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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？
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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：
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  1. treenode agv = param(1);
    $ `- G8 F- b( }1 K7 X7 g9 w
  2. treenode currentCP = param(2);
    ( [$ A( R! s* T; ~

  3.   w9 x6 Z3 ?# U; _
  4. { //************* PickOption Start *************\\
    6 `. K% q/ L/ D/ ^6 @4 O
  5. /***popup:AGV_DivertToElevator*/
    . ~" G2 |& b  [  d' b
  6. /***tag:Description*//**Divert to Elevator*/1 G2 y+ {4 `# T& r& v  I

  7. 0 b( i1 ~1 N, f6 ^. V5 j) P
  8. int operation = param(3);
    7 O2 O7 X7 ^. z, N, x3 p* _& F

  9. 8 V% F3 G9 V& ]* O% M# t  y
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"1 {& y2 n; f+ M$ u* I6 k
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME))
      J; D& Z% b7 R. c: v! F* d1 T
  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
    ! {8 w# `3 C% \; Y0 d# F& U& K
  13.         // initial trigger execution# g9 P9 F2 \8 U: x5 g
  14.         #define ON_ELEVATOR_START 1
    & P7 E! O* `% _4 F7 B- y
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    ) n6 e7 k! _( z5 J2 J
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3  M( h& a( ?1 |, H4 M, m/ N( H
  17.         #define ON_AGV_AT_CP 4* V6 p7 Q8 |0 E& w( E
  18.         #define ON_BOTH_AT_PICKUP 5
    # I' H9 ?% ]  m8 ^6 v
  19.         #define ON_OPEN_DOOR 6( d/ A# |* n: O# `' K2 _9 ?
  20.         #define ON_CLOSE_DOOR 76 s8 }0 J" u' s: d8 D$ d( P
  21.         #define ON_PICKUP_DOOR_OPENED 8; |6 q/ I! r: L+ ~7 U: V" k
  22.         #define ON_PICKUP_DOOR_CLOSED 9
    ( q" `3 m, i8 w( y: e1 ~
  23.         #define ON_DROPOFF_DOOR_OPENED 10/ Z# w7 H! g) n" V( _7 U9 }
  24.         #define ON_DROPOFF_DOOR_CLOSED 11
    2 g: Q% N3 ]+ L9 J4 Z* Z" P7 u
  25.         ( V& r. [9 d5 r' j: L3 j2 `" P8 F
  26.         #define AGV_STATE_START 0
    $ f3 y( Y9 O- e6 w
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    ( k, _5 x4 N  R
  28.         #define AGV_STATE_AT_ELEV_CP 21 A  D5 X) W2 M, P
  29.         #define AGV_STATE_AT_EXIT_CP 3
    ( k1 z0 o: ~& m( j3 U: r
  30.        
    - L4 e  Y: a) l" W* Z5 P# r
  31.         #define ELEV_STATE_NONE 0
    % R7 K: W2 a; l  K! D
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 11 m/ V  o: C* v% ]' P
  33.         #define ELEV_STATE_OPENING_DOOR 2# Y$ \, x" e- F- i$ L
  34.         #define ELEV_STATE_DOOR_OPENED 3
    $ X: V' ^0 p+ k( o9 n6 O# p

  35. , D6 `" G- h. P9 ?: r

  36. ; y. A3 t9 X" n% G/ q; F7 J
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;
    3 _/ Z' G; R3 {6 c9 `9 O* l) w  c
  38.         #define elevator outobject(elevDisp, $iter(1))
    / A" R. b  x6 w9 O5 n& H1 x6 h+ U7 w% s
  39. 8 S3 Q9 l4 ?* J9 @  ^" x
  40.         if (!objectexists(elevDisp))
    & I4 ]' f! s2 ]$ Y% I  L
  41.                 return 0;
    / N3 n/ y- v% c$ Y4 ~8 w7 R4 p

  42. . e6 i7 `) J7 \4 o. _# |
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {& V( y! ^4 s, J: {/ y
  44.                 query(% E* p* f3 F" k: D9 X
  45.                         /** \nFull Query: */
    9 V- o: g# c) @7 N  S
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    / Z: [' K  X# p9 A" m% [# r
  47.                         nrop(elevDisp),9 e, }, s8 A. R, X7 f/ l0 I
  48.                         elevator
    1 [  e2 v0 K3 {, d6 o6 A/ j
  49.                         /** \nWhere*/
    $ X4 V; S" b. M+ p( v1 {
  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/- Y. y% Q3 K+ `9 [
  51.                         /***/' Y+ |' [0 B+ U
  52.                         /** \nOrderBy*/
    2 G# c  k/ j8 _1 m* H/ z9 }
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
    # [$ k: F% O( J. y
  54.                         /***/);
    " a/ f1 }' z5 [3 L3 Y
  55. 6 ?9 r7 q: y! V* ~6 S6 \
  56.                 if (getquerymatchcount() > 0). P) a' x1 Y( d# B
  57.                         elevDisp = getqueryvalue(1, 1);
    ) y4 Y  u. r% A. X
  58.         }
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  59.         if (!objectexists(elevDisp))  f& h- e) W$ f8 ]; O  V
  60.                 return 0;2 x0 `. |( V* y, e+ ^( y5 m* R
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);
    / r" S3 Y0 o' l( E: _& p4 S

  62. % f" c/ `0 M0 ?9 K6 x
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);# m6 x* Z' N$ S! \% x# V- @  o

  64. ! T$ p0 ^- L3 A. v
  65.         // Create the task sequence for the elevator
    : @/ n4 G9 `6 j% m  Q$ h; ]
  66.         double destZ = zloc(destCP);
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  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);
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  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
    4 V  o9 `& Q  Z2 k
  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START! p3 a+ b# {0 w7 I2 `+ _
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);
    * C, s! x$ b1 x/ U5 g( h0 @0 }
  71.         // travel to the z location of the current control point. {( h. ~* N+ g4 y& \% G# A
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));
    * V7 g+ h- F2 A9 a2 H* J
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
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  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);/ S9 x( l: n1 K4 z7 d3 P
  75.         // then wait for the agv to get on
    / \/ T# w/ N0 {7 i% f
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);
    " A1 h1 \* o: ]4 ~. R2 x
  77.         // then travel to the destination z location: G8 r( W4 p5 J. F( _5 Z
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);4 N; D% {2 w/ S, T- f
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL* t8 N; ]6 a! M5 _! l+ ?
  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);2 X6 L% _; z! G  \# ~, O$ O
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);2 b' q; K: ]! ?: L* X. }2 F
  82.         dispatchtasksequence(ts);
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  83. } else switch (operation) {
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  84.         case ON_ELEVATOR_START: {: T0 N6 Q, a" H) J( y1 G
  85.                 // this is fired when I get a valid elevator
    . e& y4 _. V. i2 _6 P  W4 m8 Z5 M
  86.                 treenode elev = param(1);- N7 G" c/ X3 Y
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);6 H! |/ Q( x4 G' _( }

  88. - b1 b0 U% ~+ v$ i  j/ z
  89.                 // find the closest floor control point
    4 y4 Z5 b. Z% r) B3 C* [
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);* q4 L- _, }9 i- l, Q  n
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), - L" v7 ~" j/ l' ?
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),, M% x1 n7 i3 ?9 h* Z8 S1 _
  93.                                                         cpconnection(elev, floorCPCon, count));9 ]6 y, D) D0 V2 h
  94.                 // return if there is none
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  95.                 if (!objectexists(curFloorCP))
    : Q0 i: T1 ?4 r8 I' s+ R4 v! s* b
  96.                         return 0;0 T' R  M$ i0 `" p: y5 j

  97. ! f1 j2 J" m5 s0 X  h
  98.                 // get the entry control point! R6 m2 y( Q0 X
  99.                 treenode floorCP = curFloorCP;
    5 A# a0 T0 q: o- ~0 l
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;
    / }9 z  R1 G& H2 V* ^! y+ N6 m
  101.                 if (!objectexists(curFloorEntryCP))8 W/ D4 ^+ X- }5 @# f
  102.                         return 0;
    ) \, s9 J$ d6 m* H# M6 J
  103.                 treenode floorEntryCP = curFloorEntryCP;
    ' ~# S5 Y( d$ e
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;7 d4 y4 F: R3 {- O
  105.                 if (!objectexists(curFloorElevCP))
    ! A8 {, S$ }( n! I. u$ y7 t5 r
  106.                         return 0;
    ) L" @% r% Q2 J& ~' R
  107. ( O* K; U( i+ o# z- i
  108.                 double destZ = param(4);# N0 W. p8 j4 |1 d: R
  109.                 // find the floor control point closest to the destination floor
    ) Z& D* J6 L5 o. i+ U7 Q
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), 5 V' z, p; A$ a5 J/ s% U/ i! W0 O
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count))),
    1 q- E0 t4 l$ S' B
  112.                                                         cpconnection(elev, floorCPCon, count));' F  j" ?! ~+ ^9 ^: l
  113.                                                         ' O* Y; Z* U0 S1 q, M
  114.                 floorCP = destFloorCP;
    ) c# {( Q, u) ?: e. d
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
    0 I( I1 C9 \  c$ y
  116.                 if (!objectexists(destFloorElevCP))
    / Z0 {; j7 o" e3 O3 h6 a4 f
  117.                         return 0;  k; X: d4 C7 W; C
  118.                 // get the destination exit control point
    ) E! Q, u1 S+ W* L* w5 m4 }; |8 q& K
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
    2 V4 |6 W5 m1 c2 ^5 P* ^2 d+ c+ e
  120.                 if (!objectexists(destExitCP))' a* T% J2 p) M
  121.                         return 0;8 }9 \- u: O9 B

  122. , K! H' C. x3 P" R8 M5 N0 P' K

  123. ' V6 |! e4 }9 E% n& X
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
    : k/ l; h- \, Y+ S9 L, l# f
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time8 p* U- O0 t8 c4 F( f* {
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.
    9 `/ _' F! {# C" @! J
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,
    + G) k2 d% o1 }3 x$ i4 C
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);: W: Q1 b/ I% C; ]6 O/ Q
  129.                 1 |( ]8 a. ]7 {3 |! i
  130.                 // set the data on the state label & j9 ]  g. y, H0 g( \
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);8 n% [2 X2 C: ]+ \9 L7 _9 l/ W* |! [% X
  132.                 switch_destroyonreset(stateLabel, 1);
    3 y3 F. S2 }; l2 ^3 g, ^. n9 ]
  133.                 set(stateLabel, AGV_STATE_START);6 n8 j' x+ X' H% B% v
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);% V+ K0 z: Y: G  ~9 Q4 _0 b
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);% U/ u9 d- Q7 {# Q
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);
    . U) a9 W9 T  M+ F2 j9 [1 O1 ?3 z
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);
      V2 d2 |& _" w1 t
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);% M  _1 `' }; B" u) h( r: @
  139.                 return 0;
    1 G" {2 V8 h4 \2 v, H# N
  140.         }
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  141.         case ON_AGV_AT_CP: {5 O$ r9 t6 o# [# R6 ?, F: k  M' |
  142.                 // this is fired by the agv listener every time the agv arrives at a node.
    6 e9 B3 F/ m+ x" v' S" j
  143.                 treenode agv = param(1);& @  l. }- b+ M$ a9 P2 d' c* d
  144.                 treenode elev = param(2);
    $ K( D6 g+ a6 T! F9 o5 }3 x" D: n
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);4 a5 V' q" K- f: f. |- ^6 u; K
  146.                 // I increment the state label, and then switch on it( ^; T$ V. V$ @9 s1 y
  147.                 inc(stateLabel, 1);
    # T/ P$ g( f: a$ L2 t# e
  148.                 switch (get(stateLabel)) {
    # `% X9 W1 K; l  G# D1 M
  149.                         case AGV_STATE_AT_ENTRY_CP: {4 O: Y# L( w6 j+ r' J0 M, q; Q
  150.                                 // the agv just arrived at the entry cp
    , t' _$ F" }; N/ g/ U, [
  151.                                 // so, figure out where the elevator is.- e- Q0 {; E; x7 Q! ~) B# o
  152.                                 int elevState = get(node("ElevState", stateLabel));
      o# _/ |% A( H( n, v
  153.                                 // if he's at the pickup floor with his door closed then open the door.
    7 e$ G5 N3 Q. @4 I; z; q8 a
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)/ Q+ y2 C, ~" v0 S, i* O. ?7 d
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);& d4 w( Q. K3 g" J0 t# s9 L
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {. |3 M9 ]7 i' ?# @: l
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
    " k3 J1 |- _2 s( C  |6 E
  158.                                         // the elevator cp
    ( \# a: P( b+ o( {6 y2 g% c# O! t
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));. O6 T- Q+ L% D0 l& B3 |7 E
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    ; U3 b6 b8 z9 U9 l' v
  161.                                 }
    2 R8 `3 Y! X/ q' B; R) k3 l4 L  Q
  162.                                 break;9 F6 u2 j6 K+ Z
  163.                         }
      v9 Z  A5 h0 q0 L# C1 l9 y' N
  164.                         case AGV_STATE_AT_ELEV_CP: {
    - m9 ~  }8 c4 n1 @9 `1 |
  165.                                 // once the agv is at the elevator cp, close the door
    / R$ {7 b6 B7 x0 Q( w2 ^  m
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);: f( o; `9 z( Q+ \6 S
  167.                                 break;& I& Q3 I" C1 F3 m  t
  168.                         }! b$ O8 J" T9 E% O5 j- _
  169.                         case AGV_STATE_AT_EXIT_CP: {
    1 T: c4 X  Q3 L2 ~  u, b6 E( N+ e
  170.                                 // the agv is at the exit cp; b6 |. V, F: r3 V" q# [% P9 h
  171.                                 // destroy the listener node because I'm finished listening6 E1 P1 i1 p2 R, _( A7 R
  172.                                 treenode listenerNode = param(4);
    6 X$ p, ]' m/ A8 T3 _) `: l
  173.                                 destroyobject(listenerNode);
    ; I- k& p2 E* T7 Y- S* E  Y
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;
    4 N+ {) Y0 b: _$ @
  175.                                 if (!agvWait) {$ k, f, T% I) p( t# [4 R
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    ! s7 J, p: `6 W  ~
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);
    : U) F8 S1 u( U3 q. ~
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);1 ~$ l  _* o3 @  v  J) U; D
  179.                                 }
    : K: v& W! d5 e  h" h3 c% \
  180.                                 // close the door* K4 [& W% c! _0 I9 \
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);: ~1 w+ u0 |# h; g; l( F
  182.                                 // and I'm finished with the state label so I can destroy it.4 w6 V$ H4 w8 ?4 s8 j
  183.                                 destroyobject(stateLabel);- ^, p) q  L* g5 w! S6 [8 B; ~) `
  184.                                 break;' @' R5 _" N& i1 v5 ~
  185.                         }
    # M/ O, n- `' u1 I/ v! n
  186.                 }
    2 A7 r8 q6 ?" h2 Z
  187.                 return 0;3 X: i. W$ g) J! m) q
  188.         }
    ' z2 z( @5 C1 @2 f2 w/ r! E) E! {
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
    : x& R  \3 h0 t* C# x  ^
  190.                 // the elevator has arrived at the pick floor# [, @$ L4 B+ G# c4 n' q4 n
  191.                 treenode elev = param(1);
    2 @! Q3 s& W/ e9 Y$ d
  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    ! T, A7 A* k6 Y/ ^( U
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);7 Q: C8 T  K2 d, J. L7 ?
  194.                 treenode elevState = node("ElevState", stateLabel);; D0 u0 A' |* J3 C+ T- p2 |7 Y) s% i
  195.                 // set the elevator state to at-pickup-floor
    ; `5 Y# l3 h* r' ^
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);$ `: g; x$ `  @: a
  197.        
    7 k! H& J/ q+ ~! }  C6 D" l  m! [
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;
    + i( Q5 s) ^! C" \  L; q) X
  199.                
    3 B4 J1 p5 U% h% {! I& k- U, H+ T9 X
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it
    ; n1 d9 S$ H+ J8 ~$ C  l  I
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {# f- Q! ^" G9 U& L( d6 n8 B9 M
  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);& q+ T! u- S1 W9 D0 T; x* L
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);! ]( ?' m4 E2 ~$ E7 M6 K
  204.                 }
    1 E( }8 \9 Y2 b& p/ m, `" \7 F
  205.                 return 0;
    / q0 A. a2 o, `* V! Y
  206.         }
    8 _/ ?* e% b) @2 w  x! H
  207.         case ON_OPEN_DOOR: {9 ]. O% m7 q& l
  208.                 treenode agv = param(1);
    ! u: t0 G8 k/ p4 p. P
  209.                 treenode elev = param(2);, M! p$ c$ F# j$ \
  210.                 int nextStep = param(4);: M7 J, W( B( {- a2 T2 ~
  211.                 // open the door based on the time to open the door
    . c7 d+ d* X4 x  D
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;" d) Z4 S- o% Z# e. H8 W
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);
    ; R  h5 q9 j4 c
  214.                 return 0;
    + H2 }! D. d5 S+ l& u: ]& p
  215.         }3 U, X: l8 v; L( w
  216.         case ON_CLOSE_DOOR: {
    6 Q% f+ n/ ~- z5 @, l# F
  217.                 treenode agv = param(1);% Z. |: c0 J# F- d" s5 J: h
  218.                 treenode elev = param(2);
    + K2 e) j! A, x. m, y- ]( Q# e7 X
  219.                 int nextStep = param(4);! z* f$ j; P* c# N& t6 j% `
  220.                 // close the door base on the time to close the door
    4 Y) l' }* n$ Z; S; F$ r
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    ! ]; {7 L1 W6 M
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));
    ) V4 U2 P! n/ L" m
  223.                 return 0;5 c) \8 r# e; A
  224.         }
    2 E/ H* x+ a1 ]- d" {5 e+ x% Q
  225.         case ON_PICKUP_DOOR_OPENED: {
    , K0 w7 p( H/ G: {% o
  226.                 // the elevator door has been opened on the pickup floor1 p7 R3 ~* ^" \1 }9 j% @# E, I
  227.                 treenode elev = param(1);
    " [9 |1 g& w: T6 U
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);$ z) M2 S2 ^2 G
  229.                 treenode entryCP = cp(agv);) n) l$ T! A9 l! C: u3 Q  k+ k
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);
    6 u! P- R& d" u* v
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    # H6 h3 E% {* Z( m! S1 }8 M
  232.                 treenode elevState = node("ElevState", stateLabel);
    ; V( F' z! l2 c# c+ u
  233.                 // set the elevator state
    % U; T" o* X/ B3 R' R8 l8 g" O2 a1 g
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);
    * F+ v2 R8 x: m
  235.                 // if the agv is at the entry control point, move him to the elevator control point
    / x# ~4 {! ^& j
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)
    + {+ l- b- @* }/ C
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);
    6 L/ H2 R. y* c4 ~1 H' ]
  238.                 return 0;
    6 R" `' {' a+ B1 B" s; c; U
  239.         }
    9 P1 [7 _8 i& s- X
  240.         case ON_PICKUP_DOOR_CLOSED: {5 z) `% g0 f" N7 q2 i
  241.                 treenode elev = param(1);
    3 C8 O* O( E0 J/ c  ?
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);7 q0 m8 [% k' J5 w; r
  243.                 // assign the agv to "no control point"
    & B. H9 t+ R2 ~2 P
  244.                 agvreassigncp(agv, 0);
    ! D( O. i5 P6 f. F5 V; t
  245.                 // move the agv into the elevator0 J0 I) U) }( {! H* r7 j
  246.                 moveobject(agv, elev);  x  w- a9 j6 Y0 E
  247.                 setrot(agv, 0, 0, 0);# Z, W6 g$ [2 t1 N" u
  248.                 // release the elevator to continue to the destination floor
    ; o6 _( a6 u8 U" n
  249.                 freeoperators(elev, agv);
    ( `: Q; C# y( {( O/ g! B
  250.                 return 0;+ X9 L! A+ I2 Y1 h# Y0 V' Z2 S
  251.         }5 K5 z7 y# {1 Y# Y2 d2 x% F- M% j
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {" I) s" M6 v0 ^4 s; o
  253.                 treenode elev = param(1);
    & ]# v& U7 \6 k/ j3 t
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    ) G1 {& w9 x; M1 m9 [8 M- p1 F" E
  255.                 // when the elevator arrives at the destination floor3 z/ ]7 E% ^/ d! D
  256.                 // move the agv back into the model
    4 n0 K. j( d$ Y' _# }2 ^
  257.                 moveobject(agv, model());
    8 I( Y+ J. a+ W: v  X
  258.                 // reassign it to the destination floor control point
    ' Z4 ^. q: X" k! f
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));# Z! j- D1 q# I. O) n0 k
  260.                 // open the elevator door
    + m; y1 _) b1 {! S
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);+ R7 u+ C' D  |& \! k% ]6 U: z
  262.                 return 0;
    3 ?% W/ X$ N' F( H
  263.         }. r5 C6 w9 [6 c# Y. F" ]- d
  264.         case ON_DROPOFF_DOOR_OPENED: {9 W" E7 M! o3 M2 U. Y4 Z/ W' v" D
  265.                 treenode elev = param(1);7 P% S5 o6 V# n/ m) t$ w
  266.                 treenode agv = param(2);( ^" j8 T" t( j$ s' D* f
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);6 h/ d( p- p6 y% b+ [1 n
  268.                 // once the elevator door is opened on the destination floor,
    * R# ?9 s, k. z2 e6 @4 H+ L, m
  269.                 // redirect the agv to the exit control point6 V1 |- w) n* ^' G0 w$ Z
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);
    , F# u) ~& n, M; x1 e+ x
  271.                 return 0;! C+ P5 F9 F* R. D
  272.         }
    5 H" X/ e. u7 y4 ?
  273.         case ON_DROPOFF_DOOR_CLOSED: {* d  r4 H" t6 }- z7 M) B# \
  274.                 treenode elev = param(1);
    ; m% R' w" X: `: D2 b$ {, W
  275.                 treenode agv = param(2);
      q7 ], ~5 x0 I' R$ {
  276.                 int isAGVWaiting = param(4);
    # X6 a/ b! f. j
  277.                 // once the door is closed at the destination floor,
    . T. i, ?8 V2 q( {
  278.                 // if the agv is waiting, then send him to the final destination
    7 x. H2 P. H* _& S& R$ L6 y( ?
  279.                 if (isAGVWaiting)
    % t. r. r, h" R/ e  W
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);% D8 b: N1 ~, \# F* S5 P
  281.                 // release the elevator to finish his task sequence
    % V8 M8 ~9 t* C& _9 D7 `. B
  282.                 freeoperators(elev, agv);- U% k3 c5 ~) F
  283.                 return 0;
    $ N% I- p5 S0 e" N" i, \
  284.         }
    4 }+ @. y( P6 G% x0 ^
  285. }
    + c( ~, X1 a- ?% J/ I; A- d  W% v
  286. } //******* PickOption End *******\\
    - b4 Q/ {  Z1 v) L) @

  287. * R) U! H4 Y6 F+ {7 K) |
复制代码

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6 E$ }5 l! ^- Q, G) v6 Z! b* B. o. W
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
5 b! k3 q" `* ?办法1：从2016版本里面复制相应的代码1 l7 y9 m3 t/ F+ E7 }% i

1 R7 P" y$ Y0 a. n具体代码如下：
7 o+ x: O) o% f
好的，非常感谢陈老师的解答~



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