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Operator Overloading in TwinCAT using OOP
Introduction
Operator overloading can somewhat be achieved in TwinCAT/Codesys systems through Object-Oriented Programming (OOP). Before we dive into practical examples, let's grasp the fundamental concept of operator overloading and understand how it seamlessly integrates with interfaces.
What is Operator Overloading?
In the realm of programming, operator overloading allows us to redefine the behavior of operators for custom data types. Instead of adhering strictly to their predefined operations, operators can be customised to work with user-defined types, enhancing the expressiveness and flexibility of your code.
Leveraging Interfaces for Operator Overloading
In TwinCAT/Codesys, the synergy of operator overloading and Object-Oriented Programming (OOP) comes to life through the strategic use of interfaces. Interfaces serve as blueprints for classes, defining a set of methods that implementing classes must adhere to. This modularity not only enhances code organisation but also facilitates the powerful concept of functional interfaces.
Functional Interfaces: Enhancing Flexibility
Functional interfaces play a pivotal role in our exploration. These interfaces focus on a specific functionality, in our case, operator overloading. By designing interfaces such as I_Operator and I_Object, we create a structured foundation for overloading basic arithmetic operators. This ensures that our classes adhere to a consistent and standardised interface, promoting code clarity and reusability.
Overloading Arithmetic Operators: Designing Functional Interfaces
Building upon our foundation, let's craft functional interfaces for overloading arithmetic operators in TwinCAT/Codesys. Each interface encapsulates a specific operation, ensuring a clear and modular design.
Functional Interfaces to Overload
INTERFACE I_Object EXTENDS __SYSTEM.IQueryInterface
INTERFACE I_Operator EXTENDS I_Object
INTERFACE I_Addition EXTENDS I_Operator METHOD Plus : I_Addition VAR_INPUT ipObject : I_Object; END_VAR VAR_OUTPUT e : E_Error; END_VAR
INTERFACE I_Subtraction EXTENDS I_Operator METHOD Minus : I_Subtraction VAR_INPUT ipObject : I_Object; END_VAR VAR_OUTPUT e : E_Error; END_VAR
INTERFACE I_Multiplication EXTENDS I_Operator METHOD Times : I_Multiplication VAR_INPUT ipObject : I_Object; END_VAR VAR_OUTPUT e : E_Error; END_VAR
INTERFACE I_Division EXTENDS I_Operator METHOD DivideBy : I_Division VAR_INPUT ipObject : I_Object; END_VAR VAR_OUTPUT e : E_Error; END_VAR
These interfaces provide a standardised structure for implementing classes to define their behavior during addition, subtraction, multiplication, and division operations. Let's now illustrate these principles with a concrete example involving numeric interfaces.
Example: Scalars and Vectors
To bring the theoretical concepts into practical application, let's consider the I_Scalar and I_Vector interfaces, representing scalar and vector entities, and their respective implementations in FB_Scalar and FB_Vector.
Scalar Interface Implementation (FB_Scalar):
The FB_Scalar function block implements the I_Scalar interface, defining methods for converting scalar values to different data types and handling potential errors.
INTERFACE I_Scalar EXTENDS I_Object METHOD ToF64 : LREAL VAR_OUTPUT e : E_Error; END_VAR METHOD ToI64 : LINT VAR_OUTPUT e : E_Error; END_VAR METHOD ToU8 : BYTE VAR_OUTPUT e : E_Error; END_VAR
{attribute 'no_explicit_call' := 'do not call this function block directly'} FUNCTION_BLOCK FB_Scalar IMPLEMENTS I_Scalar, I_Addition, I_Subtraction, I_Multiplication, I_Division VAR _fValue : LREAL; END_VAR ----------------------------------------------------------- METHOD ToF64 : LREAL VAR_OUTPUT e : E_Error; END_VAR ToF64 := THIS^._fValue; IF TO_STRING(THIS^._fValue) = '#NaN' THEN e := E_Error.NaN; ELSIF TO_STRING(THIS^._fValue) = '#Inf' THEN e := E_Error.PositiveInfinity; ELSIF TO_STRING(THIS^._fValue) = '-#Inf' THEN e := E_Error.NegativeInfinity; END_IF ----------------------------------------------------------- METHOD Plus : I_Addition VAR_INPUT ipObject : I_Object; END_VAR VAR_OUTPUT e : E_Error; END_VAR VAR e1, e2 : E_Error; ipNumber : I_Scalar; END_VAR Plus := THIS^; IF NOT __QUERYINTERFACE(ipObject, ipNumber) THEN e := E_Error.TypeMismatch; RETURN; END_IF THIS^._fValue := THIS^.ToF64(e => e1) + ipNumber.ToF64(e => e2); e := MAX(e1, e2); ----------------------------------------------------------- METHOD Times : I_Multiplication VAR_INPUT ipObject : I_Object; END_VAR VAR_OUTPUT e : E_Error; END_VAR VAR e1, e2 : E_Error; ipNumber : I_Scalar; END_VAR Times := THIS^; IF NOT __QUERYINTERFACE(ipObject, ipNumber) THEN e := E_Error.TypeMismatch; RETURN; END_IF THIS^._fValue := THIS^.ToF64(e => e1) * ipNumber.ToF64( e => e2); e := MAX(e1, e2);
Vector Interface Implementation (FB_Vector):
Similarly, the FB_Vector function block implements the I_Vector interface, providing methods for vector operations like addition and multiplication.
INTERFACE I_Vector EXTENDS I_Object METHOD ToArray : ARRAY[0..2] OF LREAL VAR_INPUT END_VAR PROPERTY X : LREAL PROPERTY Y : LREAL PROPERTY Z : LREAL
{attribute 'no_explicit_call' := 'do not call this function block directly'} FUNCTION_BLOCK FB_Vector IMPLEMENTS I_Vector, I_Addition, I_Subtraction, I_Multiplication VAR _fX, _fY, _fZ : LREAL; END_VAR ----------------------------------------------------------- METHOD Plus : I_Addition VAR_INPUT ipObject : I_Object; END_VAR VAR_OUTPUT e : E_Error; END_VAR VAR ipVector : I_Vector; END_VAR Plus := THIS^; IF NOT __QUERYINTERFACE(ipObject, ipVector) THEN e := E_Error.TypeMismatch; RETURN; END_IF THIS^._fX := THIS^._fX + ipVector.X; THIS^._fY := THIS^._fY + ipVector.Y; THIS^._fZ := THIS^._fZ + ipVector.Z; ----------------------------------------------------------- METHOD Times : I_Multiplication VAR_INPUT ipObject : I_Object; END_VAR VAR_OUTPUT e : E_Error; END_VAR VAR ipNumber : I_Scalar; ipVector : I_Vector; TmpX, TmpY, TmpZ : LREAL; END_VAR Times := THIS^; // Scale vector. IF __QUERYINTERFACE(ipObject, ipNumber) THEN THIS^.SetValue( THIS^._fX * ipNumber.ToF64(), THIS^._fY * ipNumber.ToF64(), THIS^._fZ * ipNumber.ToF64()); RETURN; END_IF // Do the cross-product. IF __QUERYINTERFACE(ipObject, ipVector) THEN TmpX := THIS^._fX; TmpY := THIS^._fY; TmpZ := THIS^._fZ; THIS^.SetValue( (TmpY*ipVector.Z) - (TmpZ*ipVector.Y), (TmpZ*ipVector.X) - (TmpX*ipVector.Y), (TmpX*ipVector.Y) - (TmpY*ipVector.X)); RETURN; END_IF e := E_Error.TypeMismatch;
Main Program Implementation:
Now, let's integrate these function blocks into a main program to showcase the practical usage of operator overloading with Scalars and Vectors.
PROGRAM MAIN VAR bDoubleSquareScal, bAddVec, bCrossProd, bScaleVec: BOOL; eError : E_Error; fbScalar : FB_Scalar(2.2); fbVec1 : FB_Vector(1,2,3); fbVec2 : FB_Vector(3,2,1); END_VAR ============================================================ IF bDoubleSquareScal THEN bDoubleSquareScal := FALSE; fbScalar.Times(fbScalar.Plus(fbScalar)); END_IF IF bAddVec THEN bAddVec := FALSE; fbVec1.Plus(fbVec2); END_IF IF bCrossProd THEN bCrossProd := FALSE; fbVec1.Times(fbVec2); END_IF IF bScaleVec THEN bScaleVec := FALSE; fbVec1.Times(fbScalar); END_IF
Conclusion
Developers can utilize these concepts and implementations to enhance code expressiveness and flexibility in their projects.
@fisothemes Excellent and very well documented! Thank you for sharing!
In case you want to say thank you !)
We'd be very grateful if you could share this community with your colleagues and friends. You can also buy us a coffee to keep us fueled 😊 This is the best way to say thank you to this project and support your community.
twinControls - https://twincontrols.com/
No worries, there are lots of helpful topics in this community that helped me so I wanted to share somethings.
Might delve deeper into functional interfaces and how we can use them to mimic lambda functions in TwinCAT/Codesys, since lambda functions in most OOP langs are just classes with 1 method and we have those in our platforms.
Here's a little preview of an alarm management system design that is inspired by Java Streams
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