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First working implementation

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- Currently only with one sided gripper
This commit is contained in:
Matthias Heisig
2026-02-19 15:42:54 +01:00
parent 7126a7dd7e
commit 92276e4f4b
32 changed files with 1041 additions and 378 deletions
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16
PLC/POUs/Scheduler/DUTs/E_TransitCond.TcDUT
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@@ -1,16 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="E_TransitCond" Id="{0c8e8042-17f8-4b76-ad0c-96d650245098}">
<Declaration><![CDATA[{attribute 'qualified_only'}
{attribute 'strict'}
{attribute 'to_string'}
TYPE E_TransitCond :
(
ALWAYS := 0,
RESULT_OK,
RESULT_NIO
);
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

31
PLC/POUs/Scheduler/DUTs/ST_FlowRecipe.TcDUT Normal file
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@@ -0,0 +1,31 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_FlowRecipe" Id="{3e2c2867-3147-4627-bf49-6255dbaf5310}">
<Declaration><![CDATA[TYPE ST_FlowRecipe :
STRUCT
// Index in station recipe arrays
// -1 is used to determin if the slot
// in the product array is free.
// The index number will automatically be
// assigned by the FB_ProductHandler
iProdIdx : INT := -1;
// Current node in flow graph
iCurrNode : INT := 0;
// Next node in flow graph
// will be set by the station after completed process
// 0 means that there is no next node and the
// flow recipe is finished
iNextNode : INT := 0;
// Number of flow nodes
uiNodeCnt : INT := 0;
// Flow nodes array
astNodes : ARRAY[0..(GVL_Scheduler.MAX_RECIPE_NODES - 1)] OF ST_FlowRecipeNode;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

34
PLC/POUs/Scheduler/DUTs/ST_FlowRecipeNode.TcDUT Normal file
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@@ -0,0 +1,34 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_FlowRecipeNode" Id="{ceb8b626-8a65-4e92-9344-14e330b6c8bd}">
<Declaration><![CDATA[TYPE ST_FlowRecipeNode :
STRUCT
// Priority for transportation after completed node
uiPriority : UINT := 100;
// Required capabilities
dwReqCap : DWORD := 0;
// How many retries are allowed of this node
uiMaxRetries : UINT := 0;
// Current numbers of retries of this node
uiCurrRetries : UINT := 0;
// Was the current process successfull
xSuccess : BOOL := FALSE;
// Transition to node when operation ok
iNextNodeSuccess : INT := -1;
// Transition to node when retrying
iNextNodeRetry : INT := -1;
// Transition to node when operation failed
// or max retries reached
iNextNodeFail : INT := -1;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

14
PLC/POUs/Scheduler/DUTs/ST_Recipe.TcDUT
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@@ -1,14 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_Recipe" Id="{3e2c2867-3147-4627-bf49-6255dbaf5310}">
<Declaration><![CDATA[TYPE ST_Recipe :
STRUCT
uiRecipeID : UINT;
uiStartNode : UINT := 0;
uiNodeCnt : UINT := 0;
astNodes : ARRAY[0..(GVL_Scheduler.MAX_RECIPE_NODES - 1)] OF ST_RecipeNode;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

19
PLC/POUs/Scheduler/DUTs/ST_RecipeNode.TcDUT
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@@ -1,19 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_RecipeNode" Id="{ceb8b626-8a65-4e92-9344-14e330b6c8bd}">
<Declaration><![CDATA[TYPE ST_RecipeNode :
STRUCT
uiNodeID : UINT;
// Required capabilities
dwReqCap : DWORD;
// Transition count
uiTransCnt : UINT;
// Transitions
astTransitions : ARRAY[0..(GVL_Scheduler.MAX_STATIONS - 1)] OF ST_Transition;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

26
PLC/POUs/Scheduler/DUTs/ST_TransJob.TcDUT
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@@ -4,21 +4,19 @@
<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;
uiFromStation : UINT;
// Is this job in the queue still valid
xValid : BOOL := TRUE;
// Station to put into
uiToStation : UINT;
// Handle from reserved source station
uiFromStationHandle : UINT;
// Handle from reserved target station
uiToStationHandle : UINT;
// Static priority from recipe
uiPrio : UINT;
END_STRUCT
END_TYPE
]]></Declaration>

12
PLC/POUs/Scheduler/DUTs/ST_Transition.TcDUT
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@@ -1,12 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_Transition" Id="{7b8c5232-d3a6-4d0b-b8ad-e54400018d53}">
<Declaration><![CDATA[TYPE ST_Transition :
STRUCT
eCondition : E_TransitCond;
uiNextNodeID : UINT;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>