Started transportation job queue

PLC/PLC.plcproj

@@ -36,6 +36,9 @@
     <Compile Include="POUs\Scheduler\DUTs\ST_Transition.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="POUs\Scheduler\DUTs\ST_TransJob.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="POUs\Scheduler\GVLs\GVL_Scheduler.TcGVL">
       <SubType>Code</SubType>
       <LinkAlways>true</LinkAlways>
@@ -49,6 +52,9 @@
     <Compile Include="POUs\Scheduler\ITFs\I_Transport.TcIO">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="POUs\Scheduler\POUs\FB_JobQueue.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="POUs\Scheduler\POUs\FB_Product.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -112,8 +118,8 @@
   <ProjectExtensions>
     <PlcProjectOptions>
       <XmlArchive>
-  <Data>
+        <Data>
-    <o xml:space="preserve" t="OptionKey">
+          <o xml:space="preserve" t="OptionKey">
       <v n="Name">"&lt;ProjectRoot&gt;"</v>
       <d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
         <v>{192FAD59-8248-4824-A8DE-9177C94C195A}</v>
@@ -189,14 +195,14 @@
       </d>
       <d n="Values" t="Hashtable" />
     </o>
-  </Data>
+        </Data>
-  <TypeList>
+        <TypeList>
-    <Type n="Boolean">System.Boolean</Type>
+          <Type n="Boolean">System.Boolean</Type>
-    <Type n="Hashtable">System.Collections.Hashtable</Type>
+          <Type n="Hashtable">System.Collections.Hashtable</Type>
-    <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
+          <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
-    <Type n="String">System.String</Type>
+          <Type n="String">System.String</Type>
-  </TypeList>
+        </TypeList>
-</XmlArchive>
+      </XmlArchive>
     </PlcProjectOptions>
   </ProjectExtensions>
 </Project>

PLC/POUs/Scheduler/DUTs/ST_TransJob.TcDUT

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_TransJob" Id="{e6905112-b0c5-4499-9e9b-aaa153fe4e4d}">
+    <Declaration><![CDATA[TYPE ST_TransJob :
+STRUCT
+	// Station to pick from
+	uiFromNodeID : UINT;
+	// Station to put into
+	uiToNodeID : UINT;
+	// Static priority from recipe
+	iStatPrio : INT;
+	// Dynamic priority from process
+	iDynPrio : INT;
+	// Prio sum
+	iSumPrio : INT;
+	// Time this job was created
+	// The older the job the higher the priority
+	uliTimeCreated : ULINT;
+	
+	// Is this job in the queue still valid
+	xValid : BOOL := TRUE;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/POUs/Scheduler/GVLs/GVL_Scheduler.TcGVL

@@ -9,6 +9,12 @@ VAR_GLOBAL CONSTANT
 	
 	// Scheduler constants
 	MAX_STATIONS : UINT := 10;
+	
+	// Factor to calc dynmaic priority from age of job in prio/s
+	AGE_FACTOR : REAL := 1.0;
+	
+	// Job queue constants
+	MAX_JOBS_IN_QUEUE : UINT := 10;
 END_VAR]]></Declaration>
   </GVL>
 </TcPlcObject>

PLC/POUs/Scheduler/POUs/FB_JobQueue.TcPOU

@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_JobQueue" Id="{b05c10aa-a132-426c-9adb-9c3d92e348cd}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_JobQueue
+VAR_INPUT
+END_VAR
+VAR_OUTPUT
+END_VAR
+VAR
+	_astJobQueue : ARRAY[0..(GVL_Scheduler.MAX_JOBS_IN_QUEUE - 1)] OF ST_TransJob;
+	_uiJobCount : UINT := 0;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[]]></ST>
+    </Implementation>
+    <Method Name="FB_Init" Id="{59b2fc0f-4c7e-4fd5-97a2-d54f83d37be4}">
+      <Declaration><![CDATA[//FB_Init is always available implicitly and it is used primarily for initialization.
+//The return value is not evaluated. For a specific influence, you can also declare the
+//methods explicitly and provide additional code there with the standard initialization
+//code. You can evaluate the return value.
+METHOD FB_Init: BOOL
+VAR_INPUT
+    bInitRetains: BOOL; // TRUE: the retain variables are initialized (reset warm / reset cold)
+    bInCopyCode: BOOL;  // TRUE: the instance will be copied to the copy code afterward (online change)   
+END_VAR
+VAR
+	_uiCnt : UINT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Set all jobs to false
+FOR _uiCnt := 0 TO (GVL_Scheduler.MAX_JOBS_IN_QUEUE - 1) DO
+	_astJobQueue[_uiCnt].xValid := FALSE;
+END_FOR
+
+// No jobs in queue
+_uiJobCount := 0;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_AddJob" Id="{c7959fb9-7c57-4429-b989-c0befdd4ac38}">
+      <Declaration><![CDATA[METHOD M_AddJob : BOOL
+VAR_INPUT
+	stJob : ST_TransJob;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Check if queue is full
+IF _uiJobCount >= GVL_Scheduler.MAX_JOBS_IN_QUEUE THEN
+	M_AddJob := FALSE;
+	RETURN;
+END_IF
+
+_uiJobCount := _uiJobCount + 1;
+_astJobQueue[_uiJobCount] := stJob;
+_astJobQueue[_uiJobCount].xValid := TRUE;
+_astJobQueue[_uiJobCount].uliTimeCreated := F_GetSystemTime();
+M_AddJob := TRUE;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_GetHighest" Id="{26fa0379-d921-41a3-a15c-b3ff597c1d37}">
+      <Declaration><![CDATA[METHOD M_GetHighest : BOOL
+VAR_OUTPUT
+	stJob : ST_TransJob;
+END_VAR
+VAR
+	_iMaxPrio : INT := -32768;
+	_uiIndex : UINT;
+	_ulTimestamp : ULINT;
+	_rDynPrio : REAL;
+	
+	_uiCnt : UINT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// No jobs to return
+IF _uiJobCount = 0 THEN
+	M_GetHighest := FALSE;
+	RETURN;
+END_IF
+
+_ulTimestamp := F_GetSystemTime();
+
+// Find job with highest priority also update dyn prio
+FOR _uiCnt := 0 TO _uiJobCount DO
+	// Only recalc and check if job is valid
+	IF _astJobQueue[_uiCnt].xValid THEN
+		// Recalculate dynamic priority (100ns intervalls to seconds)
+		_rDynPrio := ULINT_TO_REAL(_ulTimestamp - _astJobQueue[_uiCnt].uliTimeCreated) *1E-7 * GVL_Scheduler.AGE_FACTOR;
+		IF _rDynPrio > 32767.0 THEN
+			_rDynPrio := 32767.0;
+		END_IF
+		_astJobQueue[_uiCnt].iDynPrio := REAL_TO_INT(_rDynPrio);
+		
+		// Check for highest priority
+		IF (_astJobQueue[_uiCnt].iStatPrio + _astJobQueue[_uiCnt].iDynPrio) > _iMaxPrio THEN
+			_iMaxPrio := 
+		END_IF
+	END_IF
+	
+END_FOR]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>

PLC/POUs/Scheduler/POUs/FB_Scheduler.TcPOU

@@ -10,7 +10,7 @@ VAR
 	_aiStations : ARRAY[1..(GVL_Scheduler.MAX_STATIONS)] OF I_Station;
 	_uiStationCount : UINT := 0;
 	
-	_fbTransport : ARRAY[1..(GVL_Scheduler.MAX_STATIONS)] OF I_Station;
+	_fbTransport : I_Station;
 	_uiTransportCnt : UINT := 0;
 	
 	_uiCnt : UINT;
@@ -19,7 +19,10 @@ VAR
 	_fbProduct : I_Product;
 END_VAR]]></Declaration>
     <Implementation>
-      <ST><![CDATA[FOR _
+      <ST><![CDATA[IF (NOT _fbTransport.P_Available) THEN
+	// No need to check the station if we don't have a transport ready
+	RETURN;
+END_IF
 
 
 FOR _uiCnt := 1 TO _uiStationCount DO
@@ -29,7 +32,9 @@ FOR _uiCnt := 1 TO _uiStationCount DO
 		
 		// Check if there is a station available
 		IF _uiNextAvailStation <> 0 THEN
+			// Skip reservation for now
 			// _aiStations[_uiNextAvailStation].M_Reserve();
+			// Create transport job
 		END_IF
 	END_IF
 END_FOR]]></ST>