https://pastein.ru/t/cQA
Загрузка данных
// ============================================================
// Синхронизация планового времени освобождения ванн
// ============================================================
FOR i := 1 TO 17 DO
IF GVL.vanBusy[i] THEN
GVL.planVatFreeTime[i] := MAX(GVL.planVatFreeTime[i],
MAX(GVL.vanEndTime[i] + GVL.vanTransitOut[i],
GVL.sysTime + REAL_TO_TIME(PV.transitTimed[MapToTransitIndex(GVL.aoPosition), i] * 1000.0)));
ELSE
GVL.planVatFreeTime[i] := MAX(GVL.planVatFreeTime[i], GVL.sysTime);
END_IF
END_FOR
// ============================================================
// Однократная инициализация (firstScan – VAR_STAT в FB)
// ============================================================
IF gvl.firstScan THEN
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 AND NOT GVL.aoParkBusy THEN
// Сброс переменных задания перед каждым поиском
RebuildBufferAndLoadStatus();
GVL.aoJobSource := -1;
GVL.aoJobDest := -1;
GVL.candidate := 0;
// ---------- 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;
route := GVL.podveskas[podAtPos0].processType;
firstVat := GetVatFromRecipe(route, 1);
IF firstVat > 0 THEN
IF (NOT GVL.vanBusy[firstVat]) AND
EvaluatePodveska(route := route,
curStep := 0,
sourcePos := 0,
commit := FALSE) THEN
// Немедленный старт в линию
EvaluatePodveska(route := route,
curStep := 0,
sourcePos := 0,
commit := TRUE);
GVL.aoJobSource := 0;
GVL.aoJobDest := firstVat;
GVL.candidate := podAtPos0;
GVL.aoBusy := TRUE;
RETURN;
ELSE
// Отправляем в буфер
IF Main.bufferHolds[1] = 0 THEN
GVL.aoJobDest := 101;
ELSIF Main.bufferHolds[2] = 0 THEN
GVL.aoJobDest := 102;
ELSIF Main.bufferHolds[3] = 0 THEN
GVL.aoJobDest := 103;
ELSE
GVL.aoJobDest := -1;
END_IF
IF GVL.aoJobDest > 0 THEN
GVL.aoJobSource := 0;
GVL.candidate := podAtPos0;
GVL.aoBusy := TRUE;
RETURN;
END_IF
END_IF
END_IF
ELSE
GVL.PodLoaded := FALSE;
END_IF
END_IF
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;
END_IF
ELSE
// ----- Позиция 0 свободна -----
IF GVL.PodLoaded THEN
bestIdx := 0;
bestTime := DT#2100-01-01-00:00:00;
// Первый проход: ищем подвески с xUnloaded = FALSE (готовые к загрузке)
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
// Если не нашли готовых к загрузке, берём любую завершённую (xUnloaded = TRUE)
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;
// Сбрасываем флаги: теперь подвеска будет считаться «пустой и вызванной»
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 подвески ----------
highestPrio := -201;
candidateLocal := 0;
aoJobSourceLocal := -1;
aoJobDestLocal := -1;
evacuateLeader := FALSE; // сброс для победителя
FOR a := 1 TO 4 DO
// *** СБРОС ФЛАГА ЭВАКУАЦИИ ДЛЯ КАЖДОЙ ИТЕРАЦИИ ***
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
// *** ИСПРАВЛЕНО: проверяем конкретный буфер ***
IF NOT GVL.vanBusy[1] THEN
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
GVL.vanBusy[1] := TRUE;
GVL.vanEndTime[1] := DT#1970-01-01-00:00:00;
GVL.aoJobSource := GVL.podveskas[a2].currentPos;
GVL.aoJobDest := 1;
GVL.candidate := a2;
GVL.aoBusy := TRUE;
RETURN;
END_IF
END_FOR
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
// ---------- Проверка готовности активной подвески ----------
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
// Проверка доступности целевой позиции
IF targetVat < 0 THEN
CanLoadTargetVat := FALSE;
ELSIF targetVat = 0 THEN
CanLoadTargetVat := (NOT GVL.loadPosBusy);
ELSIF targetVat >= 1 AND targetVat <= 17 THEN
CanLoadTargetVat := NOT GVL.vanBusy[targetVat];
ELSIF targetVat >= 101 AND targetVat <= 103 THEN
CanLoadTargetVat := (Main.bufferHolds[targetVat - 100] = 0);
ELSE
CanLoadTargetVat := FALSE;
END_IF
IF ((sourcePos = 0) OR (sourcePos >= 101 AND sourcePos <= 103)) AND (curStep >= 0) THEN
IF NOT EvaluatePodveska(route := route,
curStep := curStep,
sourcePos := sourcePos,
commit := FALSE) THEN
CanLoadTargetVat := FALSE;
END_IF
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; // откладываем изменение статуса
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 (sourcePos = 0) AND (curStep >= 0) AND (NOT CanLoadTargetVat) THEN
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;
ELSE
CanLoadTargetVat := FALSE;
END_IF
END_IF
IF CanLoadTargetVat THEN
// --- ВРЕМЕННАЯ ФИКСАЦИЯ ПЛАНА ДЛЯ ЭТОЙ ПОДВЕСКИ ---
// 1. Сохраняем текущий глобальный план
FOR i := 1 TO 17 DO
savedPlan[i] := GVL.planVatFreeTime[i];
END_FOR;
// 2. Пробуем зафиксировать маршрут этой подвески
IF EvaluatePodveska(route := route,
curStep := curStep,
sourcePos := sourcePos,
commit := TRUE) THEN
// Теперь план изменён: можно дорасчитать приоритет
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]) / 100);
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
// Бонус за немедленную доступность (проверяем по уже изменённому плану)
prio := prio + 700;
END_IF
IF sourcePos >= 101 AND sourcePos <= 103 THEN
prio := prio - 200;
// Бонус за ожидание в буфере (FIFO)
prio := prio + ULINT_TO_INT(TIME_TO_ULINT(GVL.sysTime - GVL.podveskas[a].bufferEntryTime) / 100);
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 + 2000;
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
IF prio > highestPrio THEN
highestPrio := prio;
candidateLocal := a;
aoJobSourceLocal := sourcePos;
aoJobDestLocal := targetVat;
evacuateLeader := evacuateCandidate; // сохраняем флаг эвакуации для лидера
END_IF;
END_IF;
// 3. ВОССТАНАВЛИВАЕМ исходный план для следующей подвески
FOR i := 1 TO 17 DO
GVL.planVatFreeTime[i] := savedPlan[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;
// Если это была эвакуация в буфер, меняем статус подвески
IF evacuateLeader THEN
GVL.podveskas[GVL.candidate].currentStep := -1;
GVL.podveskas[GVL.candidate].xLoaded := FALSE;
END_IF;
// Окончательная фиксация плана
IF (GVL.podveskas[GVL.candidate].currentStep >= 0) AND
(GVL.aoJobDest >= 1) AND (GVL.aoJobDest <= 17) AND
((GVL.podveskas[GVL.candidate].currentPos = 0) OR
(GVL.podveskas[GVL.candidate].currentPos >= 101 AND GVL.podveskas[GVL.candidate].currentPos <= 103)) THEN
EvaluatePodveska(route := GVL.podveskas[GVL.candidate].processType,
curStep := GVL.podveskas[GVL.candidate].currentStep,
sourcePos := GVL.podveskas[GVL.candidate].currentPos,
commit := TRUE);
END_IF;
GVL.aoBusy := TRUE;
END_IF;
END_IF; // конец IF NOT GVL.aoBusy