https://pastein.ru/t/bmB
Загрузка данных
проанализируйте логику почему при старте линии подвески не уходят в работу:
METHOD CyclicCall
VAR
localVatBusyUntil : ARRAY[1..17] OF DT;
localVatStartTime : ARRAY[1..17] OF DT;
i : INT;
a : INT;
step : INT;
vat : INT;
allEvacuated : BOOL;
END_VAR
// ============================================================
// Однократная инициализация (firstScan – VAR_STAT в FB)
// ============================================================
IF gvl.firstScan THEN
IF GVL.vanBusy[i] THEN
localVatBusyUntil[i] := MAX(GVL.vanEndTime[i], GVL.sysTime);
localVatStartTime[i] := GVL.sysTime;
ELSE
localVatBusyUntil[i] := GVL.sysTime; // явно, без MAX
localVatStartTime[i] := DT#1970-01-01-00:00:00;
END_IF;
GVL.loadPosBusy := FALSE;
FOR a := 1 TO 4 DO
IF GVL.podveskas[a].currentPos = 0 THEN
GVL.loadPosBusy := TRUE;
EXIT;
END_IF
END_FOR
FOR a := 1 TO 4 DO
IF (GVL.podveskas[a].currentPos >= 101 AND GVL.podveskas[a].currentPos <= 103) THEN
GVL.podveskas[a].bufferEntryTime := GVL.sysTime;
END_IF
END_FOR
RebuildBufferAndLoadStatus();
GVL.aoJobSource := -1;
GVL.aoJobDest := -1;
gvl.firstScan := FALSE;
END_IF
// ============================================================
// Обработка кнопки Reset
// ============================================================
IF GVL.Reset THEN
GVL.Reset := FALSE;
GVL.resetActive := TRUE;
FOR a := 1 TO 4 DO
IF GVL.podveskas[a].currentStep >= 0 THEN
GVL.podveskas[a].currentStep := -1;
GVL.podveskas[a].xLoaded := FALSE;
GVL.podveskas[a].xUnloaded := FALSE;
END_IF
END_FOR
RebuildBufferAndLoadStatus();
END_IF
IF GVL.resetActive THEN
allEvacuated := TRUE;
FOR a := 1 TO 4 DO
IF NOT ((GVL.podveskas[a].currentPos = 0) OR
(GVL.podveskas[a].currentPos >= 101 AND GVL.podveskas[a].currentPos <= 103)) THEN
allEvacuated := FALSE;
EXIT;
END_IF
END_FOR
IF allEvacuated THEN
GVL.resetActive := FALSE;
END_IF
END_IF
// ============================================================
// Основной блок – только когда автооператор свободен
// ============================================================
IF NOT GVL.aoBusy THEN
RebuildBufferAndLoadStatus();
GVL.aoJobSource := -1;
GVL.aoJobDest := -1;
GVL.candidate := 0;
// 1. Инициализация локальных массивов (только физическое состояние)
FOR i := 1 TO 17 DO
IF GVL.vanBusy[i] THEN
localVatBusyUntil[i] := MAX(GVL.vanEndTime[i], GVL.sysTime);
localVatStartTime[i] := GVL.sysTime;
ELSE
localVatBusyUntil[i] := GVL.sysTime;
localVatStartTime[i] := DT#1970-01-01-00:00:00;
END_IF;
END_FOR;
// 2. Последовательная симуляция активных подвесок (currentPos > 0)
// с немедленным обновлением локального массива
FOR a := 1 TO 4 DO
IF (GVL.podveskas[a].currentStep >= 0) AND
(GVL.podveskas[a].currentPos > 0) THEN
EvaluatePodveska(podveska := GVL.podveskas[a],
localVatBusyUntil := localVatBusyUntil,
localVatStartTime := localVatStartTime);
FOR step := GVL.podveskas[a].currentStep + 1 TO 14 DO
vat := GetVatFromRecipe(GVL.podveskas[a].processType, step);
IF vat > 0 THEN
IF GVL.podveskas[a].simBusyUntil[step] > DT#1970-01-02-00:00:00 THEN
localVatBusyUntil[vat] := MAX(localVatBusyUntil[vat], GVL.podveskas[a].simBusyUntil[step]);
IF GVL.podveskas[a].simStartTime[step] > DT#1970-01-02-00:00:00 THEN
localVatStartTime[vat] := MAX(localVatStartTime[vat], GVL.podveskas[a].simStartTime[step]);
END_IF;
END_IF;
END_IF;
END_FOR;
END_IF;
END_FOR;
// 3. Выбор кандидата и запуск движения
SelectAndMove(localVatBusyUntil := localVatBusyUntil,
localVatStartTime := localVatStartTime);
END_IF;
METHOD EvaluatePodveska : BOOL
VAR_IN_OUT
podveska : ST_Podveska;
END_VAR
VAR_INPUT
localVatBusyUntil : ARRAY[1..17] OF DT;
localVatStartTime : ARRAY[1..17] OF DT;
END_VAR
VAR
arrivalTime : DT;
prevVat : INT;
step : INT;
vat : INT;
techTime : TIME;
transitTime : TIME;
transitOut : TIME;
startTime : DT;
endTime : DT;
maxWait : TIME := gvl.maxWait;
nextVat : INT;
srcIdx : INT;
clearStep : INT;
intersection : BOOL;
END_VAR
podveska.firstVatStartTime := DT#1970-01-01-00:00:00;
// Сброс данных для уже пройденных шагов (индексация по шагам)
IF podveska.currentStep >= 0 THEN
FOR clearStep := 1 TO podveska.currentStep DO
podveska.simStartTime[clearStep] := DT#1970-01-01-00:00:00;
podveska.simArrivalTime[clearStep] := DT#1970-01-01-00:00:00;
podveska.simBusyUntil[clearStep] := DT#1970-01-01-00:00:00;
END_FOR;
END_IF;
// Начальный момент времени
IF (podveska.currentStep >= 0) AND (podveska.currentPos >= 1) AND (podveska.currentPos <= 17) THEN
arrivalTime := MAX(GVL.sysTime, GVL.vanEndTime[podveska.currentPos]);
ELSE
arrivalTime := GVL.sysTime;
END_IF;
prevVat := podveska.currentPos;
step := podveska.currentStep + 1;
WHILE step <= 14 DO
vat := GetVatFromRecipe(podveska.processType, step);
IF vat = 0 THEN EXIT; END_IF;
srcIdx := MapToTransitIndex(prevVat);
transitTime := REAL_TO_TIME(PV.transitTimed[srcIdx, vat] * 1000.0);
arrivalTime := arrivalTime + transitTime;
// Сохраняем время прибытия для этого ШАГА
podveska.simArrivalTime[step] := arrivalTime;
IF podveska.processType = E_RouteType.eTin THEN
techTime := TargetVars.recipeTin[step].duration;
ELSE
techTime := TargetVars.recipeSilver[step].duration;
END_IF;
IF step < 14 THEN
nextVat := GetVatFromRecipe(podveska.processType, step + 1);
IF nextVat <> 0 THEN
transitOut := REAL_TO_TIME(PV.transitTimed[vat, nextVat] * 1000.0);
ELSE
transitOut := T#0s;
END_IF;
ELSE
transitOut := T#0s;
END_IF;
// Проверка пересечения окон (используем номер ванны vat для доступа к локальным массивам)
intersection := FALSE;
IF (localVatStartTime[vat] > DT#1970-01-02-00:00:00) AND
(localVatBusyUntil[vat] > GVL.sysTime) THEN
IF (arrivalTime < localVatBusyUntil[vat]) AND
((arrivalTime + techTime + transitOut) > localVatStartTime[vat]) THEN
intersection := TRUE;
END_IF;
END_IF;
IF intersection THEN
startTime := MAX(arrivalTime, localVatBusyUntil[vat]);
ELSE
startTime := arrivalTime;
END_IF;
IF (step = podveska.currentStep + 1) AND (podveska.firstVatStartTime = DT#1970-01-01-00:00:00) THEN
podveska.firstVatStartTime := startTime;
END_IF;
endTime := startTime + techTime;
// Запись в массивы по ИНДЕКСУ ШАГА
podveska.simStartTime[step] := startTime;
podveska.simBusyUntil[step] := endTime + transitOut;
// Готовим arrivalTime для следующего шага
arrivalTime := endTime;
prevVat := vat;
step := step + 1;
END_WHILE;
EvaluatePodveska := TRUE;
METHOD CheckConstraints : BOOL
VAR_IN_OUT
podveska : ST_Podveska;
END_VAR
VAR_INPUT
localVatBusyUntil : ARRAY[1..17] OF DT;
localVatStartTime : ARRAY[1..17] OF DT;
END_VAR
VAR
step : INT;
startTime : DT;
arrivalTime : DT;
waitTime : TIME;
maxWait : TIME := gvl.maxWait;
lrealStart : LREAL;
lrealArrival : LREAL;
END_VAR
step := podveska.currentStep + 1;
WHILE step <= 14 DO
startTime := podveska.simStartTime[step];
arrivalTime := podveska.simArrivalTime[step];
// План должен быть заполнен
IF (startTime <= DT#1970-01-02-00:00:00) OR (arrivalTime <= DT#1970-01-02-00:00:00) THEN
CheckConstraints := FALSE;
RETURN;
END_IF;
lrealStart := DT_TO_LREAL(startTime);
lrealArrival := DT_TO_LREAL(arrivalTime);
waitTime := LREAL_TO_TIME((lrealStart - lrealArrival) * 1000.0);
IF waitTime > maxWait THEN
CheckConstraints := FALSE;
RETURN;
END_IF;
step := step + 1;
END_WHILE;
CheckConstraints := TRUE;
METHOD SelectAndMove : BOOL
VAR_INPUT
localVatBusyUntil : ARRAY[1..17] OF DT;
localVatStartTime : ARRAY[1..17] OF DT;
END_VAR
VAR
i : INT;
a : INT;
a2 : INT;
podAtPos0 : INT;
bestIdx : INT;
bestTime : DT;
sourcePos : INT;
route : E_RouteType;
curStep : INT;
expectedVat : INT;
targetVat : INT;
firstVat : INT;
GetTargetVatForPodveska : INT;
IsPodveskaReadyToUnload : BOOL;
CanLoadTargetVat : BOOL;
prio : INT;
highestPrio : INT;
candidateLocal : INT;
aoJobSourceLocal : INT;
aoJobDestLocal : INT;
savedBusy : ARRAY[1..17] OF DT;
savedStart : ARRAY[1..17] OF DT;
evacuateCandidate : BOOL;
evacuateLeader : BOOL;
step : INT;
vat : INT;
END_VAR
highestPrio := -201;
candidateLocal := 0;
aoJobSourceLocal := -1;
aoJobDestLocal := -1;
evacuateLeader := FALSE;
// ---------- Обработка кнопок "Загружена" / "Разгружена" ----------
IF NOT GVL.resetActive THEN
podAtPos0 := 0;
FOR a := 1 TO 4 DO
IF GVL.podveskas[a].currentPos = 0 THEN
podAtPos0 := a;
EXIT;
END_IF
END_FOR
IF podAtPos0 > 0 THEN
// ----- На позиции 0 уже стоит подвеска -----
IF GVL.PodLoaded AND (GVL.podveskas[podAtPos0].currentStep = -1) THEN
IF (Control_HMI.processType = E_RouteType.eTin) OR
(Control_HMI.processType = E_RouteType.eSilver) THEN
GVL.podveskas[podAtPos0].processType := Control_HMI.processType;
GVL.podveskas[podAtPos0].xLoaded := TRUE;
GVL.podveskas[podAtPos0].xUnloaded := FALSE;
GVL.podveskas[podAtPos0].currentStep := 0;
GVL.PodLoaded := FALSE;
GVL.BtnLoaded_Sn_push := FALSE;
GVL.BtnLoaded_Ag_push := FALSE;
// Очищаем старые планы перед новой симуляцией
FOR step := 1 TO 14 DO
GVL.podveskas[podAtPos0].simStartTime[step] := DT#1970-01-01-00:00:00;
GVL.podveskas[podAtPos0].simArrivalTime[step] := DT#1970-01-01-00:00:00;
GVL.podveskas[podAtPos0].simBusyUntil[step] := DT#1970-01-01-00:00:00;
END_FOR;
ELSE
GVL.PodLoaded := FALSE;
END_IF
END_IF
// *** ИЗМЕНЁННАЯ ОБРАБОТКА КНОПКИ "РАЗГРУЖЕНО" ***
IF GVL.PodUnLoaded AND (GVL.podveskas[podAtPos0].currentStep = -1) THEN
GVL.podveskas[podAtPos0].xUnloaded := TRUE;
GVL.podveskas[podAtPos0].xLoaded := FALSE;
GVL.PodUnLoaded := FALSE;
GVL.BtnUnLoaded_push := FALSE;
IF (Main.bufferHolds[1] <> 0) AND (Main.bufferHolds[2] <> 0) AND (Main.bufferHolds[3] <> 0) THEN
IF NOT GVL.vanBusy[1] THEN
GVL.aoJobSource := 0;
GVL.aoJobDest := 1;
GVL.candidate := podAtPos0;
GVL.aoBusy := TRUE;
gvl.AutoLoadFromBuffer := TRUE;
RETURN;
END_IF
END_IF
END_IF
ELSE
// ----- Позиция 0 свободна -----
// *** АВТОМАТИЧЕСКИЙ ВЫЗОВ ПОДВЕСКИ ИЗ БУФЕРА ПОСЛЕ ЭКСТРЕННОЙ РАЗГРУЗКИ ***
IF gvl.AutoLoadFromBuffer THEN
bestIdx := 0;
bestTime := DT#2100-01-01-00:00:00;
FOR a := 1 TO 4 DO
IF (GVL.podveskas[a].currentStep = -1) AND
(GVL.podveskas[a].currentPos >= 101 AND GVL.podveskas[a].currentPos <= 103) THEN
IF (GVL.podveskas[a].bufferEntryTime < bestTime) THEN
bestTime := GVL.podveskas[a].bufferEntryTime;
bestIdx := a;
END_IF
END_IF
END_FOR
IF bestIdx > 0 THEN
GVL.aoJobSource := GVL.podveskas[bestIdx].currentPos;
GVL.aoJobDest := 0;
GVL.candidate := bestIdx;
gvl.AutoLoadFromBuffer := FALSE;
GVL.podveskas[bestIdx].xLoaded := FALSE;
GVL.podveskas[bestIdx].xUnloaded := FALSE;
GVL.aoBusy := TRUE;
RETURN;
ELSE
gvl.AutoLoadFromBuffer := FALSE;
END_IF
END_IF
IF GVL.PodLoaded THEN
bestIdx := 0;
bestTime := DT#2100-01-01-00:00:00;
FOR a := 1 TO 4 DO
IF (GVL.podveskas[a].currentStep = -1) AND
(GVL.podveskas[a].currentPos >= 101 AND GVL.podveskas[a].currentPos <= 103) AND
(NOT GVL.podveskas[a].xUnloaded) THEN
IF (GVL.podveskas[a].bufferEntryTime < bestTime) THEN
bestTime := GVL.podveskas[a].bufferEntryTime;
bestIdx := a;
END_IF
END_IF
END_FOR
IF bestIdx = 0 THEN
FOR a := 1 TO 4 DO
IF (GVL.podveskas[a].currentStep = -1) AND
(GVL.podveskas[a].currentPos >= 101 AND GVL.podveskas[a].currentPos <= 103) THEN
IF (GVL.podveskas[a].bufferEntryTime < bestTime) THEN
bestTime := GVL.podveskas[a].bufferEntryTime;
bestIdx := a;
END_IF
END_IF
END_FOR
END_IF
IF bestIdx > 0 THEN
GVL.aoJobSource := GVL.podveskas[bestIdx].currentPos;
GVL.aoJobDest := 0;
GVL.candidate := bestIdx;
GVL.PodLoaded := FALSE;
GVL.BtnLoaded_Sn_push := FALSE;
GVL.BtnLoaded_Ag_push := FALSE;
GVL.podveskas[bestIdx].xLoaded := FALSE;
GVL.podveskas[bestIdx].xUnloaded := FALSE;
GVL.aoBusy := TRUE;
RETURN;
ELSE
GVL.PodLoaded := FALSE;
GVL.BtnLoaded_Sn_push := FALSE;
GVL.BtnLoaded_Ag_push := FALSE;
END_IF
END_IF
END_IF
END_IF
// ---------- Основной цикл выбора победителя ----------
FOR a := 1 TO 4 DO
evacuateCandidate := FALSE;
sourcePos := GVL.podveskas[a].currentPos;
route := GVL.podveskas[a].processType;
curStep := GVL.podveskas[a].currentStep;
IF GVL.podveskas[a].xWaitingInBuffer THEN
EvaluatePodveska(podveska := GVL.podveskas[a],
localVatBusyUntil := localVatBusyUntil,
localVatStartTime := localVatStartTime);
IF CheckConstraints(podveska := GVL.podveskas[a],
localVatBusyUntil := localVatBusyUntil,
localVatStartTime := localVatStartTime) THEN
GVL.podveskas[a].xWaitingInBuffer := FALSE;
// Бронируем ванны
FOR step := GVL.podveskas[a].currentStep + 1 TO 14 DO
vat := GetVatFromRecipe(GVL.podveskas[a].processType, step);
IF vat > 0 THEN
IF GVL.podveskas[a].simBusyUntil[step] > DT#1970-01-02-00:00:00 THEN
localVatBusyUntil[vat] := MAX(localVatBusyUntil[vat], GVL.podveskas[a].simBusyUntil[step]);
IF GVL.podveskas[a].simStartTime[step] > DT#1970-01-02-00:00:00 THEN
localVatStartTime[vat] := MAX(localVatStartTime[vat], GVL.podveskas[a].simStartTime[step]);
END_IF;
END_IF;
END_IF;
END_FOR;
// *** НЕМЕДЛЕННЫЙ ЗАПУСК ***
GVL.aoJobSource := GVL.podveskas[a].currentPos;
GVL.aoJobDest := targetVat;
GVL.candidate := a;
GVL.aoBusy := TRUE;
SelectAndMove := TRUE;
RETURN;
ELSE
CONTINUE;
END_IF;
END_IF;
expectedVat := GetVatFromRecipe(route, curStep);
GetTargetVatForPodveska := 0;
IF curStep >= 0 AND curStep <= 13 THEN
CASE route OF
E_RouteType.eTin:
GetTargetVatForPodveska := TargetVars.recipeTin[curStep + 1].vatNo;
E_RouteType.eSilver:
GetTargetVatForPodveska := TargetVars.recipeSilver[curStep + 1].vatNo;
END_CASE
END_IF
targetVat := GetTargetVatForPodveska;
// ---------- Логика для завершённых подвесок ----------
IF curStep < 0 THEN
IF sourcePos = 0 THEN
IF GVL.podveskas[a].xUnloaded THEN
IF Main.bufferHolds[1] = 0 THEN
targetVat := 101;
IsPodveskaReadyToUnload := TRUE;
ELSIF Main.bufferHolds[2] = 0 THEN
targetVat := 102;
IsPodveskaReadyToUnload := TRUE;
ELSIF Main.bufferHolds[3] = 0 THEN
targetVat := 103;
IsPodveskaReadyToUnload := TRUE;
ELSE
IF NOT GVL.vanBusy[1] THEN
bestIdx := 0;
bestTime := DT#2100-01-01-00:00:00;
FOR a2 := 1 TO 4 DO
IF (GVL.podveskas[a2].currentStep = -1) AND
(GVL.podveskas[a2].currentPos >= 101 AND GVL.podveskas[a2].currentPos <= 103) THEN
IF (GVL.podveskas[a2].bufferEntryTime < bestTime) THEN
bestTime := GVL.podveskas[a2].bufferEntryTime;
bestIdx := a2;
END_IF
END_IF
END_FOR
IF bestIdx > 0 THEN
candidateLocal := bestIdx;
aoJobSourceLocal := GVL.podveskas[bestIdx].currentPos;
aoJobDestLocal := 1;
evacuateLeader := FALSE;
EXIT;
END_IF
END_IF
IsPodveskaReadyToUnload := FALSE;
END_IF
ELSE
IsPodveskaReadyToUnload := FALSE;
CONTINUE;
END_IF
ELSIF sourcePos >= 101 AND sourcePos <= 103 THEN
CONTINUE;
ELSIF sourcePos >= 1 AND sourcePos <= 17 THEN
IsPodveskaReadyToUnload := TRUE;
IF Main.bufferHolds[1] = 0 THEN
targetVat := 101;
ELSIF Main.bufferHolds[2] = 0 THEN
targetVat := 102;
ELSIF Main.bufferHolds[3] = 0 THEN
targetVat := 103;
ELSIF NOT GVL.loadPosBusy THEN
targetVat := 0;
ELSE
targetVat := -1;
END_IF
ELSE
CONTINUE;
END_IF
ELSE
IsPodveskaReadyToUnload := FALSE;
IF sourcePos = 0 OR (sourcePos >= 101 AND sourcePos <= 103) THEN
IsPodveskaReadyToUnload := TRUE;
END_IF
IF sourcePos >= 1 AND sourcePos <= 17 THEN
IF sourcePos <> expectedVat THEN
IsPodveskaReadyToUnload := FALSE;
END_IF
IF GVL.vanEndTime[sourcePos] < GVL.sysTime THEN
IsPodveskaReadyToUnload := TRUE;
END_IF
IF (sourcePos = 4 OR sourcePos = 8 OR sourcePos = 13 OR sourcePos = 16) AND GVL.vanBusy[sourcePos - 1] THEN
IsPodveskaReadyToUnload := FALSE;
END_IF
END_IF
END_IF
IF IsPodveskaReadyToUnload THEN
IF targetVat < 0 THEN
CanLoadTargetVat := FALSE;
ELSIF targetVat = 0 THEN
CanLoadTargetVat := (NOT GVL.loadPosBusy);
ELSIF targetVat >= 1 AND targetVat <= 17 THEN
IF (sourcePos = 0) OR (sourcePos >= 101 AND sourcePos <= 103) THEN
EvaluatePodveska(podveska := GVL.podveskas[a],
localVatBusyUntil := localVatBusyUntil,
localVatStartTime := localVatStartTime);
IF NOT CheckConstraints(podveska := GVL.podveskas[a],
localVatBusyUntil := localVatBusyUntil,
localVatStartTime := localVatStartTime) THEN
CanLoadTargetVat := FALSE;
// *** ЭВАКУАЦИЯ В БУФЕР ДЛЯ ЗАГРУЖЕННЫХ ПОДВЕСОК С ПОЗИЦИИ 0 ***
IF (sourcePos = 0) AND (GVL.podveskas[a].xLoaded) THEN
IF Main.bufferHolds[1] = 0 THEN
GVL.aoJobSource := 0;
GVL.aoJobDest := 101;
GVL.candidate := a;
GVL.podveskas[a].xWaitingInBuffer := TRUE;
GVL.aoBusy := TRUE;
RETURN;
ELSIF Main.bufferHolds[2] = 0 THEN
GVL.aoJobSource := 0;
GVL.aoJobDest := 102;
GVL.candidate := a;
GVL.podveskas[a].xWaitingInBuffer := TRUE;
GVL.aoBusy := TRUE;
RETURN;
ELSIF Main.bufferHolds[3] = 0 THEN
GVL.aoJobSource := 0;
GVL.aoJobDest := 103;
GVL.candidate := a;
GVL.podveskas[a].xWaitingInBuffer := TRUE;
GVL.aoBusy := TRUE;
RETURN;
END_IF;
END_IF;
ELSE
CanLoadTargetVat := NOT GVL.vanBusy[targetVat];
END_IF;
ELSE
CanLoadTargetVat := NOT GVL.vanBusy[targetVat];
END_IF;
ELSIF targetVat >= 101 AND targetVat <= 103 THEN
CanLoadTargetVat := (Main.bufferHolds[targetVat - 100] = 0);
ELSE
CanLoadTargetVat := FALSE;
END_IF
IF (sourcePos >= 1 AND sourcePos <= 17) AND (curStep >= 0) AND (targetVat = 0) AND (NOT CanLoadTargetVat) THEN
IF Main.bufferHolds[1] = 0 THEN
targetVat := 101;
CanLoadTargetVat := TRUE;
evacuateCandidate := TRUE;
ELSIF Main.bufferHolds[2] = 0 THEN
targetVat := 102;
CanLoadTargetVat := TRUE;
evacuateCandidate := TRUE;
ELSIF Main.bufferHolds[3] = 0 THEN
targetVat := 103;
CanLoadTargetVat := TRUE;
evacuateCandidate := TRUE;
END_IF
END_IF
IF CanLoadTargetVat THEN
// Для успешных подвесок с currentPos > 0 фиксируем их планы в локальном массиве
IF GVL.podveskas[a].currentPos > 0 THEN
FOR step := GVL.podveskas[a].currentStep + 1 TO 14 DO
vat := GetVatFromRecipe(GVL.podveskas[a].processType, step);
IF vat > 0 THEN
IF GVL.podveskas[a].simBusyUntil[step] > DT#1970-01-02-00:00:00 THEN
localVatBusyUntil[vat] := MAX(localVatBusyUntil[vat], GVL.podveskas[a].simBusyUntil[step]);
IF GVL.podveskas[a].simStartTime[step] > DT#1970-01-02-00:00:00 THEN
localVatStartTime[vat] := MAX(localVatStartTime[vat], GVL.podveskas[a].simStartTime[step]);
END_IF;
END_IF;
END_IF;
END_FOR;
END_IF;
prio := 0;
IF (route = E_RouteType.eTin AND curStep = 8 AND sourcePos = 10) OR
(route = E_RouteType.eSilver AND curStep = 8 AND sourcePos = 6) THEN
prio := prio + 1000;
END_IF
IF sourcePos >= 1 AND sourcePos <= 17 AND curStep > 0 THEN
prio := prio + ULINT_TO_INT(TIME_TO_ULINT(GVL.sysTime - GVL.vanEndTime[sourcePos]) / 1000);
END_IF
IF (route = E_RouteType.eTin AND targetVat = 11) OR
(route = E_RouteType.eSilver AND targetVat = 5) THEN
prio := prio + 500;
END_IF
IF ((sourcePos = 0) OR (sourcePos >= 101 AND sourcePos <= 103)) AND (curStep >= 0) THEN
prio := prio + 700;
END_IF
IF sourcePos >= 101 AND sourcePos <= 103 THEN
prio := prio - 200;
prio := prio + ULINT_TO_INT(TIME_TO_ULINT(GVL.sysTime - GVL.podveskas[a].bufferEntryTime) / 1000);
END_IF
IF (sourcePos = 3 OR sourcePos = 7 OR sourcePos = 12 OR sourcePos = 15) THEN
IF GVL.vanBusy[sourcePos + 1] THEN
prio := prio + 600;
END_IF
END_IF
IF (curStep < 0) AND (sourcePos = 0) THEN
prio := prio + 2600;
END_IF
IF (curStep < 0) AND (sourcePos >= 1 AND sourcePos <= 17) THEN
prio := prio + 2500;
END_IF
IF GVL.resetActive AND (curStep < 0) AND (sourcePos >= 1 AND sourcePos <= 17) THEN
prio := prio + 3000;
END_IF
gvl.testPrio[a] := prio;
IF prio > highestPrio THEN
highestPrio := prio;
candidateLocal := a;
aoJobSourceLocal := sourcePos;
aoJobDestLocal := targetVat;
evacuateLeader := evacuateCandidate;
END_IF;
END_IF
END_IF
END_FOR
// ----------------------------------------------------------
// Запуск движения для выбранного кандидата
// ----------------------------------------------------------
IF candidateLocal > 0 THEN
GVL.candidate := candidateLocal;
GVL.aoJobSource := aoJobSourceLocal;
GVL.aoJobDest := aoJobDestLocal;
IF evacuateLeader THEN
GVL.podveskas[GVL.candidate].currentStep := -1;
GVL.podveskas[GVL.candidate].xLoaded := FALSE;
END_IF;
FOR step := GVL.podveskas[GVL.candidate].currentStep + 1 TO 14 DO
vat := GetVatFromRecipe(GVL.podveskas[GVL.candidate].processType, step);
IF vat > 0 THEN
IF GVL.podveskas[GVL.candidate].simBusyUntil[step] > DT#1970-01-02-00:00:00 THEN
localVatBusyUntil[vat] := MAX(localVatBusyUntil[vat], GVL.podveskas[GVL.candidate].simBusyUntil[step]);
IF GVL.podveskas[GVL.candidate].simStartTime[step] > DT#1970-01-02-00:00:00 THEN
localVatStartTime[vat] := MAX(localVatStartTime[vat], GVL.podveskas[GVL.candidate].simStartTime[step]);
END_IF;
END_IF;
END_IF;
END_FOR;
GVL.aoBusy := TRUE;
END_IF;
SelectAndMove := TRUE;