https://pastein.ru/t/cEB
Загрузка данных
METHOD CyclicCall : BOOL;
VAR
END_VAR
IF NOT GVL.aoBusy THEN
RebuildBufferAndLoadStatus();
GVL.aoJobSource := -1;
GVL.aoJobDest := -1;
GVL.candidate := 0;
// 1. Симулируем все активные подвески
IF NOT SimulateAllActive() THEN
RETURN; // ошибка симуляции, перемещения запрещены
END_IF;
// 2. Выбираем лучшего кандидата и даём команду
SelectAndMove();
END_IF;
METHOD SimulateAllActive : BOOL
VAR
a : INT;
i : INT;
END_VAR
// ----------------------------------------------------------------------------
// БЛОК 1: СИНХРОНИЗАЦИЯ ПЛАНОВ С ФИЗИЧЕСКИМ СОСТОЯНИЕМ ЛИНИИ (АЛГОРИТМ Б)
// ----------------------------------------------------------------------------
FOR i := 1 TO 17 DO
IF GVL.vanBusy[i] THEN
GVL.planVatBusyUntil[i] := MAX(GVL.vanEndTime[i], GVL.sysTime);
ELSE
GVL.planVatBusyUntil[i] := GVL.sysTime;
END_IF;
END_FOR;
// ----------------------------------------------------------------------------
// БЛОК 2: КАСКАДНОЕ НАКОПЛЕНИЕ ПЛАНОВ АКТИВНЫХ ПОДВЕСОК
// ----------------------------------------------------------------------------
FOR a := 1 TO 4 DO
IF (GVL.podveskas[a].currentStep >= 0) AND (GVL.podveskas[a].currentPos <> 0) THEN
// Симулируем, но если не получилось – просто пропускаем,
// не прерывая весь цикл и не блокируя остальные подвески
IF EvaluatePodveska(podveska := GVL.podveskas[a]) THEN
FOR i := 1 TO 17 DO
GVL.planVatBusyUntil[i] := MAX(GVL.planVatBusyUntil[i], GVL.podveskas[a].simBusyUntil[i]);
GVL.planVatStartTime[i] := MAX(GVL.planVatStartTime[i], GVL.podveskas[a].simStartTime[i]);
END_FOR;
END_IF;
END_IF;
END_FOR;
// Симуляция всегда завершается успешно, даже если отдельные подвески не прошли проверку.
// Решение о допуске к движению принимает SelectAndMove.
SimulateAllActive := TRUE;
METHOD EvaluatePodveska : BOOL
VAR_IN_OUT
podveska : ST_Podveska;
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;
END_VAR
// Инициализация
podveska.firstVatStartTime := DT#1970-01-01-00:00:00;
// 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;
// Транспорт к ванне
srcIdx := MapToTransitIndex(prevVat);
transitTime := REAL_TO_TIME(PV.transitTimed[srcIdx, vat] * 1000.0);
arrivalTime := arrivalTime + transitTime;
// Технологическое время
IF podveska.processType = E_RouteType.eTin THEN
techTime := TargetVars.recipeTin[step].duration;
ELSE
techTime := TargetVars.recipeSilver[step].duration;
END_IF;
// Время выезда к следующей ванне
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;
// Время старта обработки – строго после полного освобождения ванны
startTime := MAX(arrivalTime, GVL.planVatBusyUntil[vat]);
// Сохраняем время старта для первой ванны
IF podveska.firstVatStartTime = DT#1970-01-01-00:00:00 THEN
podveska.firstVatStartTime := startTime;
END_IF;
endTime := startTime + techTime;
// Заполняем массивы
podveska.simStartTime[vat] := startTime;
podveska.simBusyUntil[vat] := endTime + transitOut;
// Готовим время для следующего шага (без удвоения transit)
arrivalTime := endTime;
prevVat := vat;
step := step + 1;
END_WHILE;
EvaluatePodveska := TRUE; // Всегда TRUE – массивы заполнены
METHOD SelectAndMove : BOOL
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;
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 i := 1 TO 17 DO
GVL.podveskas[podAtPos0].simStartTime[i] := DT#1970-01-01-00:00:00;
GVL.podveskas[podAtPos0].simBusyUntil[i] := 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;
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
// Для старта из буфера/0
EvaluatePodveska(podveska := GVL.podveskas[a]); // всегда TRUE
IF NOT CheckConstraints(podveska := GVL.podveskas[a]) THEN
CanLoadTargetVat := FALSE;
// *** НОВАЯ ЛОГИКА ЭВАКУАЦИИ ***
IF (sourcePos = 0) AND (GVL.podveskas[a].firstVatStartTime > DT#1970-01-02-00:00:00) THEN
IF (GVL.podveskas[a].firstVatStartTime > GVL.sysTime + gvl.maxWait) THEN
// Немедленная эвакуация в буфер
IF Main.bufferHolds[1] = 0 THEN
targetVat := 101;
CanLoadTargetVat := TRUE;
ELSIF Main.bufferHolds[2] = 0 THEN
targetVat := 102;
CanLoadTargetVat := TRUE;
ELSIF Main.bufferHolds[3] = 0 THEN
targetVat := 103;
CanLoadTargetVat := TRUE;
END_IF;
END_IF;
END_IF;
ELSE
// Ограничения пройдены, можно стартовать в линию
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
FOR i := 1 TO 17 DO
savedBusy[i] := GVL.planVatBusyUntil[i];
savedStart[i] := GVL.planVatStartTime[i];
END_FOR;
FOR i := 1 TO 17 DO
GVL.planVatBusyUntil[i] := MAX(GVL.planVatBusyUntil[i], GVL.podveskas[a].simBusyUntil[i]);
GVL.planVatStartTime[i] := MAX(GVL.planVatStartTime[i], GVL.podveskas[a].simStartTime[i]);
END_FOR;
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;
FOR i := 1 TO 17 DO
GVL.planVatBusyUntil[i] := savedBusy[i];
GVL.planVatStartTime[i] := savedStart[i];
END_FOR;
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 i := 1 TO 17 DO
GVL.planVatBusyUntil[i] := MAX(GVL.planVatBusyUntil[i], GVL.podveskas[GVL.candidate].simBusyUntil[i]);
GVL.planVatStartTime[i] := MAX(GVL.planVatStartTime[i], GVL.podveskas[GVL.candidate].simStartTime[i]);
END_FOR;
GVL.aoBusy := TRUE;
END_IF;
SelectAndMove := TRUE;
