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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. n3 @  y- g0 k: H% g

6 w, U1 e, G& C7 q2 o具体代码如下：
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  1. treenode agv = param(1);9 K9 q1 _% G9 \6 j/ \, a& J
  2. treenode currentCP = param(2);
    + q" u3 m9 {) O( G0 @

  3. 5 u. i: _2 y/ l3 X/ B; h+ M+ f
  4. { //************* PickOption Start *************\\
    8 j" W' U" T; O0 X: G5 S
  5. /***popup:AGV_DivertToElevator*// s  M" W: w- \
  6. /***tag:Description*//**Divert to Elevator*/. s- D4 K6 \% R& q. |/ r

  7. ( i: ~2 c$ W0 n& U, t9 e, b
  8. int operation = param(3);+ ~  d, P+ Q" D0 H& m7 |4 k- P+ i

  9. 3 M. |& p7 T. H
  10. #define AGV_LABEL_NAME "fs_AGV_Elev_State"
    ( J0 h5 p, J1 J3 o& m$ f+ [
  11. if (operation == 0 && !objectexists(label(agv, AGV_LABEL_NAME)), x$ r( k' N5 O' W  m8 ^
  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
      ^! h; O0 J0 x8 Y8 c
  13.         // initial trigger execution9 j4 |8 l1 V3 u# U- G& `
  14.         #define ON_ELEVATOR_START 1
    0 P: l6 W+ e4 O; z6 v
  15.         #define ON_ELEVATOR_PICKUP_ARRIVAL 2
    * f9 X3 h) X9 a6 e# g
  16.         #define ON_ELEVATOR_DROPOFF_ARRIVAL 3
    0 P- f* o: v9 r& g$ \& ]( b
  17.         #define ON_AGV_AT_CP 4+ B4 s7 h/ V6 V4 e0 b1 ?
  18.         #define ON_BOTH_AT_PICKUP 5' U8 D& i4 R+ Y( |& W8 N
  19.         #define ON_OPEN_DOOR 6# X% _6 X* j! {6 ]+ `  p: S3 L7 H
  20.         #define ON_CLOSE_DOOR 7! M) g" c; `( M/ I) O6 Z
  21.         #define ON_PICKUP_DOOR_OPENED 8
    1 ]. L+ |0 R! W( w1 d! ~
  22.         #define ON_PICKUP_DOOR_CLOSED 9( F' P+ j/ Z( o3 x5 D6 g
  23.         #define ON_DROPOFF_DOOR_OPENED 10
    7 I2 g- R: ^; }" i) @
  24.         #define ON_DROPOFF_DOOR_CLOSED 11
    6 g' g' H  U) ?6 ~
  25.         ) s9 M* Z; a: A, q$ d9 B
  26.         #define AGV_STATE_START 0
    & K8 y3 z0 B1 A, a, [" U0 ?/ z3 N
  27.         #define AGV_STATE_AT_ENTRY_CP 1
    6 k" L6 X( _. o# i
  28.         #define AGV_STATE_AT_ELEV_CP 2" S% l1 m* s3 f( E
  29.         #define AGV_STATE_AT_EXIT_CP 3" v8 G8 ~9 B3 }4 i3 y; Y% O
  30.        
    " M6 m3 Q( D# s( J5 w" y
  31.         #define ELEV_STATE_NONE 0
    ; }+ B, t2 ]1 h+ j+ a: c3 n" Y
  32.         #define ELEV_STATE_AT_PICKUP_FLOOR 1
    6 K3 r$ j) I, _8 r; L, G
  33.         #define ELEV_STATE_OPENING_DOOR 29 u) S% g) p" l3 |
  34.         #define ELEV_STATE_DOOR_OPENED 3
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  35. $ ?: ^9 [2 t( J
  36. ( i' y! K# m* J! |& N& ]1 \
  37.         treenode elevDisp = /** \nDispatcher: *//***tag:Dispatcher*//**/cpconnection(currentCP, "Elevators", 1)/**/;! R' l2 q+ K7 U8 ~% C7 b* L/ }
  38.         #define elevator outobject(elevDisp, $iter(1))
    8 B3 i9 s! V* j* J* f3 q% V

  39. , ]  I: l  V9 ]; o* |0 `
  40.         if (!objectexists(elevDisp))
    7 i$ \! S# {; g! G8 T
  41.                 return 0;( Q5 \& q, i8 ?. A1 m+ @

  42. ; |: X) {5 p2 t% u/ p
  43.         if (/** \nDo Search: *//***tag:DoSearch*//**/1/**/) {
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  44.                 query(
    2 {% ~6 O6 ]1 m
  45.                         /** \nFull Query: */" B$ v7 b9 I4 ]3 H- H. r0 c
  46.                         /***tag:FullQuery*//**/"SELECT $2 AS Elevator FROM $1 Elevators WHERE $3 ORDER BY $4 ASC LIMIT 1"/**/,
    9 f/ n( A9 C2 V0 J. v6 M
  47.                         nrop(elevDisp),
    * q& X$ W7 ~5 N0 i
  48.                         elevator
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  49.                         /** \nWhere*/
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  50.                         /***tagex:WhereParams*/,/** \n*/ /**AND*/ /** */ /**/getstatenum(elevator) == STATE_IDLE /**/# {5 ?3 v$ T4 S6 `# X
  51.                         /***/  m' Y" v: g/ k3 v
  52.                         /** \nOrderBy*/
      i. K8 J0 ]5 Z& k) |/ R1 O4 \, B
  53.                         /***tagex:OrderByParams*/,/** \n*/ /**/fabs(zloc(elevator) - zloc(agv))/**/ /**ASC*/
    3 |; M5 D+ w1 b& j2 I
  54.                         /***/);: A2 H/ A3 Y& @2 d  p
  55. 9 E* h0 Q, A- R( ?$ M; P
  56.                 if (getquerymatchcount() > 0)6 P) {; J1 w; u
  57.                         elevDisp = getqueryvalue(1, 1);
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  58.         }
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  59.         if (!objectexists(elevDisp))
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  60.                 return 0;) `2 m) D" p+ s( F
  61.         treenode destCP = agvinfo(agv, AGV_DEST_CP);. _, n1 [6 u0 B- _0 L
  62.   U0 N: m7 a4 G7 f# l8 u' c1 j
  63.         agvredirect(agv, /** \nDivert Point When None Available: *//***tag:WaitDivertPoint*//**/currentCP/**/, REDIRECT_AND_WAIT);
    . O& i- \! x6 h, g

  64. 4 R+ C- K$ b" L5 m& n. n
  65.         // Create the task sequence for the elevator/ L" K. J, b# ?! i
  66.         double destZ = zloc(destCP);. I/ @! {- l. R" s+ ]# C0 H. ~; r, `. {
  67.         treenode ts = createemptytasksequence(elevDisp, 0, 0);9 K$ A6 q$ p! O4 Z1 o7 s
  68.         inserttask(ts, TASKTYPE_TAG, agv, destCP);
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  69.         // immediately when the elevator starts the task sequence, I call ON_ELEVATOR_START: r# t8 ~: d" k
  70.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_START, destZ);+ {4 E* F% `! ~& ~5 c4 N
  71.         // travel to the z location of the current control point
    ' o+ t6 d7 E8 K# q7 G2 O
  72.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, zloc(currentCP));* }8 a8 M+ F- J; A+ y
  73.         // then call ON_ELEVATOR_PICKUP_ARRIVAL
    . S! B5 \3 b9 |6 Y8 z
  74.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_PICKUP_ARRIVAL);" z8 Y, e3 u9 H+ Q7 O/ }, e
  75.         // then wait for the agv to get on
    8 v6 |3 o3 Y4 z; |
  76.         inserttask(ts, TASKTYPE_UTILIZE, agv);" c# }2 u' J+ l* n. t
  77.         // then travel to the destination z location( e; G) {' G% c" |  b
  78.         inserttask(ts, TASKTYPE_TRAVELTOLOC, 0, 0, 0, 0, destZ);
    9 t$ l& a! l1 M+ a/ S! W# A
  79.         // then call ON_ELEVATOR_DROPOFF_ARRIVAL
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  80.         inserttask(ts, TASKTYPE_NODEFUNCTION, c, 0, 0, ON_ELEVATOR_DROPOFF_ARRIVAL);/ N: P, K: o- Q2 p: Z+ L9 {* z
  81.         inserttask(ts, TASKTYPE_UTILIZE, agv);4 O/ B% R& z  u4 u6 _1 [! C) d
  82.         dispatchtasksequence(ts);
    0 f' v4 J  o" w; r
  83. } else switch (operation) {6 w5 o7 u- I' R; c5 r6 p
  84.         case ON_ELEVATOR_START: {. ?2 I4 E+ n+ @& f% x- y6 n* I3 g
  85.                 // this is fired when I get a valid elevator
    , ^! f( [2 J8 E0 w' J
  86.                 treenode elev = param(1);0 s0 e: {0 L- `5 z) I
  87.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);* u  B0 \  F9 F; k  x& G9 u
  88. 9 Q+ }2 D5 A+ b% X$ {
  89.                 // find the closest floor control point! j8 J% |: K6 ~! D% H2 g6 |
  90.                 int floorCPCon = cpconnection(0, /** \nFloor Control Point Connection:*//***tag:FloorCPs*//**/"Destination"/**/, 0);) E# G5 P: q' L
  91.                 treenode curFloorCP = findmin(cpnumconnections(elev, floorCPCon), 7 H: I/ o$ u$ E) p4 }0 _
  92.                                                         fabs(zloc(agv) - zloc(cpconnection(elev, floorCPCon, count))),$ V, \. L. n0 P% g$ O
  93.                                                         cpconnection(elev, floorCPCon, count));* b: C9 I' N1 V( x
  94.                 // return if there is none
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  95.                 if (!objectexists(curFloorCP))
    * W' z0 |4 a8 V' x
  96.                         return 0;
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  97. , e! u  {/ [+ P4 L) m1 @- B# e
  98.                 // get the entry control point4 N; P- Q. W( F; Q1 _; U
  99.                 treenode floorCP = curFloorCP;
    3 \  m5 ^' g; I" r) Z
  100.                 treenode curFloorEntryCP = /** \nEntry Control Point: *//***tag:EntryCP*//**/cpconnection(floorCP, "EntryCP", 1)/**/;1 x7 J/ m  [* g. ~
  101.                 if (!objectexists(curFloorEntryCP))9 s& u$ C( P0 d& t
  102.                         return 0;6 j+ T) S+ @. U
  103.                 treenode floorEntryCP = curFloorEntryCP;3 ^8 o# O, r$ e7 I! C# z, u
  104.                 treenode curFloorElevCP = /** \nElevator Control Point: *//***tag:ElevCP*//**/floorCP/**/;1 Y: w2 y* u  x* }6 `9 Q% A, d/ N' \% i
  105.                 if (!objectexists(curFloorElevCP))/ ~0 C$ _0 Z+ a
  106.                         return 0;: q* R, z* e* m

  107. ( q: o5 v7 z) U
  108.                 double destZ = param(4);
    ( {) i# o) {9 B. N% H% h7 s
  109.                 // find the floor control point closest to the destination floor8 Q: B1 q# I8 g: f+ T3 v  p& u0 K- H
  110.                 treenode destFloorCP = findmin(cpnumconnections(elev, floorCPCon), 4 \% W6 v1 q) Y* d" ]! Z
  111.                                                         fabs(destZ - zloc(cpconnection(elev, floorCPCon, count)))," n& F5 l, R; c: r5 q
  112.                                                         cpconnection(elev, floorCPCon, count));. R1 S- Z: `# K9 E1 g) q
  113.                                                         , T% L( i7 N, U( U
  114.                 floorCP = destFloorCP;) s8 X8 o6 J- E+ @9 h4 N
  115.                 treenode destFloorElevCP = /** \nDest Elevator Control Point: *//***tag:DestElevCP*//**/floorCP/**/;
    1 G& L3 v" r4 K4 S+ x& L. e
  116.                 if (!objectexists(destFloorElevCP)); u4 c! {- n/ v% }0 Q) A2 B
  117.                         return 0;8 s/ d2 F! l$ b/ }& H+ E
  118.                 // get the destination exit control point6 K! ~5 q: |' J$ p6 C( n/ m( I* A
  119.                 treenode destExitCP = /** \nExit Control Point: *//***tag:ExitCP*//**/cpconnection(floorCP, "ExitCP", 1)/**/;
    9 o# J2 Y+ T5 e  Y* ^% \: Z9 Z8 @
  120.                 if (!objectexists(destExitCP))
    - t3 o; S. k- H" b9 f" ^
  121.                         return 0;
    * \8 l9 T1 Z9 c

  122.   `& ^/ V2 z4 `) h- g
  123. 2 F) C8 r; C1 {9 Q7 K- Y$ e
  124.                 // add a listener for the agv. This will call this nodefunction in the ON_AGV_AT_CP section whenever the
    9 L& W1 x8 l! V6 \* u! P
  125.                 // agv arrives at a node. I keep a state on the agv's state label, and then increment it each time3 t) U# t% s8 l1 H4 g1 b3 P
  126.                 // the listener is called so I know which control point he's at, i.e. entry, elev, or exit.7 j9 x6 ?, s! T
  127.                 agvaddlistener(agv, c, AGV_LISTEN_ARRIVAL | AGV_LISTEN_INTERMEDIATE_DEST,4 W* l, ]7 n; y
  128.                         agv, elev, ON_AGV_AT_CP, AGV_LISTENER_PARAM_NODE);; \5 V% U& y$ H# y
  129.                
    7 u  I$ J: l' W2 n
  130.                 // set the data on the state label
    & ^4 E0 {5 F6 d. P
  131.                 treenode stateLabel = assertlabel(agv, AGV_LABEL_NAME, DATATYPE_NUMBER);
    + X) d7 x/ y/ `% Q+ J
  132.                 switch_destroyonreset(stateLabel, 1);
    4 x% ]9 x  D7 C! i( _
  133.                 set(stateLabel, AGV_STATE_START);
    - w8 v8 |+ R3 I/ i6 ^: s. l
  134.                 set(assertsubnode(stateLabel, "ElevState", DATATYPE_NUMBER), 0);
    $ l  v8 _* l0 X  Z; n
  135.                 nodepoint(assertsubnode(stateLabel, "ElevCP", DATATYPE_COUPLING), curFloorElevCP);
    * ]% [/ k- V5 F: v/ p7 R
  136.                 nodepoint(assertsubnode(stateLabel, "DestElevCP", DATATYPE_COUPLING), destFloorElevCP);  ?9 K7 O) i  [2 k6 [3 @
  137.                 nodepoint(assertsubnode(stateLabel, "ExitCP", DATATYPE_COUPLING), destExitCP);1 T0 y7 a" P) n) S3 j# t# `
  138.                 agvredirect(agv, curFloorEntryCP, REDIRECT_AND_WAIT);
    : a" d+ D/ Y8 j8 \8 ]
  139.                 return 0;
    3 A6 n7 S8 }" Q
  140.         }
    4 Y1 ~' x0 `3 ?& N  [: j) v& J
  141.         case ON_AGV_AT_CP: {# O" c$ H* \, L
  142.                 // this is fired by the agv listener every time the agv arrives at a node.2 o% F- q' Q2 h* G
  143.                 treenode agv = param(1);
    3 [5 {% L, v8 w, e- d+ j5 f% R2 B
  144.                 treenode elev = param(2);
    6 X  y4 n+ s$ m6 o9 T
  145.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);* m/ I+ w7 W$ M( a: W
  146.                 // I increment the state label, and then switch on it
    ( ~$ L- E7 m. E5 u  d
  147.                 inc(stateLabel, 1);
    ! w7 C' L3 n* g. B* t6 ]
  148.                 switch (get(stateLabel)) {+ h4 C& B5 a* N4 K$ C
  149.                         case AGV_STATE_AT_ENTRY_CP: {
    ; c! T6 R$ r/ ?) c& i* G
  150.                                 // the agv just arrived at the entry cp
    6 T6 ^  l) V4 D, v: |# l6 g
  151.                                 // so, figure out where the elevator is.
    " D2 a: u) x$ ^' q& z( M% v* U
  152.                                 int elevState = get(node("ElevState", stateLabel));# U" [# T1 k* K) {! P% F  C
  153.                                 // if he's at the pickup floor with his door closed then open the door.
    , n+ G% ?8 E; G4 {$ w# V& U; P
  154.                                 if (elevState == ELEV_STATE_AT_PICKUP_FLOOR)
    5 M0 ~+ B5 `$ \+ |
  155.                                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    ; X" A7 h, A' A, k  G+ m) @
  156.                                 else if (elevState == ELEV_STATE_DOOR_OPENED) {
    1 [5 y8 O4 j1 \- E: O/ Q2 G0 f; T; P
  157.                                         // if his door is alread opened, then move the agv onto the elevator, i.e. to
    ) d, i9 r  t- c5 ~
  158.                                         // the elevator cp
    + D" e, w' u5 J) R, t
  159.                                         treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
      \/ t. ]2 U( ^. o
  160.                                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);6 c1 ~3 I% B% z( L# g
  161.                                 }
    7 Q+ t7 ~6 E$ m
  162.                                 break;
    $ h# _3 }/ D% _9 W
  163.                         }6 u, q  T  v  X# x) k$ s( G! [
  164.                         case AGV_STATE_AT_ELEV_CP: {
    ( _4 B4 |; E# B% b3 j! X
  165.                                 // once the agv is at the elevator cp, close the door
    9 d# r" t$ {7 t
  166.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_PICKUP_DOOR_CLOSED);) H/ H$ O2 u4 }; j  x; z
  167.                                 break;0 N" ]! b/ \* P* t
  168.                         }' R& `! i- R% h# J+ ~
  169.                         case AGV_STATE_AT_EXIT_CP: {: M0 o: }( \/ u  @
  170.                                 // the agv is at the exit cp
    ) |5 b) ?; ?+ L/ u9 r. v+ l
  171.                                 // destroy the listener node because I'm finished listening
    # L0 l6 F- ~$ G# O; k. E
  172.                                 treenode listenerNode = param(4);0 f* i: h5 P. W8 e3 i! a
  173.                                 destroyobject(listenerNode);
    0 k+ J7 o  h+ V2 \9 k: e% e- \" ?
  174.                                 int agvWait = /** \nWait On Door Close: *//***tag:WaitFinalDoorClose*//**/0/**/;& C; b, l; ?$ Y' ^
  175.                                 if (!agvWait) {
    ! n7 z! V7 [( Z) l
  176.                                         // if the agv is supposed to continue on, then tell him to go to his final destination
    : W, L) z/ E5 O4 @
  177.                                         treenode destCP = gettaskinvolved(gettasksequence(elev, 0), 1, 2);; g9 E# I4 ^1 H/ f& A
  178.                                         agvredirect(agv, destCP, REDIRECT_AS_FINAL);
    * C# l$ W5 ]  c3 z+ u
  179.                                 }" d0 e" y; A' A. S4 i0 ?; o
  180.                                 // close the door
    - J; a) K6 s' n. z; n' r
  181.                                 nodefunction(c, agv, elev, ON_CLOSE_DOOR, ON_DROPOFF_DOOR_CLOSED, agvWait);1 ~' U+ H" f3 B4 ^$ S4 O6 \* L
  182.                                 // and I'm finished with the state label so I can destroy it.
    ; d- g  p  w3 R8 s
  183.                                 destroyobject(stateLabel);* Q. O3 C- k- ~5 l0 z
  184.                                 break;
    3 \# c. l0 q( S
  185.                         }
    * ?) {- ?$ z7 J( L
  186.                 }( U6 q1 b. E* N3 Q
  187.                 return 0;
    . R& @, j& x2 M8 M2 d1 i: q
  188.         }4 i: E" F& n) [2 o, ~
  189.         case ON_ELEVATOR_PICKUP_ARRIVAL: {
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  190.                 // the elevator has arrived at the pick floor
    4 y0 v5 ]2 ~$ M' w% h6 N8 [4 f. _
  191.                 treenode elev = param(1);
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  192.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    ) L; n6 c9 t4 O- W) M! C
  193.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);. [+ w/ h2 G: s6 o# j, @" a( \$ U
  194.                 treenode elevState = node("ElevState", stateLabel);
    $ L$ s0 U9 R. o' Q" j; {
  195.                 // set the elevator state to at-pickup-floor
    5 q8 g8 P) B6 H9 L
  196.                 set(elevState, ELEV_STATE_AT_PICKUP_FLOOR);  F- R3 ~1 s' I! L& w- X) u  y
  197.        
    " `% y& [; `0 z! n) x) z
  198.                 int openDoorImmediately = /** \nOpen Elevator Door Immediately: *//***tag:OpenDoorImmediate*//**/0/**/;  _* r) S" S4 o0 ~- Y" j4 \. i
  199.                
    6 V8 f( W; |: m% g% i$ O" _
  200.                 // if the agv is at the entry control point or I open the door immediately, then open it# a. ^7 e0 u- e$ K
  201.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP || openDoorImmediately) {
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  202.                         set(elevState, ELEV_STATE_OPENING_DOOR);1 i" U7 I/ j/ t% M  c! C5 f
  203.                         nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_PICKUP_DOOR_OPENED);
    5 h: m5 m0 t+ ~% l; a
  204.                 }3 G7 U; f) Q- y. N3 e) _& e" g
  205.                 return 0;
    * d* U/ S- C% e" G- U" p
  206.         }
    4 W/ @. ]' |* E' G
  207.         case ON_OPEN_DOOR: {8 w2 e) {" o% S5 M- O4 f% A: Z7 J
  208.                 treenode agv = param(1);
    % Z  M1 V' Y1 r
  209.                 treenode elev = param(2);/ N/ a3 [9 `2 [  X& V+ a5 Z
  210.                 int nextStep = param(4);+ i6 E2 e6 A+ K* u2 i
  211.                 // open the door based on the time to open the door
    4 C8 C& _3 l+ Y# ~$ q9 d: Y# G. @
  212.                 double openDoorTime = /** \nDoor Open Delay:*//***tag:DoorOpenTime*//**/5/**/;
    # E# r& ~, |" n# b- A
  213.                 delayednodefunction(c, openDoorTime, elev, agv, nextStep);/ _6 J" o7 z' o+ ^6 ?5 @" F
  214.                 return 0;
    # i, U' C+ K" s7 N. B, ~& t# C
  215.         }* _1 M! H% D3 r/ I7 j; X3 r" U
  216.         case ON_CLOSE_DOOR: {
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  217.                 treenode agv = param(1);
    4 V4 q% ^$ a6 ~1 |; K3 v
  218.                 treenode elev = param(2);/ j$ T. f. V0 K& G' V8 h- f
  219.                 int nextStep = param(4);
    : \- T6 F& Z3 u+ m( F' N
  220.                 // close the door base on the time to close the door7 x9 g6 @' Z6 _. B. v9 o7 k
  221.                 double delayTime = /** \nDoor Close Delay:*//***tag:DoorCloseTime*//**/5/**/;
    9 D. b% f! p& G
  222.                 delayednodefunction(c, delayTime, elev, agv, nextStep, param(5));
    % S2 S/ L! s1 {- f
  223.                 return 0;
    * e# O; ?: u) H$ _5 s9 r
  224.         }) O. o1 `8 \+ }$ ?. m1 c/ ?
  225.         case ON_PICKUP_DOOR_OPENED: {- U1 ~/ w2 E: O% v+ g
  226.                 // the elevator door has been opened on the pickup floor
      ?( l  L2 k8 u$ W" M4 y4 {
  227.                 treenode elev = param(1);) Y4 q' R% [$ u) X
  228.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    , Y8 q3 G( f, w! R3 u! c2 k( {
  229.                 treenode entryCP = cp(agv);$ J+ R; I- f: P& _' i
  230.                 treenode stateLabel = label(agv, AGV_LABEL_NAME);3 k  _: X9 p6 V
  231.                 treenode elevatorCP = tonode(get(node("ElevCP", stateLabel)));
    ; k* g% l3 ?9 a7 V5 S- B% t- u
  232.                 treenode elevState = node("ElevState", stateLabel);" T- O1 `4 s. H* k% Q) r
  233.                 // set the elevator state
    / A4 y# W+ p8 h' G/ {$ f
  234.                 set(elevState, ELEV_STATE_DOOR_OPENED);4 M+ G& m: E9 `0 n$ p  [
  235.                 // if the agv is at the entry control point, move him to the elevator control point# t$ T& q$ v5 @( t8 N
  236.                 if (get(stateLabel) == AGV_STATE_AT_ENTRY_CP)
    ( Z5 n5 K" }: B! i7 g6 b
  237.                         agvredirect(agv, elevatorCP, REDIRECT_AND_WAIT);4 O6 |7 T' b; A/ u* n) A
  238.                 return 0;
    : @4 y# P# S* a0 Z, {1 j8 z- U
  239.         }9 }/ a: w( K- `' a, X
  240.         case ON_PICKUP_DOOR_CLOSED: {
    & p7 [/ S6 _! \  Q8 a# N
  241.                 treenode elev = param(1);
    0 y! I& [! o4 H( B7 n
  242.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);0 L; M$ P7 z0 P  E% {
  243.                 // assign the agv to "no control point"( i- U3 n2 k; H3 M
  244.                 agvreassigncp(agv, 0);, F2 ~% `2 \! a8 C6 n( Q# X
  245.                 // move the agv into the elevator
    & z  @8 v$ A5 X
  246.                 moveobject(agv, elev);
    4 P* l; z% m4 m& G4 l: G8 y
  247.                 setrot(agv, 0, 0, 0);4 E, D' }: `$ a8 H
  248.                 // release the elevator to continue to the destination floor9 ^+ R; j1 J0 {& I! X9 A6 y
  249.                 freeoperators(elev, agv);* ~9 P4 E+ D. S* r" }
  250.                 return 0;: [) d& Z# Q+ Z0 V3 E3 E) Z
  251.         }
    ; \3 y5 M0 Q* S
  252.         case ON_ELEVATOR_DROPOFF_ARRIVAL: {  W" h2 G- {, [, m2 l4 e- R
  253.                 treenode elev = param(1);% _/ V# B9 j* g' W4 B3 ~
  254.                 treenode agv = gettaskinvolved(gettasksequence(elev, 0), 1, 1);
    6 d6 t& `! ~7 \& @
  255.                 // when the elevator arrives at the destination floor
    ( I6 O& u+ b" K6 {: T5 n, J
  256.                 // move the agv back into the model
    " [' y$ a7 u! B9 ?" K
  257.                 moveobject(agv, model());
    # k3 k) u2 z6 [0 f/ B  I" d0 R5 F# m
  258.                 // reassign it to the destination floor control point
    & o* a7 t* |7 T, |  }
  259.                 agvreassigncp(agv, tonode(get(node("DestElevCP", label(agv, AGV_LABEL_NAME)))));
    6 r* s& B; [: W$ N: K0 |0 e0 G5 _; ?
  260.                 // open the elevator door
    6 k  ?4 ]1 j( F8 M( L' m
  261.                 nodefunction(c, agv, elev, ON_OPEN_DOOR, ON_DROPOFF_DOOR_OPENED);
    ) ?- p' D/ ^- x$ j) S
  262.                 return 0;
    0 S  h' ^  n; L2 s  t9 |
  263.         }
    ' ~4 ?- N" Y0 h
  264.         case ON_DROPOFF_DOOR_OPENED: {. [: }% i/ u* C' [% Q+ }; J/ q
  265.                 treenode elev = param(1);- b; l: T; Q. M# v& \* ?2 m
  266.                 treenode agv = param(2);
    1 J, i) E! l8 E
  267.                 treenode agvLabel = label(agv, AGV_LABEL_NAME);  x7 k. t) n0 o3 b/ [
  268.                 // once the elevator door is opened on the destination floor,
    ! G; U$ S% b( |" K7 Y3 s1 t
  269.                 // redirect the agv to the exit control point" |) N& @1 |5 S- f  G( s5 F& ?5 y) N4 d
  270.                 agvredirect(agv, tonode(get(node("ExitCP", agvLabel))), REDIRECT_AND_WAIT);( J2 B. N" Y8 l
  271.                 return 0;/ W% V7 j+ B: y& Y) K
  272.         }
    5 y' h; O# v& x; Z! _. z6 Z
  273.         case ON_DROPOFF_DOOR_CLOSED: {* N' z8 [+ n" t7 W8 P" Z! [3 x/ }
  274.                 treenode elev = param(1);  {3 n  j8 \* Q3 \6 b/ o
  275.                 treenode agv = param(2);% _6 P9 l# T) A0 I" }1 n* j
  276.                 int isAGVWaiting = param(4);
    ! }6 M; i2 R2 o# N# Q
  277.                 // once the door is closed at the destination floor,
    1 H6 \: [0 I. G8 k! a; n
  278.                 // if the agv is waiting, then send him to the final destination0 \' E/ }. ]" e  s  C1 Z* g7 N
  279.                 if (isAGVWaiting)
    4 m$ b! {# ~/ K  R; g+ M. o
  280.                         agvredirect(agv, gettaskinvolved(gettasksequence(elev, 0), 1, 2), REDIRECT_AS_FINAL);6 P5 U% w' d4 `2 }5 V" @, v2 x
  281.                 // release the elevator to finish his task sequence1 y# H! o4 l1 F1 ?& m; k) B
  282.                 freeoperators(elev, agv);/ {. U& L( g; j; ?
  283.                 return 0;  z- q; ^) W" M+ O
  284.         }
    : |! W% J5 _* F( `8 q) J
  285. }
    2 p6 E/ h& a  L- y2 W3 A$ u
  286. } //******* PickOption End *******\\( y6 Q2 }0 M, y

  287. . t& s( G, d7 r% B! p
复制代码

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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/ C2 c' [8 {& M# n; X) j
办法1：从2016版本里面复制相应的代码
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1 S- y) U$ f2 c+ ~% |2 _具体代码如下：
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好的，非常感谢陈老师的解答~



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