Method ITcCyclicCaller:AddModule
Logs the ITcCyclic interface of a module to a cyclic caller, e.g. a TwinCAT task.
Syntax
virtual HRESULT TCOMAPI
AddModule(STcCyclicEntry* pEntry, ITcCyclic* ipMod, ULONG_PTR
context=0, ULONG sortOrder=0)=0; 
Return value
If successful, S_OK ("0") or another positive value will be returned, cf. Return values. Extended messages refer in particular to the column HRESULT in ADS Return Codes.
The error ADSERR_DEVICE_INVALIDSTATE is returned if the cyclic caller, i.e. the TwinCAT task, is not in the OP state.
Parameter
Name | Type | Description |
|---|---|---|
pEntry | STcCyclicEntry | [in] Pointer to a list item that is inserted into the internal list of the cyclic caller; see also description. |
ipMod | ITcCyclic | [in] Interface pointer used by the cyclic caller. |
context | ULONG_PTR | [optional] A context value that is passed to the ITcCyclic::CycleUpdate() method each time it is called. |
sortOrder | ULONG | [optional] The sort order can be used for controlling the order of execution if various module instances are executed by the same cyclic caller. |
Description
A TwinCAT module class normally uses a Smart Pointer to refer to the cyclic caller type ITcCyclicCallerPtr. The object ID of the task is stored in this Smart Pointer and a reference to the task can be obtained via the TwinCAT object server. In addition, the Smart Pointer class already contains a list item. Therefore the Smart Pointer can be used as the first parameter for the AddModule method.
The following sample code shows the login of the ITcCyclicCaller interface.
RESULT hr =
S_OK;
if ( m_spCyclicCaller.HasOID() ) {
if ( SUCCEEDED_DBG(hr =
m_spSrv->TcQuerySmartObjectInterface(m_spCyclicCaller)) )
{
if ( FAILED(hr =
m_spCyclicCaller->AddModule(m_spCyclicCaller,
THIS_CAST(ITcCyclic))) ) {
m_spCyclicCaller = NULL;
}
}
}