全球FlexSim系统仿真中文论坛

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？# x6 n4 ^( q: [
" J" Z; h: }. O4 ~
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. H; v: w' `( a8 N- l

" ?1 y2 O( i, c% C具体代码如下：
8 ?2 T2 _; P- F4 q
  1. treenode agv = param(1);
    + Z5 ~! t# F1 K2 _1 \/ d
  2. treenode currentCP = param(2);# m' X- a* M* T9 P( X5 o& i$ H/ S
  3. 1 E8 {3 k4 L: q, r7 W* L
  4. { //************* PickOption Start *************\\
    ' r' Y! X" n. ~7 _, F
  5. /***popup:AGV_DivertToElevator*/2 f9 f, K1 k1 \9 `( e9 z# q
  6. /***tag:Description*//**Divert to Elevator*/3 b: Q4 c$ O% y( {$ m. x
  7. + W5 U' I' v; n. i9 [* U
  8. int operation = param(3);
    + F8 V! n$ o" s0 B, W; m) x) I

  9. ; M7 {: S8 i1 H4 h  G' U" ^/ t' n
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"( m2 Z0 ~( u! }  \
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
    , R' H# {1 q$ y1 w& w9 S1 y
  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
    9 g, x7 \, F, z
  13.         // initial trigger execution7 h# K3 F  \/ |2 E7 {& h' a8 y) G
  14.         #define ON_ELEVATOR_START 1
    2 I. t+ K8 i1 B9 E2 y
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2% P" m8 a4 ~1 m' X
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
    / v/ S( ]8 R' g) U
  17.         #define ON_AGV_AT_CP 4
    0 o& r: }, _, e9 w4 ~
  18.         #define ON_BOTH_AT_PICKUP 5
    : o8 X# s1 q- I1 l* d$ j9 ~
  19.         #define ON_OPEN_DOOR 6
    " w0 u; V5 C, }2 q! G3 @; w
  20.         #define ON_CLOSE_DOOR 7
    ! L0 k/ Z, F0 M3 @
  21.         #define ON_PICKUP_DOOR_OPENED 8
    ) ]. P$ L7 y2 Q% ^( E
  22.         #define ON_PICKUP_DOOR_CLOSED 9
    ! q  [' y0 a  d
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    & a* N$ v4 G4 B6 ~7 J
  24.         #define ON_DROPOFF_DOOR_CLOSED 11% r+ Z& @  ?* `+ C! I
  25.        
    . ?! l/ _) z$ ]" z/ S; Y/ @
  26.         #define AGV_STATE_START 0; a- p  w: p" Y9 n3 p. {2 D9 @
  27.         #define AGV_STATE_AT_ENTRY_CP 14 D4 [. i3 B, k/ \% O; R
  28.         #define AGV_STATE_AT_ELEV_CP 2
    ' \# a* `3 w/ R* }( `: t
  29.         #define AGV_STATE_AT_EXIT_CP 3
    ) {: B& d0 K3 V/ S6 o  C
  30.        
    ) S1 ?4 W  |+ y1 M  i
  31.         #define ELEV_STATE_NONE 0& S# B# Z, M3 Z
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
      Z7 x8 }9 F% z, L4 A) I
  33.         #define ELEV_STATE_OPENING_DOOR 2
    3 _- h: r/ F1 C# e% s* l
  34.         #define ELEV_STATE_DOOR_OPENED 32 s6 e; g/ Z6 C, |1 H
  35. & K* z5 y$ V( M8 M' Q" p; z
  36.   M# Z5 A. M$ m7 ~
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;: f/ O% z4 t' N  A5 _
  38.         #define elevator outobject(elevDisp, $iter(1))* R- Q5 t! A3 m- o
  39. 8 i3 T1 m; j, R
  40.         if (!objectexists(elevDisp))
    ( v' ^  }* }9 P
  41.                 return 0;- i9 i# c& a- t) M

  42. - l. o( s: G- m- h  }! F! q
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {* ~/ l7 k/ \5 p7 P: R1 U1 \8 y
  44.                 query(, N6 u4 J. k$ E9 S; P6 y
  45.                         /** \nFull Query: */; ^- L$ j% x% h0 B0 T1 R/ B
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,! J. j$ `. V+ T( ^& o  X8 v# r
  47.                         nrop(elevDisp),
    " i4 @, I$ T0 b) N: }0 |9 X
  48.                         elevator% k" q$ J  f% m+ F* l) |
  49.                         /** \nWhere*/
    ' n( Y/ j' s+ W- }1 ?
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/$ g3 H/ u3 ?5 R! g5 D7 ~9 h1 Z0 M. N
  51.                         /***/, U- E8 I% d1 N& _3 _
  52.                         /** \nOrderBy*/
    - L8 I+ W* A9 g) F% I& e
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/5 m6 \3 h$ q3 x: s7 ?* V' B9 N/ Q
  54.                         /***/);: E, ^$ d& H/ E# {8 M. Z8 \3 F
  55. 6 {/ ]' @" V, v
  56.                 if (getquerymatchcount() > 0)
    5 X  O  G. n- Z4 M1 W' ~- q
  57.                         elevDisp = getqueryvalue(1, 1);5 o; |6 E/ j  ~) }) L% \8 @
  58.         }% {) N! W8 P; N4 K+ I' T# W' u
  59.         if (!objectexists(elevDisp))
    2 G9 M2 j" s) l5 {! e8 G6 N
  60.                 return 0;
    , T) F7 }2 p+ o6 K
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);' ^. K  Y6 t$ \

  62. 5 e6 h/ I7 J- B, I! i- E
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);( K) w* T- `% u) M' k# n7 E

  64. 2 @! |7 m* T! X# R( ?1 G6 S% s
  65.         // Create the task sequence for the elevator
    4 _# k3 e4 c6 p$ D2 l) I1 C- b
  66.         double destZ = zloc(destCP);+ Y) O' j. R2 a. _( N
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);
    . C! I/ s- f* J5 X0 `# L4 }
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    ' _' @7 g3 q- }, G
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START* q) R1 R% ?6 v7 g  U
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    . Y: M: M1 ?3 _# k' C
  71.         // travel to the z location of the current control point$ b9 }/ E! K& S$ p; z1 Q4 O
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    3 a7 |- h/ ]1 s& ^
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    ( w- n  |% E! ]" d( M
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);
    + X( o" }1 t7 [6 B1 y9 l# T& Y
  75.         // then wait for the agv to get on- z9 g  z* b9 t1 t9 }! P$ Q
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);( h/ S% Z$ q, d5 `
  77.         // then travel to the destination z location6 l6 G6 d' ]+ Z$ @
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
    6 {. U5 L. J/ r9 \1 c/ u( t
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL1 w* S" o  R0 |( h5 a0 {
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);' h* G! n' p. c5 P( u5 P. O
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);. z, \7 q. ^* ^
  82.         dispatchtasksequence(ts);
    ; R3 ^( u7 g. I+ w8 l+ J
  83. } else switch (operation) {# v3 h. G8 A/ H6 M: f- K8 \$ o
  84.         case ON_ELEVATOR_START: {# N) [! ]' e0 n" g  S$ _
  85.                 // this is fired when I get a valid elevator8 ]- L( c( u. G8 k( ~" F/ g
  86.                 treenode elev = param(1);" c2 _2 b! f7 N7 r
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    9 F* ]; x7 Z) @" u
  88. ' ~0 e  N8 y) h
  89.                 // find the closest floor control point
    7 M7 F( T" l6 C! P2 ]
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);8 A2 C% c$ [9 d% ^  H! O
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), 5 u6 u) M/ Y1 e$ h. Q- w& j  T
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),
    5 |' ~1 o1 k" P* p3 `* x
  93.                                                         cpconnection(elev, floorCPCon, count));
    9 b6 z" @+ q( U# p
  94.                 // return if there is none
    7 Z! K- K* J6 E, t# y7 q4 {1 c) G+ Q
  95.                 if (!objectexists(curFloorCP))
    % V& B: e* v8 i- j* ?3 h/ W4 n
  96.                         return 0;$ l6 @, c2 R) W$ L0 x2 Y
  97. 7 D9 V. ]# I$ W; P
  98.                 // get the entry control point
    # y! y; H/ E3 S7 k
  99.                 treenode floorCP = curFloorCP;
    ( P  M" |- o' {3 f: {) \9 X* o
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;9 X8 L& h4 J; L4 O/ O
  101.                 if (!objectexists(curFloorEntryCP))
    " Y! |) \4 q/ i" x
  102.                         return 0;# I( ]$ U) w( W2 J
  103.                 treenode floorEntryCP = curFloorEntryCP;9 i$ g& J0 x1 q% s: Q
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;' L& N7 A# O- s- @2 W( k9 p0 j
  105.                 if (!objectexists(curFloorElevCP))
    1 ~! K, A3 u# T: g9 ^! k$ J+ |
  106.                         return 0;- x; i8 N- o: C% B- `

  107. 1 V: d' t1 v0 O" y* c  j0 a
  108.                 double destZ = param(4);
    0 o/ w0 r) D4 [. T" ^
  109.                 // find the floor control point closest to the destination floor# H7 [  V( y5 `
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon),
    . K, j) ^& [7 ?+ |. d* I
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    ' `8 s8 E0 p$ z9 M, e* L5 j! Z7 t
  112.                                                         cpconnection(elev, floorCPCon, count));- l; N3 G# d- S# o5 v8 d
  113.                                                        
    & q6 z/ l' B0 Z. [/ M$ h" v; x6 P
  114.                 floorCP = destFloorCP;5 n: D7 Z' F% b" B& E- f- t
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;  N8 G' F( A9 ~- m
  116.                 if (!objectexists(destFloorElevCP))
    & s: X9 ~1 B6 r! D. [7 y
  117.                         return 0;
    1 _9 r' J. y# S: {$ t8 ]$ v/ g$ K) U; z
  118.                 // get the destination exit control point# n/ ^3 I4 ^" g! @8 d% h
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;" x' V7 A% K3 P
  120.                 if (!objectexists(destExitCP))
    ' R5 F6 O  j6 e! J2 F8 {
  121.                         return 0;$ I) g7 r3 L) v9 i# A

  122. 0 ]$ K7 [+ h8 O* H7 v2 E$ y/ i
  123. 9 {0 ~* y8 P$ D, ?7 `$ ]3 T
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the : F0 {3 d6 r! F; L8 f, r; G
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time$ L8 H: P5 ]. X+ d! x
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    # G& _1 m( {$ |
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    1 y/ w# W: F: ~( h! F  l% n
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);" ]. H3 h$ ?5 T5 \# I
  129.                 ( W. t7 _* H4 S% \  X7 W
  130.                 // set the data on the state label
    $ G6 R( [6 _# s; H3 V) c' |
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);2 ]. R! N, c  l; p
  132.                 switch_destroyonreset(stateLabel, 1);
    0 M% a: i6 S* F7 o& J
  133.                 set(stateLabel, AGV_STATE_START);" K' m7 n9 y; w
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);2 v5 C! {0 ^7 V( C
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
    ; S% M% C# U: L/ y1 ~: f; ~
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    & S# w0 E8 x& @2 R' F: @
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);7 z. i( _; R+ A
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    % v8 }" d4 b/ k0 W( P9 l/ T
  139.                 return 0;, \& r/ E* z2 i" l- C
  140.         }
    ' x* P& Y5 m$ G. j! G7 z
  141.         case ON_AGV_AT_CP: {6 o. y5 i& D! e* E/ D; e2 {8 c
  142.                 // this is fired by the agv listener every time the agv arrives at a node.* c5 x# b  t& F; D
  143.                 treenode agv = param(1);
    & B/ E9 U) q- N' o% n: @3 L
  144.                 treenode elev = param(2);" C6 e, T  n! X- Q; ^. v% ^
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);7 E+ e; @9 c! M/ L6 h6 H/ R/ x, m
  146.                 // I increment the state label, and then switch on it: Q! P; N$ a: l- I8 v" b7 q
  147.                 inc(stateLabel, 1);
    ! o- z; z* r- t. i
  148.                 switch (get(stateLabel)) {1 [4 q; }! u/ C( {
  149.                         case AGV_STATE_AT_ENTRY_CP: {& q) P7 V: a- S+ Q$ q
  150.                                 // the agv just arrived at the entry cp$ q1 k7 a: L$ Z3 m$ c
  151.                                 // so, figure out where the elevator is.* r1 |- n, z8 |0 I# \
  152.                                 int elevState = get(node("ElevState", stateLabel));- H6 q* n9 R& k5 Y' J( \; J* A
  153.                                 // if he's at the pickup floor with his door closed then open the door.
    7 \/ C7 c7 o$ n; [) ^, ?4 ~
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
    % _* ]" k# S/ C2 E, B
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);! y3 x) b+ e  Z' D
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
    $ M1 R, Y' u0 ~- F% q
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to3 v" p1 M1 J1 D4 R* Z! P
  158.                                         // the elevator cp& O$ h) _; N2 ?8 _( M9 ?
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    8 A$ C, _% o, |
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    2 t9 \: s- b) E( j; e8 w
  161.                                 }
    . P+ J3 Q( ]& C& U6 L+ w7 I+ W
  162.                                 break;4 Q7 `7 y$ x* J( o
  163.                         }3 |  l2 m# r2 B9 r# ]1 d
  164.                         case AGV_STATE_AT_ELEV_CP: {" {- O$ D( I0 s. N% r' z# t" ?  O
  165.                                 // once the agv is at the elevator cp, close the door
    , u5 p" R, A% K. V' J5 F* C* x' |
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);
    9 j! U# E1 t3 {- N
  167.                                 break;
    " v0 d3 l( F, G5 ?, \9 y4 D
  168.                         }/ ?! H; N; c1 N$ Z: P. {
  169.                         case AGV_STATE_AT_EXIT_CP: {* f/ Y( t" b* ]# W7 _- s5 Y# P- p
  170.                                 // the agv is at the exit cp# _  Q9 y! ^8 w" M" S
  171.                                 // destroy the listener node because I'm finished listening
    $ X4 Y( n; ]" b! Q& i( n. R1 n. O
  172.                                 treenode listenerNode = param(4);
    9 _; L1 ^% K/ e4 c& S5 X+ s, p
  173.                                 destroyobject(listenerNode);$ H4 x+ ~  u$ O6 U
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
    ( n0 T# Z5 p8 k/ a- m' b
  175.                                 if (!agvWait) {7 X; B  y+ p8 q3 `7 M4 o0 ^) ^* w
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    0 S0 ]9 e. q* Q9 `/ \
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);) s* m5 @) D1 h- _
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);8 V- ?' ^# J  y1 Q
  179.                                 }3 p5 I+ S6 a, `
  180.                                 // close the door' R. [: @& p4 d6 U/ ~5 V
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);1 U- i; k/ d" }# y
  182.                                 // and I'm finished with the state label so I can destroy it.
    3 H$ K* x: w: ]* L: f4 f
  183.                                 destroyobject(stateLabel);3 A, B" R' S6 U  x! i/ {/ W
  184.                                 break;
    4 q! V# m; H# |' D+ g
  185.                         }! b4 N, u1 u8 H9 m/ g. r% i: |
  186.                 }1 e  N3 s: T+ ^7 y# X+ O3 m* k
  187.                 return 0;
    6 h2 k9 E7 n  V' {2 s: z7 s4 q& H4 w; Q
  188.         }5 K& l4 a; ?3 g3 X# N! e2 e
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
      M, j9 ~' p  j7 ?4 o5 n* l% o
  190.                 // the elevator has arrived at the pick floor
    , x! |! d( U7 I/ R
  191.                 treenode elev = param(1);* f' V' S) A1 Y
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    / _/ L* o# ^- y5 D  d
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);9 F( M; G! E: e! \2 W6 ]' V& Q
  194.                 treenode elevState = node("ElevState", stateLabel);9 ^' F5 u$ q5 X7 K+ J" v4 f4 D2 v
  195.                 // set the elevator state to at-pickup-floor
    ! j' ?2 K8 F  B+ N! ~9 ?
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);5 v% |5 i% ?7 n) ]" T1 Y) x% Q+ M0 y
  197.         ' K: J7 w. T( l* w6 T7 t  n8 w
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;+ F; K; {, [6 z" C) G" @2 e* b' V
  199.                
    * y2 A7 V& l' v3 E( Q4 `
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it* ]5 k( t* h* T4 X
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
    & @/ a# }  n1 B7 _
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);" S$ W) s' w. `' }
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);  t4 p. r) M7 {" L- q1 D/ b5 U4 r
  204.                 }  B/ e9 r0 W; h
  205.                 return 0;$ t# k% ?; ]  [; S( p
  206.         }
    ) f8 ]5 v0 I7 l
  207.         case ON_OPEN_DOOR: {
    , y+ m6 _: m' P% A7 a# ?+ F
  208.                 treenode agv = param(1);
    ! n! G; h' U- o- O; ~4 O
  209.                 treenode elev = param(2);" \# _9 v2 O! U
  210.                 int nextStep = param(4);
    2 f6 _0 v$ q# v" e/ C; ~& \6 F. {
  211.                 // open the door based on the time to open the door% l! L# ^+ I6 J$ T( P' @5 _
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
      R" n% A& e, b" n3 g
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);5 S5 A8 i2 T: w8 g
  214.                 return 0;0 c  p: R- U/ R8 ^: g* }' q
  215.         }
    ; Y7 n  O+ h6 I
  216.         case ON_CLOSE_DOOR: {
      l2 R  O6 `8 n9 ]. X, H7 C
  217.                 treenode agv = param(1);; t3 d' H# F* J
  218.                 treenode elev = param(2);
    2 C5 Q$ Y* N: q7 e9 ?
  219.                 int nextStep = param(4);
    + B! k) L2 @3 c6 m, i: U$ s1 _
  220.                 // close the door base on the time to close the door
    3 M+ i  l) G& M9 P9 K
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    0 ~3 M/ h5 o5 }2 L
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));
    9 v% q  X' C1 t: m7 \4 H
  223.                 return 0;
    0 D+ U0 l! W  z/ D
  224.         }9 N# p+ C% _4 m- f
  225.         case ON_PICKUP_DOOR_OPENED: {
    5 i; H2 n* U. b# j- v6 Q, R5 g
  226.                 // the elevator door has been opened on the pickup floor
    1 {& x" n0 k/ C( }/ u
  227.                 treenode elev = param(1);- t3 H3 I" q! o& r0 m6 D& {8 j
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);' C, Z) N3 F7 f7 |7 Y( Q8 t
  229.                 treenode entryCP = cp(agv);" N2 y. K' l' @
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);% p9 t9 p* N9 z- Q
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    / V( e! S, G  O8 u' s2 D
  232.                 treenode elevState = node("ElevState", stateLabel);
    8 `( H. C! s+ }5 L' p$ L3 b4 Q1 u
  233.                 // set the elevator state
    ! K! A" ]& a1 p+ L& ]! m, L
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);; z% V; o- r5 V3 T: s: E1 @
  235.                 // if the agv is at the entry control point, move him to the elevator control point
    # O5 C+ X% \  x3 \+ W* D0 B6 k
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)" Q* B2 ^0 M6 E0 @7 ]4 b
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);0 y& {0 P+ ^- V9 s& Z* O0 u
  238.                 return 0;4 F6 a. y3 g3 J9 o; D. u7 A
  239.         }* b" {. `4 S3 ~: B! |
  240.         case ON_PICKUP_DOOR_CLOSED: {
    # Z5 L/ F& o8 R: x, D. T; u
  241.                 treenode elev = param(1);
    9 a5 s3 y; Z( u% U) ?% F6 M2 _- Z
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    : t' U+ {* f. n# M# P6 f
  243.                 // assign the agv to "no control point"# D, a3 n2 s0 o; f7 C5 `
  244.                 agvreassigncp(agv, 0);( ?9 m) i  _7 c" E
  245.                 // move the agv into the elevator
    * b0 [8 N# @  j- K; _2 u
  246.                 moveobject(agv, elev);: t; ~1 v) e+ J2 o# ?
  247.                 setrot(agv, 0, 0, 0);! [- X3 U1 S7 s$ R3 }6 o- B
  248.                 // release the elevator to continue to the destination floor
    ( ^+ K+ j! @& {
  249.                 freeoperators(elev, agv);
    ) Z2 u: C& N1 w) {& J$ F. \
  250.                 return 0;8 E5 ]1 R5 j$ s. M+ e5 @( J# U: M8 i
  251.         }$ S, K; U" M: d5 F: R  x! F
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {. a) f1 K& S( ^$ `* e
  253.                 treenode elev = param(1);
    ' J! S" a) {' |: Q* u
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    * k7 O: _3 j8 a9 f  r& B: L
  255.                 // when the elevator arrives at the destination floor
    ; c) D* f* F- a1 A4 @5 s
  256.                 // move the agv back into the model
    - Y* h8 Z3 _# ~' x! c( a
  257.                 moveobject(agv, model());
    # h2 h: S' S' f  G
  258.                 // reassign it to the destination floor control point
    , d" y  v8 u2 i
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));4 H5 w& S  S' C1 b% A/ K
  260.                 // open the elevator door
    # k7 m' V( U9 i3 T& j! y8 p- B
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);. V8 L( \1 d, J  x; t5 L. F
  262.                 return 0;
    ; H& Y" a0 g" P, k/ C0 G* r1 @
  263.         }
    3 v6 \" Q1 B# q
  264.         case ON_DROPOFF_DOOR_OPENED: {
    9 f  j/ w* ?$ O7 q+ s; L8 Y1 t, M
  265.                 treenode elev = param(1);
    + G- t1 k( i8 |$ r: a
  266.                 treenode agv = param(2);( L! A% V6 `! q- P' _+ l, y2 {
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);5 M+ ^; t; X& o* _/ B( @( G2 K
  268.                 // once the elevator door is opened on the destination floor,
    " T/ ^) B$ M+ v# I6 Z
  269.                 // redirect the agv to the exit control point* T- ~/ R, ^  r' R0 o
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);- R0 @/ b& o0 @
  271.                 return 0;
    # l: `6 `& ~; `2 y0 \. ~8 E
  272.         }9 s2 e3 ?# C) m3 s
  273.         case ON_DROPOFF_DOOR_CLOSED: {
    : O: o) E$ e$ W
  274.                 treenode elev = param(1);% h9 d: G8 b9 P" D4 S
  275.                 treenode agv = param(2);6 q* H' A6 K9 Q2 N, V9 ?8 F  S
  276.                 int isAGVWaiting = param(4);7 d; F# i) h  H% H7 ?( Z
  277.                 // once the door is closed at the destination floor,
    & z4 m, c  |% Z5 [8 \
  278.                 // if the agv is waiting, then send him to the final destination; Q2 I8 w# x& N
  279.                 if (isAGVWaiting)! p$ z( Q% V  @4 ~
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);
    ; ~/ I' `3 N- g5 K1 n
  281.                 // release the elevator to finish his task sequence
    5 L- t! x# J7 o+ h
  282.                 freeoperators(elev, agv);
    9 i1 _! V  t) N, I$ o5 q) I
  283.                 return 0;1 _( P; m6 z3 i. w2 J6 h) a% C- b
  284.         }
    + t' Q. ~' w- P2 i' M" Y: r; N
  285. }6 `" A; V/ j1 `, Q6 l
  286. } //******* PickOption End *******\\
    0 ~& X* l3 ?4 w5 E! E
  287. ' V9 M" x/ I. f. u$ D9 T% g! h
复制代码

! W7 J/ ?; Q! T* O  s1 _2 T; i/ L5 M# e+ t
, G$ x4 s7 E+ g- X
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 19:121 _! Z* u8 _. d& B2 B
办法1：从2016版本里面复制相应的代码
: j% ]# k- Y' F
; D( O( `! p) E* E& C& ?具体代码如下：
8 z& D; L/ M# x- p% O
好的，非常感谢陈老师的解答~



欢迎光临 全球FlexSim系统仿真中文论坛 (http://www.flexsimasia.com/) Powered by Discuz! X3.3