas.kytka@mts.sk>

src/core/ctrl/src/AxoMessaging/Static/AxoMessenger.st

@@ -60,9 +60,11 @@ NAMESPACE AXOpen.Messaging.Static
             VAR_INPUT
                 _object : IAxoObject;
             END_VAR  
+
             IF AXOpen.Core.IsNullContext(_object.GetContext()) THEN
                 RETURN;
             END_IF;
+
             THIS.Initialize(_object);
 
             THIS.Serve(_object.GetContext());                       

src/core/ctrl/src/AxoTask/AxoTask.st

@@ -1,6 +1,9 @@
 USING AXOpen.Logging;
 USING AXOpen.Timers;
 
+USING AXOpen.Messaging;
+USING AXOpen.Messaging.Static;
+
 NAMESPACE AXOpen.Core
 
     CLASS PUBLIC AxoTask EXTENDS AxoObject IMPLEMENTS IAxoTask, IAxoTaskState
@@ -63,6 +66,14 @@ NAMESPACE AXOpen.Core
             /// Contains details about the error.            
             ///</summary>                       
             ErrorDetails : STRING[254];
+
+            ///<summary>
+            /// Enable error message when task is not calling cyclically .            
+            ///</summary> 
+            {#ix-set:MessageText = "<#Cyclic Execute is not called.#>"}
+            {#ix-set:Help = "<#Check task calling in the code, task is not calling cyclically #>"}
+            _CyclicExecuteIsNotCalled : AXOpen.Messaging.Static.AxoMessenger;            
+
         END_VAR    
 
         VAR PRIVATE
@@ -192,10 +203,15 @@ NAMESPACE AXOpen.Core
 
             IF _isNullContext THEN
                 Status := eAxoTaskState#Error;
-                ErrorDetails := 'NULL CONTEXT';                
+                ErrorDetails := 'NULL CONTEXT'; 
+                RETURN;               
             END_IF;
+
             THIS.UpdateState();
 
+
+            _CyclicExecuteIsNotCalled.Serve(THIS); 
+
             IF Status = eAxoTaskState#Done AND THIS.IsNewInvokeCall() THEN
                 Status := eAxoTaskState#Ready; 
             END_IF;
@@ -205,11 +221,11 @@ NAMESPACE AXOpen.Core
             // task should not be Invoked, if the execute method was not called in this or previous PLC cycle
             IF Status = eAxoTaskState#Ready THEN
                 IF (THIS.IsExecuteCalledInThisPlcCycle() OR THIS.WasExecuteCalledInPreviousPlcCycle()) THEN
-                    Status := eAxoTaskState#Kicking;                    
-                    THIS.LogTask('Task invoked', eLogLevel#Verbose, THIS);
-                ELSE
-                    THIS.LogTask('Cyclic execute is not called', eLogLevel#Debug, THIS);
-                END_IF;     
+                    Status := eAxoTaskState#Kicking;      
+                    THIS.LogTask('Task invoked', eLogLevel#Verbose, THIS);                                             
+                  ELSE                                         
+                    _CyclicExecuteIsNotCalled.Activate(eAxoMessageCategory#ProgrammingError);                     
+                 END_IF;     
             END_IF;     
 
             Invoke := THIS;

src/templates.simple/ctrl/src/Examples/PneumaticManipulator.st

@@ -108,7 +108,7 @@ NAMESPACE examples.PneumaticManipulator
                 ///<summary>
                 /// Hardware output structure
                 ///</summary>
-                Outputs : axosimple.Outputs;
+                Outputs : axosimple.Outputs;                
             END_VAR
             THIS.Initialize(parent);
             THIS.Execute(Inputs, Outputs);
@@ -341,7 +341,8 @@ NAMESPACE examples.PneumaticManipulator
     CLASS PUBLIC GroundSequence
         EXTENDS AXOpen.Core.AxoSequencerContainer
         VAR PUBLIC
-            Steps : ARRAY[0..20] OF AxoStep;
+            Steps : ARRAY[0..20] OF AxoStep;      
+            MoveToWork : AxoTask;
         END_VAR
         VAR PRIVATE
             Components : REF_TO Components;
@@ -357,6 +358,9 @@ NAMESPACE examples.PneumaticManipulator
             Components := _components;
             ProcessData := _processData;
             SUPER.Run(_parent);
+
+            // MoveToWork.Initialize(THIS);
+
         END_METHOD
         ///<summary>
         /// Contains logic of the steps of this sequence
@@ -373,16 +377,24 @@ NAMESPACE examples.PneumaticManipulator
             THIS.SequenceMode := eAxoSequenceMode#RunOnce;
             // This is more verbose but also more versatile way of executing step logic.
             IF (Steps[0].Execute(THIS, TRUE, 'Move vertical cyclinder down.')) THEN
+                //-------------------------------------------------------                  
+                IF (components^.VerticalCylinder.MoveToHome.Invoke().IsDone()) THEN // <- waits for the task to be done.                
+                    THIS.MoveNext(); // <- This will move to the next step in the sequence.                    
+                END_IF;                       
+            //-------------------------------------------------------
+            END_IF;
+
+            IF (Steps[4].Execute(THIS, TRUE, 'This will break down')) THEN
+                //-------------------------------------------------------                    
+                    THIS.MoveNext();                                   
                 //-------------------------------------------------------
-                IF (components^.VerticalCylinder.MoveToHome.Invoke().IsDone()) THEN // <- waits for the task to be done.
-                    THIS.MoveNext(); // <- This will move to the next step in the sequence.
-                END_IF;
-//-------------------------------------------------------
             END_IF;
+
             // This is more concise way of writing steps when we execute only single task.
             THIS.AndThen(Steps[1], components^.GripperCylinder.MoveToHome);
             THIS.AndThen(Steps[2], components^.VerticalCylinder.MoveToHome);
             THIS.AndThen(Steps[3], components^.HorizontalCylinder.MoveToHome);
+
             // This will close the sequence and will return to the first step.
             THIS.Close(Steps[20]);
         END_METHOD