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标题: 2018.2.0版中AGV如何乘升降机？ [打印本页]
作者: Pureua    时间: 2018-11-4 16:20
标题: 2018.2.0版中AGV如何乘升降机？
请教一下，2018.2.0版中AGV模块，路径点逻辑里没有乘升降机的选项，该如何实现这个操作？6 T* G6 g8 f2 B7 w: ?# u% e
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作者: 慧娴亚伦    时间: 2018-11-4 19:12
办法1：从2016版本里面复制相应的代码
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具体代码如下：8 S7 o3 ~  ^) L& N, \
  1. treenode agv = param(1);8 t- j7 {8 M3 z
  2. treenode currentCP = param(2);5 i" k* }3 ?: p0 |) e" G$ q
  3. : }# ^' c) k, m* a2 i7 V6 e
  4. { //************* PickOption Start *************\\
    ! q% k! p8 f+ `) z* N7 ^
  5. /***popup:AGV_DivertToElevator*/
    & c( u+ F8 y' U0 B3 W2 r( i
  6. /***tag:Description*//**Divert to Elevator*/8 R3 Q2 M/ ?7 Y( d
  7. ( N6 S8 \1 \/ M8 k) O3 B0 Z& b2 m4 S; ^
  8. int operation = param(3);/ b8 p; e8 {" D& G/ X0 _

  9. 6 `1 w2 \% M1 z) {
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
    & r7 i) Q, G5 y
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))4 O7 Q! h: B* t6 Y: n/ u+ D
  12.                 && (/** \nCondition: *//***tag:Condition*//**/fabs(zloc(currentCP) - zloc(agvinfo(agv, AGV_DEST_CP))) > zsize(agv)/**/)) { // if it's a pointer, then do the initial case
    & I! F0 N: [+ R6 H
  13.         // initial trigger execution
    6 H+ U) \2 O/ n5 f/ I+ {
  14.         #define ON_ELEVATOR_START 1
    & W* h+ ~8 t2 B) ^* v7 F
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    5 r' o  ^) r* f5 H- w4 A4 h
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
    $ X# z6 U+ w" E+ ?' b! m  I% c
  17.         #define ON_AGV_AT_CP 49 c; E6 A$ T% Z
  18.         #define ON_BOTH_AT_PICKUP 50 X* v  @2 ^& U! I; `
  19.         #define ON_OPEN_DOOR 6/ _4 ?1 e9 v( Y3 B
  20.         #define ON_CLOSE_DOOR 7
      c9 M# B: @: |4 n( ?3 p* j
  21.         #define ON_PICKUP_DOOR_OPENED 82 P- P5 M& U, }
  22.         #define ON_PICKUP_DOOR_CLOSED 94 I. ~9 c4 x. _
  23.         #define ON_DROPOFF_DOOR_OPENED 10: O- u2 j- T% ?, E" j: b
  24.         #define ON_DROPOFF_DOOR_CLOSED 11* \4 V+ E2 Y1 u  w: j/ b* b$ V- P
  25.        
    & R) B- D6 n; ?7 v
  26.         #define AGV_STATE_START 06 e8 J/ }0 `7 U, ]/ M
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    0 d# {& i8 f4 P
  28.         #define AGV_STATE_AT_ELEV_CP 23 K% {' b" B) ?: G
  29.         #define AGV_STATE_AT_EXIT_CP 3. l1 m3 H# ~* N& A( J5 S
  30.         $ {6 {" I1 V6 E+ r; f; a6 |! S
  31.         #define ELEV_STATE_NONE 0/ f% J: e$ U$ |- u, c$ e, T9 b
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
    $ {8 c5 `: g9 U2 |+ j
  33.         #define ELEV_STATE_OPENING_DOOR 23 G# q% \, F( u( ^, U# u. n7 [
  34.         #define ELEV_STATE_DOOR_OPENED 3
    " c0 D5 j0 U1 F) i# ~6 |1 y
  35. 2 D( U8 p( Q$ B5 |' H, t
  36. 9 Z( D$ u" }% i; ?) w
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;+ Q1 G* h$ O: d6 Q$ y1 F$ M
  38.         #define elevator outobject(elevDisp, $iter(1))
    2 l% C& |  \7 z! T3 N, c
  39. 6 V1 N# N9 B4 j; q# ^
  40.         if (!objectexists(elevDisp))
    8 s) f8 S8 B1 x  Q+ S) H+ b
  41.                 return 0;1 X9 t& f6 p' U* m- i

  42. / y* L5 ~' t2 ~% r2 b1 c) i8 a
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {  x2 [9 \8 B% w$ i, n
  44.                 query(% H" e9 L% I0 A  r& D& _3 @
  45.                         /** \nFull Query: */
    + m7 o$ W; J# o# ~  V) Q6 O
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    ( v! L* U4 O$ {& k% G
  47.                         nrop(elevDisp),$ A/ E  Q  @  K6 ]  c, D
  48.                         elevator2 g  B7 X  H1 D* V" X( U& m3 P# A
  49.                         /** \nWhere*/6 B( z) R; l1 r4 x6 X
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/# r& c# b% [8 E( C5 O5 U: l, q+ l/ i
  51.                         /***/+ A* R& Q7 _2 m+ o
  52.                         /** \nOrderBy*/
    * }: A8 |* i& f* T# i& C# {0 K: ]% c
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/( {& j  [) m& G7 K6 Q1 j
  54.                         /***/);
    , _+ c8 i4 T4 ^( C

  55. 0 ~. s# m7 h: F0 m7 U
  56.                 if (getquerymatchcount() > 0)
    . I, Z4 [0 a! ^
  57.                         elevDisp = getqueryvalue(1, 1);: s; W# w( m. N6 O
  58.         }
    / D0 b7 z! b' Q! R. b
  59.         if (!objectexists(elevDisp))& \8 O" ]: x: m9 c) D5 Q7 c/ Y4 x
  60.                 return 0;( s. P+ o2 H& e% ^4 G
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
    0 R# `; M. D$ k; I" w  ~

  62. 5 }* i, }* g- ]; N& F! i$ A8 c9 ]
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);8 x; V+ R: K& F

  64. * X$ Q6 E/ F0 _
  65.         // Create the task sequence for the elevator
    9 w  _3 \2 h7 q; g6 \3 i
  66.         double destZ = zloc(destCP);9 j- o; I: v0 c) ~
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);6 H: x/ o  s, B; P/ v# x& O3 Y
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    3 B9 @7 m+ X4 \# i: k0 u  J
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START
    " f! H6 O$ R$ G  E
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    6 g0 u+ N# {/ m/ e+ r
  71.         // travel to the z location of the current control point. B- ~) a5 A. H" b; o
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));  I+ f' k- n$ ~# j% n
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    - V+ L. G5 N  E' W6 w% }9 ^1 k
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);2 Q& p/ n( v$ _7 g, ]9 D( z& B
  75.         // then wait for the agv to get on! w2 C9 [5 s/ P& I: u6 N! m7 b1 \
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    : M  {+ l% h. O. r8 J6 v# M; w
  77.         // then travel to the destination z location: p6 C" z4 x* S2 \) S
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);* ?& {) c2 _. b  g6 I# H
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL/ l3 g& r- b" i% {" C. b
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);
    - l" o3 U- N! n- D
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    5 E. p* H. P) _: T( A
  82.         dispatchtasksequence(ts);# X# D  S' g0 M% k' I
  83. } else switch (operation) {
    " y8 g& o& L0 Q
  84.         case ON_ELEVATOR_START: {" I* {/ V6 ]+ r9 d, x  E8 g
  85.                 // this is fired when I get a valid elevator) w1 l5 v( v  N
  86.                 treenode elev = param(1);
    2 ~6 v& f0 c2 E5 C
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);! M: i4 T! p6 ~3 j

  88. % }  p! j- H8 y
  89.                 // find the closest floor control point
    ! K' N' u9 P4 J# J: f: `
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);
      k4 u! ?% v2 V& K
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), ; K7 [1 T# p( d% _; @
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),, s$ m+ [8 L) d
  93.                                                         cpconnection(elev, floorCPCon, count));  U! v! W5 k9 p1 }: t
  94.                 // return if there is none) z6 O! f7 Z# {
  95.                 if (!objectexists(curFloorCP))
    7 v1 |$ v, m! j
  96.                         return 0;. r5 S. V8 |3 a$ @  U
  97. . h- }- |% ?( W. a6 P5 ]
  98.                 // get the entry control point
    , a# [6 l$ {; `9 {! O/ Z
  99.                 treenode floorCP = curFloorCP;
    - i' M+ D3 Z  e+ t; n
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;- z; _& O/ C5 |# M. p4 H5 w
  101.                 if (!objectexists(curFloorEntryCP)): x4 L9 Q2 E6 s6 A0 l+ D
  102.                         return 0;4 y' d  F  K/ J( h" U. s, {
  103.                 treenode floorEntryCP = curFloorEntryCP;
    , K( ~1 K7 L; \, H' o. ]
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;- Z1 K5 r2 c' ?; [' g* F% m
  105.                 if (!objectexists(curFloorElevCP))
    0 Y( u5 n: Q) k, l5 Z% F8 v$ k) B
  106.                         return 0;+ ^$ F, R: ]$ B. {4 l9 Y9 ~- q

  107. " w' e+ v5 P6 {, G/ `" {; O4 J
  108.                 double destZ = param(4);; L9 C6 b. G  H9 S4 T, l
  109.                 // find the floor control point closest to the destination floor
    : b1 }" P+ y4 _. p7 x- m
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), 4 M8 }9 G+ Q# z! E- o6 o4 i
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    % z0 j9 n/ O! v" b
  112.                                                         cpconnection(elev, floorCPCon, count));
    ' O& e1 v! d  a6 j
  113.                                                         ! m( G! ?6 M- {7 b
  114.                 floorCP = destFloorCP;
    0 S& q7 H) X7 }7 Z% c' V
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;$ f: i3 z3 q' J/ y+ [
  116.                 if (!objectexists(destFloorElevCP))
    2 O& H4 S1 C9 I1 V
  117.                         return 0;  N- u" G; q5 F5 B
  118.                 // get the destination exit control point
    9 i! Z- n) B" C& U* Q$ C
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
    : C  W" z# Y* ?7 A' B
  120.                 if (!objectexists(destExitCP))9 c3 E  \* I5 d# R1 h$ \
  121.                         return 0;
    + @! h8 t" I. }- Y5 ?1 a

  122. . ]  q! s  Q9 R7 F8 u0 f
  123. $ g3 u. S$ a2 l7 j$ N6 R1 X' }
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
    ! s; T8 @' l* ]7 @7 ?. R
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time
    ( T# O# T3 {& Y( @
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    . @# G/ H7 ]1 a) E  Y' O0 S5 u5 \5 ~
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,! |3 `$ ?+ d5 f
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);
      }5 i8 y+ {3 s% K. q
  129.                
    " T$ w1 c" }# M* b( P  i0 J6 [
  130.                 // set the data on the state label / }$ F, d2 y. h. j
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
    5 k% }5 x1 s2 y2 _. e! N& L! V& n( _
  132.                 switch_destroyonreset(stateLabel, 1);
    % I, C8 V- ]4 }7 u
  133.                 set(stateLabel, AGV_STATE_START);4 d0 h3 L& O& f) ?
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);; T( P/ G3 l) C- Q' h
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
    5 q/ L' b2 r  d" r
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);2 [7 S2 y0 c1 Y9 @
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);. k4 w" H! p7 X' Q; i4 u6 C
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    $ I3 Y/ I; ]; P* e
  139.                 return 0;0 E" J4 s% ^5 I7 a
  140.         }9 f! y5 Y$ r8 P( R' \2 {
  141.         case ON_AGV_AT_CP: {; g' f6 }, \" s, F. P
  142.                 // this is fired by the agv listener every time the agv arrives at a node.1 N1 r3 O% U! O7 y
  143.                 treenode agv = param(1);
    ) ?& \# C& q$ J& a
  144.                 treenode elev = param(2);% Q) W. b2 ]- W" b3 w  Y
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    * p  H9 c8 y; r4 ^
  146.                 // I increment the state label, and then switch on it* p7 X/ `1 i+ ]
  147.                 inc(stateLabel, 1);
    8 F3 a7 m* F1 }: P+ H) W( K
  148.                 switch (get(stateLabel)) {
    9 ^8 j' a. u+ h3 D* h- s
  149.                         case AGV_STATE_AT_ENTRY_CP: {% i) _/ s4 n2 f7 `. N
  150.                                 // the agv just arrived at the entry cp
    7 F+ o% i5 u- {+ l8 Y( U. ^  U
  151.                                 // so, figure out where the elevator is.' g6 R! q- d' {# `! t6 ], j- r$ I2 z: E
  152.                                 int elevState = get(node("ElevState", stateLabel));
    ! K; b: n' k) }7 ^  [
  153.                                 // if he's at the pickup floor with his door closed then open the door.. `, d9 ]' U5 u! l8 j0 w
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)/ L7 Z+ l3 @7 y
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);2 k% `- z$ y+ Z4 h/ X
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
    / ~0 s2 S0 Y4 {3 x" y1 }
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
    0 |6 {4 G. E8 z+ T. g) m
  158.                                         // the elevator cp, w* A  K+ x5 ~' j6 ]9 I
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));, C; L' f2 z  m! t
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);3 h4 i$ w3 ^. C" C' l
  161.                                 }  l; |; _: R# g  p
  162.                                 break;! n4 Y* g  v1 P5 C
  163.                         }2 Q5 F' a: G  n( j
  164.                         case AGV_STATE_AT_ELEV_CP: {
    . K8 U# ]! I  o& x- B7 ^, V7 q
  165.                                 // once the agv is at the elevator cp, close the door' Q6 O, K: f* m8 |" S2 l. E8 H1 l
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);9 R$ e: U9 ?( V0 c& z! A; Q
  167.                                 break;% D2 |  l  {% ~* w
  168.                         }
    - |6 a2 B2 P2 U4 |
  169.                         case AGV_STATE_AT_EXIT_CP: {
    6 S' x2 E# o0 m4 l0 d9 e
  170.                                 // the agv is at the exit cp- ^6 y  I/ @8 y/ I5 w
  171.                                 // destroy the listener node because I'm finished listening
    + d% g# i# k2 m) R
  172.                                 treenode listenerNode = param(4);. {9 W5 ?: j6 o3 c" m/ i; d
  173.                                 destroyobject(listenerNode);1 @( S# p* d# [/ D' ^, ~& d8 I
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;) U0 M" a! K4 u
  175.                                 if (!agvWait) {
    ; g* f5 B/ \/ `* L) y
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination5 t4 _/ T  V( X! e  F: M6 u
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);# P8 g$ F0 @& z
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);) m; b$ i% P$ |) q* C% G
  179.                                 }$ w4 k# p( e& @/ q
  180.                                 // close the door
    , X: h& O& n; \6 P" Y
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);* @1 C% x5 j: L+ ^' C* R7 k
  182.                                 // and I'm finished with the state label so I can destroy it.
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  183.                                 destroyobject(stateLabel);4 ^* F/ X$ H% ^) T
  184.                                 break;
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  185.                         }
      t; Q/ y, V5 F' o5 O
  186.                 }4 h. j% b, i; K' e. Y
  187.                 return 0;
    ; |  T0 I. T& I( D! W& w
  188.         }
    3 E+ U% V# @7 H: ^
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {8 k; n6 L% v$ q: [" R
  190.                 // the elevator has arrived at the pick floor
    ; u  J+ ]& K5 n* A6 [2 G
  191.                 treenode elev = param(1);8 V2 R3 W( t" Q, b$ h
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);6 d- o3 D* F- w* q
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    3 C  _# b& n- X( Q3 `) r
  194.                 treenode elevState = node("ElevState", stateLabel);
    7 r5 u# v7 R# G  r
  195.                 // set the elevator state to at-pickup-floor
    7 r1 D+ O- o) G
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);! I$ N! }2 E- ]; V
  197.         ' M" J$ m# @3 ^! ^, J
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;5 B6 v- D; z7 g! ^# i
  199.                 4 J1 R# u5 r3 m# S5 Y- O6 ]
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it- x, R$ f% w! G  ?" H8 i' Z
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
    5 y0 u. ]6 H( c$ m& t
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);
    * x! z( {1 V2 J5 y
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);% [, ~9 ~5 ?! T- ^8 n
  204.                 }
    8 X* U3 B' O8 A7 }0 g
  205.                 return 0;
    1 H7 H1 O! \# j) w8 H, D1 l
  206.         }' V' P! g$ w! I$ m
  207.         case ON_OPEN_DOOR: {& e# _, ?$ H/ f/ h* ]! M3 O
  208.                 treenode agv = param(1);
    * Z9 m* s, K! J# V* N
  209.                 treenode elev = param(2);. M' A" u) R6 H3 c' S( s9 a
  210.                 int nextStep = param(4);
    # h8 u- e7 I6 V3 m/ u6 Y
  211.                 // open the door based on the time to open the door3 ^7 s% e7 V- U% v
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
    " F( x8 e$ R, _) q# A0 D9 @
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    / p7 ~$ O  ~6 n+ S% _
  214.                 return 0;
    - |* ^' W# f* c3 T* N! M" @# I
  215.         }3 A  F* P; ~5 d) y' \  K& t9 {% w* ^
  216.         case ON_CLOSE_DOOR: {
    2 W8 q5 H+ d5 k; n9 N* F
  217.                 treenode agv = param(1);
    : z( g5 k. R! a( O- f
  218.                 treenode elev = param(2);
    ! \$ R) V* U/ x# c, d- ~7 V+ H$ u
  219.                 int nextStep = param(4);* v1 @" n! u# K$ R* D& W3 X
  220.                 // close the door base on the time to close the door# s' B1 \; z) O4 r
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;: [- E+ W# Y$ Y" u, o
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));% F! l3 H! q1 ?4 x
  223.                 return 0;! Y6 [3 g5 z7 J8 n. Q2 N# f
  224.         }5 K! J5 a5 M0 O: p! V; w
  225.         case ON_PICKUP_DOOR_OPENED: {
    6 ]& D  U( Y- w4 n& s7 B0 q
  226.                 // the elevator door has been opened on the pickup floor
    ) Q1 G3 ?$ B$ @! U. b+ N  [
  227.                 treenode elev = param(1);
    4 C5 v; ^3 d! [9 X' ^% [$ S! n
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);4 d, T: |7 Z4 v1 A
  229.                 treenode entryCP = cp(agv);( E5 F7 e; M* p
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    2 T, J1 Z; z. V6 w5 K7 x; s% F
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));- l- K3 H, z. g
  232.                 treenode elevState = node("ElevState", stateLabel);
    0 x3 O5 Q) {/ ]. h3 G
  233.                 // set the elevator state
    ' A# S/ ~: o% R; ~
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);
    1 O" R! |" x! r1 {) p' ^
  235.                 // if the agv is at the entry control point, move him to the elevator control point. @) ~" E* {. ~$ H1 J' Z2 f
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)1 ^- @+ v5 @6 c
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    - Z0 M# r; |& e: P
  238.                 return 0;" K' z- h/ A' }* d5 D' S1 g: \
  239.         }
    " R! x4 }. O; s, i; R. T& e
  240.         case ON_PICKUP_DOOR_CLOSED: {5 y6 f0 q9 ?0 E- L. f: ?7 x
  241.                 treenode elev = param(1);
    ' _# H  J1 t& z# g4 f
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    # u% v% B6 ?3 i* x6 V# N1 C
  243.                 // assign the agv to "no control point") q' [' }, e8 u$ y- x! a( S& @; z/ Y2 b
  244.                 agvreassigncp(agv, 0);- r2 f$ i4 ?/ q) l4 [( B7 J$ [
  245.                 // move the agv into the elevator- M7 P  K3 w# S3 m$ O: o/ _
  246.                 moveobject(agv, elev);
    $ B$ ]7 I- X- \  `/ D; h6 D7 X/ u% N
  247.                 setrot(agv, 0, 0, 0);
    ( P" ~6 D) Q/ s. S: `! \6 M
  248.                 // release the elevator to continue to the destination floor" a" I+ X+ F6 [8 G2 l# B
  249.                 freeoperators(elev, agv);6 b: q# \6 g9 e
  250.                 return 0;+ m  m& _# p: h
  251.         }
    + O/ b% K6 u5 ^( i( r0 H
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {4 V$ p2 J, G& k! g9 ~2 R
  253.                 treenode elev = param(1);
    + Q3 `* \1 T* x& ]8 I- V6 q
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);1 o3 _1 s2 I3 h0 K; U
  255.                 // when the elevator arrives at the destination floor* z) @1 m8 i1 P  I
  256.                 // move the agv back into the model
    . _4 l3 d4 i  T( o6 @8 `; f& @  A
  257.                 moveobject(agv, model());4 }9 ?5 v. L# K1 B
  258.                 // reassign it to the destination floor control point% u: V6 {6 i# F/ E
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));3 s4 M; |0 Q6 o+ s+ v8 _
  260.                 // open the elevator door
    + w3 L( H* K8 z7 O3 L" ~
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
    $ ^! _, N' _$ `$ M) m
  262.                 return 0;
    1 v( ^4 d! O' v5 \( x- L, o& y
  263.         }
    / {6 J5 Z! Y) T3 D
  264.         case ON_DROPOFF_DOOR_OPENED: {! E  E9 d' ?; j7 v( F6 C
  265.                 treenode elev = param(1);+ t2 m- k2 o/ o3 E
  266.                 treenode agv = param(2);
    ! t* f. \- G+ v- C* z
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);
    . y, r1 \& l: }# X- T0 B0 r
  268.                 // once the elevator door is opened on the destination floor,
    & b- f5 M' P$ `
  269.                 // redirect the agv to the exit control point1 K( v, ?, l; K6 ?! k) s; t
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
      k7 k& _) a( u7 C# \& i* z
  271.                 return 0;
    1 s6 ]& ~0 R  b" _$ w
  272.         }
    $ H" ]- N; F8 u5 g5 M
  273.         case ON_DROPOFF_DOOR_CLOSED: {' v  b& ^, \0 `+ Y! S0 f
  274.                 treenode elev = param(1);6 A% \, y6 {' f& m- o$ G1 F
  275.                 treenode agv = param(2);% Y. x* _! A5 [, f- c
  276.                 int isAGVWaiting = param(4);
    / }2 Z7 u2 V' [
  277.                 // once the door is closed at the destination floor,
    3 i3 L2 F  V0 B# v( |* G' M0 Z- u
  278.                 // if the agv is waiting, then send him to the final destination
    # u! l4 o5 F7 Q! e, C
  279.                 if (isAGVWaiting)
    , u: h5 W# r& u1 V
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
    6 g; V: m5 S7 Q
  281.                 // release the elevator to finish his task sequence
    8 e" ^* G. F9 j. z' n" s8 Y+ I
  282.                 freeoperators(elev, agv);/ M5 ]' U( F) ^( z/ B
  283.                 return 0;
    ( f9 \* `) \9 q: {: c( R- j  f( a
  284.         }
    0 s, {3 Y, P* T% e8 w
  285. }6 w6 o' P3 }# b# P" h
  286. } //******* PickOption End *******\\
    & |: p  b# l, |3 G

  287. , m, v! n  i* x- y5 d
复制代码
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8 S' [/ c9 G" V( n办法2：使用工艺流程模块完成
作者: Pureua    时间: 2018-11-5 09:25
慧娴亚伦 发表于 2018-11-4 19:12
+ R- ?6 T; I4 j) _( n. T8 w办法1：从2016版本里面复制相应的代码
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具体代码如下：
- ]0 i5 e$ t" C( V- V0 ^2 i# c
好的，非常感谢陈老师的解答~



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